CN116032036A - Underwater robot wireless charging system and method based on visual positioning - Google Patents

Abstract

The invention discloses a wireless charging system and method for an underwater robot based on visual positioning, and relates to the technical field of underwater robot charging. The technical gist of the present invention includes: the system includes an underwater wireless charging device and an underwater robot; wherein, the underwater wireless charging device includes a positioning Aruco two-dimensional code, a vertical positioning pole, a wireless charging transmitting module, six supporting and fixing "Y"-shaped frame and two permanent magnets; the frame of the underwater robot is a "day"-shaped frame composed of three layers of horizontal plates, two left and right upper side plates, and two left and right lower side plates. The frame includes buoyancy blocks, electronic bin, propeller, battery bin, mechanical claw, wireless charging receiving module, and horizontal metal positioning rod; the method is implemented based on the system, and visual positioning is used to assist the docking of the underwater robot with the underwater wireless charging device. The invention improves the success rate and efficiency of the docking between the underwater robot and the underwater wireless charging device, and easily realizes reliable charging of the underwater robot.

Description

A wireless charging system and method for underwater robots based on vision positioning

technical field

The invention relates to the technical field of underwater robot charging, in particular to a wireless charging system and method for underwater robots based on visual positioning.

Background technique

The use of long-endurance submersibles can collect more environmental data that cannot be collected by surface ships or submarines. At present, submersibles need to float to nearby ships or land bases for charging. There are two main ways of traditional power supply. One is to salvage the underwater equipment ashore, replace the battery with a new one or use a wired method to charge the battery; the other One is to perform underwater wet-plug charging to underwater equipment through a cable system on power supply platforms such as ships and submarine base stations. The first method requires manual operation, low degree of automation, and poor concealment of charging, which may easily cause underwater military equipment to expose targets; the operation and maintenance process of the wet plugging method is complicated and expensive, and the interface is severely worn due to the large plugging force, which is easy to Leakage accidents occur, and the reliability and safety are not high.

Traditional power supply methods limit the endurance and task performance of underwater equipment. Wireless power transmission technology breaks the inherent pattern of traditional wired power transmission and gets rid of the shackles of redundant wires, making the power supply and charging equipment completely isolated. Power supply circuit and charging The circuit is independently packaged, which better solves the problems of exposed wires, easy contact sparks, and poor mobility in wired power transmission. For underwater robots powered without cables, due to the limited energy of the built-in energy storage module, it is generally impossible to perform long-term underwater operations. In order to improve the working efficiency and operating range of underwater robots, it is necessary to study the underwater docking and wireless charging technologies of underwater robots.

For underwater vehicles, it is important to identify the correct berth and measure distances. Different from traditional optical sensing equipment, the optical vision system of underwater robots not only needs to have the ability to acquire optical images and video information, but also should have the functions of image and video information processing, feature extraction and classification recognition.

However, the success rate and efficiency of charging and docking of underwater robots in the prior art are not high, and some have too high requirements on hardware, so it is difficult to realize reliable charging of underwater robots.

Contents of the invention

For this reason, the present invention proposes a wireless charging system and method for an underwater robot based on vision positioning to solve the above problems.

According to one aspect of the present invention, a wireless charging system for underwater robots based on visual positioning is provided, the system includes an underwater wireless charging device and an underwater robot; wherein,

The underwater wireless charging device includes a positioning Aruco two-dimensional code, a vertical positioning rod, a wireless charging transmitting module, six supporting and fixing "Y" shaped frames, and a rectangular bottom plate; wherein, the positioning Aruco two-dimensional code and the vertical positioning rod connection; the vertical positioning rod is fixed vertically on one side of the long side of the rectangular bottom plate; the wireless charging transmitting module is fixed on the rectangular bottom plate; each short side of the rectangular bottom plate is fixedly placed two One supporting and fixing "Y" shaped frame, two supporting and fixed "Y" shaped frames are fixedly placed on the other long side of the rectangular bottom plate away from the vertical positioning bar;

The frame of the underwater robot is a "day"-shaped frame consisting of three layers of horizontal plates, two left and right upper side plates, and two left and right lower side plates. The upper side plates and the lower side plates are fixedly connected, so The three-layer horizontal board includes the first layer board, the second layer board, and the third layer board. The first layer board and the second layer board are used to connect the left and right upper side boards, and the third layer board is used to connect the left and right two lower side panel;

The frame of the underwater robot includes a buoyancy block, an electronic warehouse, a thruster, and a wireless charging receiving module; wherein, the buoyancy block is placed above the first layer, and the electronic warehouse is embedded in the middle of the first layer, and the center line flush with the first layer; the propeller is used to provide power for the movement of the underwater robot; the wireless charging receiving module is placed under the third layer;

When docking, the four supporting and fixing "Y"-shaped frames on the short side of the rectangular bottom plate cooperate with the two lower side plates to ensure the lateral stability of the underwater robot; after docking, the wireless charging transmitting module and the wireless charging receiving module are connected wirelessly to Charge the underwater robot.

Further, the frame of the underwater robot further includes a horizontal metal positioning rod, and the horizontal metal positioning rod is connected between the left and right third layers.

Further, the underwater wireless charging device also includes two permanent magnets, and the two permanent magnets are respectively placed on the two supporting and fixed "Y"-shaped frames on the other long side of the rectangular bottom plate, which are used to align the horizontal metal when docking. The positioning rod is adsorbed and fixed to ensure the longitudinal stability of the underwater robot.

Further, the frame of the underwater robot also includes mechanical claws, the mechanical claws are placed on the third layer, and are used to clamp the vertical positioning rod when docking to ensure the vertical direction of the underwater robot. Stablize.

Further, a camera, a wireless transmission module and a controller are placed in the electronic compartment; wherein, the camera is connected to the wireless transmission module, and the controller is connected to the wireless transmission module and the thruster respectively.

Further, the frame of the underwater robot also includes a battery compartment, the battery compartment is embedded in the middle of the second layer plate, and the center line is flush with the second layer plate, and is used for powering the electronic compartment, the propeller and the mechanical claw.

Further, the propeller includes six, four are respectively placed at the four corners of the lower surface of the first layer, and two are placed in the middle of the first layer.

According to another aspect of the present invention, a wireless charging method for an underwater robot based on visual positioning is provided, the method is implemented based on the wireless charging system for the underwater robot, and the wireless charging system for the underwater robot includes an underwater wireless charging device and underwater robot; wherein, the underwater wireless charging device includes a positioning Aruco two-dimensional code, a wireless charging transmitting module; the underwater robot includes an electronic warehouse, a wireless charging receiving module, and a camera, a wireless transmission modules and controllers;

The method comprises the steps of:

Step 1, obtaining the location of the underwater wireless charging device;

Step 2, make the underwater robot move close to the underwater wireless charging device, and stop moving when the image collected by the camera carried in the electronic cabin of the underwater robot contains the Aruco QR code;

Step 3. Process the image containing the Aruco two-dimensional code to obtain the position coordinates and attitude angles of the underwater robot relative to the underwater wireless charging device; specifically include: taking the center of the positioning Aruco two-dimensional code on the underwater wireless charging device as The origin of the coordinates, the X _W axis is horizontal to the right in the plane of the Aruco two-dimensional code, and the Y _W axis is vertically upward in the plane of the Aruco two-dimensional code, and the Z _W axis is established according to the right-hand rule, and the coordinate system O _W -X _W Y _W is established Z _W ; take the optical center of the camera as the origin of the camera coordinate system, and establish the camera coordinate system O _C -X _C Y _C Z _C ; use the PNP algorithm to solve the coordinate system O _W -X _W Y _W Z _W to the camera coordinate system O _C - The rotation matrix and translation matrix of X _C Y _C Z _C , and then obtain the position coordinates and attitude angles of the underwater robot relative to the underwater wireless charging device, and the attitude angles include yaw angles, roll angles, and pitch angles;

Step 4. Adjust the position of the underwater robot to the first position and the posture to the first posture; wherein, the first position is: the camera optical center coordinate O _C is in the coordinate system O _W -Y _W Z _W plane, That is, the angle between the perpendicular line from O _C to the Y _W axis and the O _W -Y _W Z _W plane is 0 degrees; the angle between the perpendicular line from O _C to the X _W axis and the plane O _W -X _W Z _W is between 10-30 degrees The first attitude is: the pitch angle is 180°, the yaw angle is 0°, and the roll angle is 0°;

Step 5. Make the underwater robot move toward the underwater wireless charging device in a direction parallel to the Z _W axis. When the Z _W axis component of the relative distance between the underwater robot and the underwater wireless charging device reaches the preset distance threshold, make the underwater robot The robot falls vertically, the angle between the vertical line from O _C to the X _W axis and the plane O _W -X _W Z _W decreases continuously, and the Z _C axis and the Z _W axis just coincide, that is, the vertical line from O _C to the X _W axis and the plane O _W - When the angle between X _W Z _W is 0 degrees, the underwater robot and the underwater wireless charging device are docked and charged.

Further, in step 5, the angle between the perpendicular line from O _C to the X _W axis and the plane O _W -X _W Z _W is continuously decreasing, and during the decreasing process, it is judged that the angle between the perpendicular line from O _C to the X _W axis and the plane O _W -X _W Whether the included angle between Z _{and W} exceeds 60 degrees. If it is judged to be yes, make the underwater robot fall vertically until the included angle between the vertical line of O _C to the X _W axis and the plane O _W -X _W Z _W is less than 60 degrees, and then move forward horizontally again or Backward; make the underwater robot at a predetermined distance horizontally from the underwater wireless charging device.

Further, it is verified whether the docking between the underwater wireless charging device and the underwater robot is completed by using whether the output power of the underwater wireless charging device is normal.

The beneficial technical effect of the present invention is:

The invention proposes a wireless charging system and method for underwater robots based on visual positioning, which effectively improves the success rate and efficiency of docking between underwater robots and underwater wireless charging devices. reliable charging.

The present invention uses a visual positioning method to assist the docking of the underwater robot and the underwater wireless charging device, which improves the success rate and efficiency of the docking between the underwater robot and the underwater wireless charging device, thereby performing stable wireless charging and improving the efficiency of the underwater robot. endurance and working range.

Description of drawings

The present invention can be better understood by reference to the following description given in conjunction with the accompanying drawings, which together with the following detailed description are incorporated in and form a part of this specification, and are used to further illustrate A preferred embodiment of the invention and an explanation of the principles and advantages of the invention.

1 is a structural diagram of a wireless charging system for an underwater robot based on visual positioning according to an embodiment of the present invention;

2 is a schematic diagram of a wireless charging system for an underwater robot based on visual positioning according to an embodiment of the present invention after docking;

3 is a multi-view schematic diagram of an underwater wireless charging device in an embodiment of the present invention;

4 is a flowchart of a wireless charging method for an underwater robot based on visual positioning according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of two coordinate systems in an embodiment of the present invention;

Fig. 6 is a schematic diagram of an underwater robot in a first position and a first posture in an embodiment of the present invention;

Fig. 7 is a schematic diagram when the Z _{and W-} axis components of the relative distance between the underwater robot and the underwater wireless charging device reach a preset distance threshold in an embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, exemplary implementations or embodiments of the present invention will be described below in conjunction with the accompanying drawings. Apparently, the described embodiments or examples are only part of the embodiments or embodiments of the present invention, not all of them. Based on the implementation modes or examples in the present invention, all other implementation modes or examples obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The embodiment of the present invention provides a wireless charging system for underwater robots based on visual positioning. As shown in Figure 1, the system includes an underwater wireless charging device 1 and an underwater robot 2; wherein, the underwater wireless charging device 1 includes positioning Aruco Two-dimensional code 11, vertical positioning rod 12, wireless charging and transmitting module 13, six supporting and fixed "Y"-shaped frames 14, two permanent magnets 15, and a rectangular bottom plate 16; among them, positioning Aruco two-dimensional code 11 and vertical positioning The rod 12 is connected, specifically, after the positioning Aruco two-dimensional code 11 is connected with the L-shaped rod through bolts, and then connected with the vertical positioning rod 12 through a right-angle sleeve; the vertical positioning rod 12 is vertically fixed and placed on the long side of the rectangular bottom plate 16 One side; the wireless charging transmitter module 13 is fixedly placed on the rectangular bottom plate 16, and its DC power supply is directly provided by the constant voltage DC power supply on the shore, and the two can be connected by cables; each short side of the rectangular bottom plate 16 is fixedly placed two Support and fix the "Y" shaped frame 14, and place two supported and fixed "Y" shaped frames 14 away from the other long side of the rectangular bottom plate 16 of the vertical positioning rod 12, and two permanent magnets 15 are respectively placed on the other side of the rectangular bottom plate 16. Two supports on the long side are fixed on the "Y" shape frame 14;

The frame of the underwater robot 2 is a "day" type frame composed of three layers of horizontal plates, two upper side plates 29 on the left and right, and two lower side plates 212 on the left and right. The upper side plates 29 and the lower side plates 212 are fixedly connected. The horizontal plate includes a first laminate 22, a second laminate 25, and a third laminate 27. The first laminate 22 and the second laminate 25 are used to connect the left and right upper side panels 29, and the third laminate 27 is used for Connect the left and right lower side plates 212;

The frame of the underwater robot 2 includes a buoyancy block 21, an electronic compartment 23, a thruster 24, a battery compartment 26, a mechanical claw 28, a wireless charging receiving module 210, and a horizontal metal positioning rod 211; wherein, the buoyancy block 21 is placed on the first layer Above the board 22, the electronic warehouse 23 is embedded in the middle of the first layer board 22, and the center line is flush with the first layer board 22. The camera, wireless transmission module and controller are placed in the electronic warehouse 23; the thrusters 24 include six, four respectively Placed on the four corners of the lower surface of the first layer 22, the central axis of the propeller 24 is perpendicular to the angle bisector of the first layer 22, two are placed in the middle of the first layer 22, and the propeller 24 is used for underwater robots. 2 movement provides power; the battery compartment 26 is embedded in the middle of the second layer plate 25, and the center line is flush with the second layer plate 25, and is used to supply power to the electronic compartment 23, the propeller 24 and the mechanical claw 28; the mechanical claw 28 is placed on the third Above the laminate 27; the wireless charging receiving module 210 is placed under the third laminate 27; the horizontal metal positioning rod 211 is connected between the left and right third laminates 27.

When docking, the four supports on the short sides of the rectangular bottom plate 16 fix the “Y” frame 14 and the two lower side plates 212 to ensure the lateral stability of the underwater robot 2; the two permanent magnets 15 absorb the horizontal metal positioning rod 211 Fixed to ensure the longitudinal stability of the underwater robot 2; the mechanical claw 28 closes and clamps the vertical positioning rod 12 to ensure that the vertical direction of the underwater robot 2 is stable and will not float upwards and leave the underwater wireless charging device 1. Supporting and fixing the "Y"-shaped frame 14 reduces the difficulty for the underwater robot 2 to land on the underwater wireless charging device 1, and at the same time avoids colliding with other devices such as coils.

After docking, the wireless charging transmitting module 13 and the wireless charging receiving module 210 work in wireless connection to charge the underwater robot 2 . After docking, it is shown in Figure 2.

In this embodiment, preferably, the wireless transmission module in the electronic storehouse 23 selects a model such as RaspberryPi3ModelB; the camera is a 100-degree wide-angle USB camera, and the camera is connected to the wireless transmission module; the camera can be carried by the cloud platform, and the platform is selected for example as MG90S90 The steering gear; the controller is connected with the wireless transmission module and the thruster 24 respectively, and the model is for example selected PixHawk. Further, the electronic warehouse 23 may also include a power carrier module with a transmission rate of 100 Mbps and a transmission distance of 300 m for connecting to a PC computer.

In this embodiment, preferably, the model of the thruster 24 is, for example, T200; the clamping force of the mechanical claw 28 is, for example, 90-150N, and the use depth is less than or equal to 300m.

In this embodiment, preferably, the front cover of the electronics compartment 23 is a transparent acrylic dome cover.

Further, there is a protruding semicircular hole structure 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. The method is implemented based on the above-mentioned wireless charging system for an underwater robot. As shown in FIG. 4 , the method includes the following steps:

Step 1, obtaining the position of the underwater wireless charging device 1;

Step 2, make the underwater robot 2 move close to the underwater wireless charging device 1, and stop moving when the image collected by the camera carried in the electronic compartment 23 of the underwater robot 2 contains the Aruco two-dimensional code;

Step 3: Process the image containing the Aruco two-dimensional code. At this time, take the center of the positioning Aruco two-dimensional code 11 on the underwater wireless charging device 1 as the coordinate origin, and the X _{and W} axes are horizontal in the plane of the Aruco two-dimensional code 1. Right, the Y _W axis is vertically upward in the plane of the Aruco two-dimensional code 11, and the Z _W axis is established according to the right-hand rule, and the coordinate system O _W -X _W Y _W Z _W is established; The optical center of the USB camera is the origin of the camera coordinate system, which is established according to the general regulations of the camera coordinate system, that is, the Z _C axis is parallel to the optical axis, the Y _C axis is vertically downward, and the X _C axis is established according to the right-hand rule, and the camera coordinate system O is established. _C -X _C Y _C Z _C , as shown in Figure 5.

Using the PNP algorithm, solve the rotation matrix and translation matrix from the coordinate system O _W -X _W Y _W Z _W to the camera coordinate system O _C -X _C Y _C Z _C , and then obtain the position of the underwater robot relative to the underwater wireless charging device Coordinates and attitude angles (yaw, roll, pitch).

Step 4. Adjust the posture of the robot to a first position and a first posture; wherein, the first position is that the optical center coordinate O _C of the robot camera is in the world coordinate system O _W -Y _W Z _W plane, that is, O _C to Y The angle between the vertical line of _{the W} axis and the O _W -Y _W Z _W plane is 0 degrees; the angle between the vertical line of the O _C to the X _W axis and the plane O _W -X _W Z _W is 10-30 degrees; the first attitude is : According to the definition of the coordinate system, 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, as shown in Figure 6.

Step 5. After adjusting to the first position and the first attitude again, whether the angle between the vertical line from the optical center O _C of the underwater robot 2 camera to the Y _W axis and the O _W -Y _W Z _W plane is 0 degrees and O _C Whether the angle between the vertical line of the X _W axis and the plane O _W -X _W Z _W is 10 degrees to 30 degrees, if it is judged to be yes, then the vertical alignment between the underwater robot 2 and the underwater wireless charging device 1 is completed; if it is judged to be If not, the underwater robot 2 adjusts according to the real-time measured position relative to the underwater wireless charging device 1 until it meets the requirements of the first position and the first attitude.

Step 6: After adjusting to the first position and the first attitude, make the underwater robot 2 advance toward the underwater wireless charging device 1 in a direction parallel to the Z _W axis. When the underwater robot 2 is opposite to the underwater wireless charging device 1 When the distance Z and _W axis components reach the preset distance threshold, as shown in Figure 7, (at this time, robot 2 is no longer in the first posture, because its O _C to X _W axis perpendicular line and plane O _W -X _W Z The angle _W is not within the range of 10-30 degrees, it will actually be larger than this angle), so that the underwater robot 2 falls vertically (make the mechanical claws open before falling), O _C to X _W axis vertical line and plane O The angle between _W -X _W Z _W will continue to decrease. Due to the setting of the mechanical structure position, when the horizontal positioning rod of the underwater robot 2 cooperates with the two Y-shaped frames behind the underwater wireless charging device 1 and the underwater robot When the edge of the lower side plate of 2 cooperates with the four Y-shaped frames on both sides of the underwater wireless charging device 1, the Z _C axis and the Z _W axis just coincide, that is, the vertical line from O _C to X _W axis and the plane O _W -X The angle between _W Z _W is exactly 0 degrees. At this time, the positional relationship between the underwater robot 2 and the underwater wireless charging device 1 is the docking completion; when the output power of the wireless charging device is normal, the docking is completed; after the docking is completed, use Mechanical claws and permanent magnets fix the two and charge them.

Wherein, after the relative distance Z _W axis component of the underwater robot and the underwater wireless charging device reaches the preset distance threshold, it is judged whether the angle between the vertical line from O _C to the X _W axis and the plane O _W -X _W Z _W exceeds 60 degrees ( After exceeding 60 degrees, the relative distance measurement error will be large, which will affect the subsequent docking process). If the judgment is yes, the robot will fall vertically until the angle between the vertical line from O _C to the X _W axis and the plane O _W -X _W Z _W is less than 60 degrees (at this time, the relative distance between the underwater robot and the underwater wireless charging device Z _W axis component will change compared to before, because the measurement error becomes smaller), and then move forward horizontally again (when the relative distance Z _W axis is measured component is greater than the predetermined distance threshold) or back (when the measured relative distance Z _W axis component is less than the predetermined distance threshold), so that the underwater robot is at a predetermined distance from the underwater wireless charging device.

While the invention has been described in terms of a limited number of embodiments, it will be apparent to a person skilled in the art having the benefit of the above description that other embodiments are conceivable within the scope of the invention thus described. With respect to the scope of the present invention, the disclosure of the present invention is intended to be illustrative rather than restrictive, and the scope of the present invention 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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