CN116581837A - Underwater charging pile and charging method of underwater robot - Google Patents

Underwater charging pile and charging method of underwater robot Download PDF

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Publication number
CN116581837A
CN116581837A CN202310395442.XA CN202310395442A CN116581837A CN 116581837 A CN116581837 A CN 116581837A CN 202310395442 A CN202310395442 A CN 202310395442A CN 116581837 A CN116581837 A CN 116581837A
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China
Prior art keywords
underwater
underwater robot
charging
charging pile
robot
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CN202310395442.XA
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Chinese (zh)
Inventor
李想
刘蕴霆
寇邺郡
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Zhuhai Institute Of Science And Technology
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Zhuhai Institute Of Science And Technology
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Priority to CN202310395442.XA priority Critical patent/CN116581837A/en
Publication of CN116581837A publication Critical patent/CN116581837A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G06V10/225—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition based on a marking or identifier characterising the area
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/05—Underwater scenes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • General Chemical & Material Sciences (AREA)
  • Electrochemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Chemical & Material Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an underwater charging pile and a charging method of an underwater robot, and relates to the technical field of robot charging. The underwater charging pile comprises a waterproof box, a visual beacon, a positioning device, an identification module, a wireless charging transmitting module and a control module; the visual beacon is arranged on the surface of the waterproof box and is used for the underwater robot to perform visual identification so that the underwater robot can determine the position and the gesture; the positioning device is arranged on the surface or inside the waterproof box and used for fixing the underwater robot; the identification module is arranged in the waterproof box and is used for identifying the underwater robot; the wireless charging transmitting module is arranged in the waterproof box and is used for wirelessly charging the underwater robot; the control module is arranged in the waterproof box and is electrically connected with the positioning device, the identification module and the wireless charging and transmitting module respectively. According to the underwater charging pile provided by the embodiment of the invention, the underwater robot can be charged, and the time for the underwater robot to come and go from a mother ship and an operation sea area is saved.

Description

Underwater charging pile and charging method of underwater robot
Technical Field
The invention relates to the technical field of robot charging, in particular to an underwater charging pile and a charging method of an underwater robot.
Background
The robot is an artificial intelligent mechanical device capable of assisting or replacing human beings to complete most tasks, and along with development of technology, the robot is more and more widely applied, especially in environments where human bodies cannot stay for a long time, such as high temperature, extremely cold, areas with thin oxygen, underwater environments and the like.
The underwater robot is an important tool in the fields of ocean resource development, seabed exploration, hydrologic/marine organism information acquisition and the like, and particularly an unmanned automatic underwater robot (Autonomous Underwater Vehicle, AUV). Although the underwater robot can help people to complete a lot of work, the underwater power supply condition is very limited, and the underwater robot can only supply power through a power battery carried by the robot; when the underwater robot needs to perform power supply of the power battery, the underwater robot needs to frequently travel to and from the mother ship and the operation sea area, and a great amount of time waste during the travel is a bottleneck problem for limiting the working efficiency of the underwater robot.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the underwater charging pile and the charging method of the underwater robot, which can charge the underwater robot, and save the time for the robot to come and go from a mother ship and an operation sea area.
In one aspect, an underwater charging pile according to an embodiment of the present invention includes:
a waterproof box;
the visual beacon is arranged on the surface of the waterproof box and is used for enabling the underwater robot to perform visual identification so that the underwater robot can determine the position and the gesture;
the positioning device is arranged on the surface or inside the waterproof box and is used for fixing the underwater robot;
the identification module is arranged in the waterproof box and is used for identifying the underwater robot;
the wireless charging and transmitting module is arranged in the waterproof box and is used for wirelessly charging the underwater robot; the underwater robot is provided with a wireless charging receiving module matched with the wireless charging module;
the control module is arranged in the waterproof box, is electrically connected with the positioning device, the identification module and the wireless charging and transmitting module respectively, and is used for receiving the identification information of the identification module and controlling the working states of the positioning device and the wireless charging and transmitting module.
According to some embodiments of the invention, the visual beacon comprises a plurality of different colored illuminable spheres.
According to some embodiments of the invention, the visual beacon comprises three luminous spheres of red, green and blue, and any two spheres are arranged at 90 degrees with respect to each other.
According to some embodiments of the invention, the surface of the waterproof box is provided with a waterproof interface, and the underwater charging pile is connected with an umbilical cable through the waterproof interface and is electrically connected with a mother ship on the water surface or a power supply device on the shore through the umbilical cable.
According to some embodiments of the invention, the waterproof box further comprises a voltage conversion module, wherein the voltage conversion module is arranged inside the waterproof box and is electrically connected with the waterproof interface and the control module respectively.
According to some embodiments of the invention, the positioning device comprises an electromagnet; the identification module comprises an RFID card reader.
On the other hand, the charging method of the underwater robot according to the embodiment of the invention comprises the following steps:
the underwater robot determines the position of the underwater charging pile and approaches the underwater charging pile;
the underwater robot performs visual recognition on the visual beacon of the underwater charging pile, and adjusts the position and the gesture according to the recognition result, so that the wireless charging receiving module of the underwater robot is aligned to the wireless charging transmitting module of the underwater charging pile;
the underwater charging pile is used for fixing the underwater robot through a positioning device and identifying the underwater robot through an identification module;
after the underwater charging pile passes the identification, the control module of the underwater charging pile controls the wireless charging transmitting module to charge the underwater robot.
According to some embodiments of the invention, the method further comprises the steps of:
after the charging is completed, the positioning device releases the underwater robot, and the wireless charging transmitting module stops charging.
According to some embodiments of the invention, the step of determining the position of the underwater charging pile and approaching the underwater charging pile by the underwater robot specifically comprises:
and the underwater robot determines the position of the underwater charging pile according to the coordinates of the underwater charging pile and an acoustic positioning means provided by the mother ship, and is close to the underwater charging pile.
According to some embodiments of the present invention, the step of the underwater robot performing visual recognition on the visual beacon of the underwater charging pile and adjusting the position and the posture according to the recognition result to enable the wireless charging receiving module of the underwater robot to be aligned with the wireless charging transmitting module of the underwater charging pile includes:
the underwater robot shoots the visual beacon through a camera to acquire an image of the visual beacon;
identifying the image through a Yolov5 network model, and acquiring the relative position of the underwater robot and the visual beacon;
identifying the image through a VGG16 network model, and acquiring the relative gesture of the underwater robot to the visual beacon;
and adjusting the position and the posture of the underwater robot to enable a wireless charging receiving module of the underwater robot to be aligned with the wireless charging transmitting module of the underwater charging pile.
The underwater charging pile and the charging method of the underwater robot provided by the invention have the following beneficial effects: when the power battery of the underwater robot is insufficient, the power battery does not need to return to the mother ship, but can return to the vicinity of the underwater charging pile through the set coordinates, and the visual beacon on the underwater charging pile is identified through the visual identification algorithm, so that the underwater robot can be accurately docked with the underwater charging pile to finish underwater charging, the time for the underwater robot to come to and go from the mother ship and the operation sea area is saved, and the purpose of improving the working efficiency is achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of an underwater charging pile according to an embodiment of the present invention;
fig. 2 is a schematic view of the structure of the inside of the waterproof case according to the embodiment of the present invention;
FIG. 3 is a flow chart illustrating steps of a method for charging an underwater robot according to an embodiment of the present invention;
reference numerals:
the waterproof box 100, the first connection part 110, the second connection part 120, the visual beacon 200, the positioning device 300, the electromagnet 310, the identification module 400, the wireless charging transmission module 500, the control module 600, and the voltage conversion module 700.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
In one aspect, as shown in fig. 1 and 2, the underwater charging pile according to the embodiment of the present invention includes a waterproof case 100, a visual beacon 200, a positioning device 300, an identification module 400, a wireless charging transmission module 500, and a control module 600; the visual beacon 200 is arranged on the surface of the waterproof box 100 and is used for the underwater robot to perform visual recognition so that the underwater robot can determine the position and the gesture; the positioning device 300 is disposed on the surface or inside of the waterproof case 100 for fixing the underwater robot; the recognition module 400 is disposed inside the waterproof case 100 for recognizing the underwater robot; the wireless charging and transmitting module 500 is arranged in the waterproof box 100 and is used for wirelessly charging the underwater robot, and the underwater robot is provided with a wireless charging and receiving module matched with the wireless charging and transmitting module 500; the control module 600 is disposed inside the waterproof box 100 and is electrically connected to the positioning device 300, the identification module 400, and the wireless charging and transmitting module 500, and the control module 600 is configured to receive identification information of the identification module 400 and control working states of the positioning device 300 and the wireless charging and transmitting module 500.
Specifically, as shown in fig. 1, in the present embodiment, the waterproof case 100 is L-shaped, including a first connection portion 110 and a second connection portion 120 connected to each other; the positioning device 300, the identification module 400, the wireless charging transmitting module 500 and the control module 600 are all arranged in the first connecting portion 110, and the visual beacon 200 is arranged on the second connecting portion 120. The waterproof box 100 is made of ABS material, so that waterproof effect and wireless charging effect are guaranteed; it should be noted that, according to different hydraulic environments, the waterproof case 100 may be replaced with other non-metal/non-ferromagnetic metal pressure-resistant materials, and the specific materials are not limited.
In some embodiments of the invention, the visual beacon 200 comprises a plurality of differently colored illuminable spheres that are imaged and visually identified by the under water robot. More specifically, in this example, the visual beacon 200 includes three color light-emitting spheres of red, green, and blue, and any two spheres are disposed at 90 ° to each other. As shown in fig. 1, the balls of three colors of red, green and blue are fixed on a metal cylinder (the inside of which contains an LED light source) with uniform length and are arranged at the designated position of the waterproof box 100, 90 degrees are formed between every two balls, and the designated position of the waterproof box 100 is provided with threaded holes, so that the metal cylinder is convenient to install and detach. The three-color ball beacon can provide enough identification for visual identification of the underwater robot, in particular identification of the relative position and the relative posture (orientation angle) between the underwater robot and the underwater charging pile; because the three-color ball beacons only slightly change the angle, the three-color ball beacons have great difference in the pictures of the cameras of the underwater robot, and are convenient for visual identification; meanwhile, the light rays of the three colors of red, green and blue have long propagation distances under water, and a long recognition distance can be realized.
The underwater robot in the embodiment of the invention performs visual identification on the visual beacon 200 through two network models, namely the Yolov5 and the VGG 16. Both network models are subjected to learning training in advance, wherein the Yolov5 network is responsible for identifying the visual beacon 200 part in the camera picture and identifying the relative positions (far, near, up, down, left and right) of the visual beacon 200 and the robot, and the VGG16 network is responsible for identifying the relative gestures (the orientation angles of the robot) of the visual beacon 200 and the underwater robot, so that the position and the gesture of the underwater robot are finally determined, the alignment of the wireless charging transmitting module 500 and the wireless charging receiving module is realized, and the wireless charging is facilitated. It should be noted that, the underwater robot may also use other visual recognition algorithms to recognize the visual beacon 200, and is not limited to two network models, namely, the Yolov5 and the VGG16
In some embodiments of the present invention, the positioning device 300 adopts an electromagnet 310, as shown in fig. 2, two electromagnets 310 are disposed in pairs at the upper part of the interior of the waterproof box 100, and correspondingly, two electromagnets are disposed at the bottom of the underwater robot, so that the underwater robot is adsorbed and fixed by the cooperation of the two pairs of electromagnets, the underwater robot is ensured to dock with the underwater charging pile at a correct position (the wireless charging coil of the underwater robot and the wireless charger of the underwater charging pile are directly opposite and closely attached), and the position and the posture of the underwater robot are ensured to be stable during charging. It should be noted that, the positioning device 300 may also be another device with adsorptivity or a structure that is convenient for fixing the underwater robot.
In some embodiments of the present invention, the wireless charging transmitting module 500 and the wireless charging receiving module may use existing wireless chargers, such as CPS-300-24, CPS-500-24, and the like, and the user may choose to install chargers with different powers as desired.
In some embodiments of the present invention, the identification module 400 is an RFID reader, such as an M4255-HA or other small RFID/IC reader, and accordingly, an RFID tag is installed at a corresponding position at the bottom of the underwater robot, the identification module 400 identifies the tag by using a wireless radio frequency manner, and after the identification is successful, the control module 600 starts the wireless charging and transmitting module 500 to charge the underwater robot.
In some embodiments of the present invention, the control module is composed of an Arduino Uno3 single-chip microcomputer (may be of other types) and two relay modules (may be of other switching elements), and is configured to receive the identification information of the identification module 400, determine whether the underwater robot is correct (communicate with a mother ship on the water surface, detect whether the RFID tag of the underwater robot is in an allowable charging list), and control the on/off of the positioning device 300 and the wireless charging transmitting module 500 through the relay modules.
In some embodiments of the present invention, the surface of the waterproof box 100 is provided with a waterproof interface (not shown), and the underwater charging pile is connected to an umbilical cable through the waterproof interface and electrically connected to a mother ship on the water surface or a power supply on the shore through the umbilical cable. The mother ship on the water surface or the power supply device on the shore is used for providing power for the underwater charging pile, so that the underwater charging pile can charge the underwater robot; the waterproof interface can adopt a standard MCBH 4 core waterproof interface, wherein 2 cores are used for power supply, and in addition, 2 cores are used for serial communication, so that the mother ship can conveniently control the underwater charging pile.
In some embodiments of the present invention, the underwater charging pile further includes a voltage conversion module 700, and the voltage conversion module 700 is disposed inside the waterproof box 100 and electrically connected to the waterproof interface and the control module 600, respectively. The voltage conversion module 700 may be a 24V-5V DC-DC step-down regulated power supply module of LM2596S type (or other types), and is configured to convert 24V voltage provided by a mother ship or a power supply device into 5V voltage to supply power to the control module 600.
According to the underwater charging pile provided by the embodiment of the invention, the underwater charging of the underwater robot is possible, when the electric quantity of the power battery of the underwater robot is insufficient, the underwater charging pile does not need to return to the mother ship, but can return to the vicinity of the underwater charging pile through the set coordinates, and the visual beacon 200 on the underwater charging pile is identified through the visual identification algorithm, so that the underwater robot can be accurately in butt joint with the underwater charging pile to finish the underwater charging, thereby saving the time for the underwater robot to come and go from the mother ship and the operation sea area, and achieving the purpose of improving the working efficiency.
In practical application, the complete charging process of the underwater robot is as follows:
firstly, the preparation stage is as follows: the underwater charging pile is arranged on the flatter seafloor, lake bottom, riverbed and other places (the horizontal installation of the underwater charging pile can be kept as much as possible by the way of self-increasing a base bracket and the like), and the position coordinates of the underwater charging pile are calibrated. Meanwhile, the underwater robot needs to be prepared in terms of software and hardware: in terms of hardware, an electromagnet adsorption device, a wireless charging receiving module and an RFID tag are required to be additionally arranged at the bottom of the underwater robot, and a camera is also required to be arranged on the underwater robot; in terms of software, a pre-trained Yolov5 network and VGG16 network model needs to be installed in a control system of the underwater robot to complete identification of the visual beacon 200, control software of the underwater charging pile is installed at the mother ship end, and recording of the RFID tag of the underwater robot is completed.
When the underwater robot needs to charge, the underwater robot returns to a water area near the underwater charging pile (within about 1 meter of the transverse distance from the underwater charging pile and within about 0.5 meter of the depth deviation) according to the coordinates of the established underwater charging pile and by means of acoustic positioning means provided by the mother ship, and the like, and the visual beacon 200 of the underwater charging pile can be shot by the underwater robot.
Once entering the water area near the underwater charging pile, the underwater robot can shoot the visual beacon 200 on the underwater charging pile by using the camera, accurately identify the distance deviation and the angle deviation in each direction between the visual beacon 200 through a model which is trained in advance, and control the underwater robot to more accurately finish the butt joint with the underwater charging pile. At this time, the underwater robot can start the electromagnet adsorption device at the bottom of the machine body, and complete adsorption and butt joint with the electromagnet 310 which is also arranged on the underwater charging pile, once adsorption is completed, the RFID reader on the underwater charging pile can identify the RFID tag installed at the bottom of the underwater robot, and once identification is successful, the control module 600 can control the wireless charging and transmitting module 500 to charge. During charging, the underwater charging pile and the underwater robot need to continuously supply power to the electromagnet adsorption device, so that the position of the underwater robot is ensured not to move, the RFID card reader of the underwater charging pile can continuously conduct card reading action at the frequency of 1 time per second, and the underwater robot is determined to be at the correct position, and continuously sends out a charging instruction.
When the power battery of the underwater robot is completely charged, or the underwater robot can stop supplying power to the electromagnet adsorption device at the bottom at any time according to the requirement, so that the underwater charging pile is separated, and once the RFID reader of the underwater charging pile cannot monitor the tag on the underwater robot, the control module 600 can control the wireless charging transmitting module 500 to stop charging, so that the whole charging process is completed.
On the other hand, based on the underwater charging pile of the above embodiment, the embodiment of the present invention further provides a charging method for an underwater robot, as shown in fig. 3, where the method includes the following steps:
step S100: the underwater robot determines the position of the underwater charging pile and approaches the underwater charging pile;
step S200: the underwater robot performs visual recognition on the visual beacon of the underwater charging pile, and adjusts the position and the gesture according to the recognition result, so that the wireless charging receiving module of the underwater robot is aligned to the wireless charging transmitting module 500 of the underwater charging pile;
step S300: the underwater charging pile fixes the underwater robot through the positioning device 300 and identifies the underwater robot through the identification module 400;
step S400: after the identification is passed, the control module 600 of the underwater charging pile controls the wireless charging transmitting module 500 to charge the underwater robot.
The step S100 specifically includes: and the underwater robot determines the position of the underwater charging pile according to the coordinates of the underwater charging pile and an acoustic positioning means provided by the mother ship and approaches the underwater charging pile. The coordinates of the underwater charging pile are calibrated when the underwater charging pile is put in, and the underwater robot approaches to the position where the underwater charging pile is located by means of acoustic positioning means provided by the mother ship according to the set coordinates of the underwater charging pile, so that the underwater robot can shoot the visual beacon 200.
Then, the underwater robot shoots the visual beacon 200 through the camera to acquire an image of the visual beacon 200; the images are identified through the Yolov5 network model, and the relative positions (far, near, up, down, left and right) of the underwater robot and the visual beacon 200 are obtained; identifying the image through the VGG16 network model, and acquiring the relative gesture (the orientation of the underwater robot) of the underwater robot and the visual beacon 200; finally, the position and the posture of the underwater robot are adjusted, so that the wireless charging receiving module of the underwater robot is aligned with the wireless charging transmitting module 500 of the underwater charging pile. Through the model which is trained in advance, the underwater robot can accurately recognize the distance deviation and the angle deviation in all directions between the underwater robot and the visual beacon 200, and accordingly the underwater robot is controlled to be more accurately docked with the underwater charging pile.
At this time, the underwater robot can start the electromagnet adsorption device at the bottom of the machine body, and complete adsorption and butt joint with the electromagnet 310 also arranged on the underwater charging pile, once adsorption is completed, the RFID reader of the underwater charging pile can identify the RFID tag installed at the bottom of the underwater robot, and once identification is successful, the control module 600 can control the wireless charging and transmitting module 500 to start the charging process. During charging, the underwater charging pile and the underwater robot need to continuously supply power to the electromagnet adsorption device, so that the position of the underwater robot is ensured not to move, the RFID card reader of the underwater charging pile can continuously conduct card reading action at the frequency of 1 time per second, and the underwater robot is determined to be at the correct position, and continuously sends out a charging instruction.
After the charging is completed, the positioning device 300 releases the underwater robot, so that the underwater robot can leave the underwater charging pile, at this time, the identification module 400 of the underwater charging pile cannot monitor the tag on the underwater robot, and the control module 600 controls the wireless charging transmitting module 500 to stop charging, so that the whole charging process is completed.
According to the method for charging the underwater robot, disclosed by the embodiment of the invention, the submarine charging of the underwater robot is possible, when the electric quantity of the power battery of the underwater robot is insufficient, the power battery does not need to return to the mother ship, but can return to the vicinity of the underwater charging pile through the set coordinates, the visual beacon 200 on the underwater charging pile is identified through the visual identification algorithm, the underwater robot can be accurately docked with the underwater charging pile, the underwater charging is completed, and therefore, the time for the underwater robot to come to and go from the mother ship and the operation sea area is saved, and the aim of improving the working efficiency is fulfilled.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.

Claims (10)

1. An underwater charging pile, comprising:
a waterproof box;
the visual beacon is arranged on the surface of the waterproof box and is used for enabling the underwater robot to perform visual identification so that the underwater robot can determine the position and the gesture;
the positioning device is arranged on the surface or inside the waterproof box and is used for fixing the underwater robot;
the identification module is arranged in the waterproof box and is used for identifying the underwater robot;
the wireless charging and transmitting module is arranged in the waterproof box and is used for wirelessly charging the underwater robot; the underwater robot is provided with a wireless charging receiving module matched with the wireless charging transmitting module;
the control module is arranged in the waterproof box, is electrically connected with the positioning device, the identification module and the wireless charging and transmitting module respectively, and is used for receiving the identification information of the identification module and controlling the working states of the positioning device and the wireless charging and transmitting module.
2. The underwater charging pile of claim 1, wherein the visual beacon comprises a plurality of different colored illuminable spheres.
3. An underwater charging pile as claimed in claim 2, wherein the visual beacon comprises three light-emitting spheres of red, green and blue, and any two spheres are arranged at 90 ° to each other.
4. The underwater charging pile according to claim 1, wherein a waterproof interface is provided on the surface of the waterproof box, and the underwater charging pile is connected with an umbilical cable through the waterproof interface and is electrically connected with a mother ship on the water surface or a power supply device on the shore through the umbilical cable.
5. The underwater charging pile of claim 4, further comprising a voltage conversion module disposed inside the waterproof box and electrically connected to the waterproof interface and the control module, respectively.
6. An underwater charging pile as claimed in claim 1, wherein the locating means comprises an electromagnet; the identification module comprises an RFID card reader.
7. The charging method of the underwater robot is characterized by comprising the following steps of:
the underwater robot determines the position of the underwater charging pile and approaches the underwater charging pile;
the underwater robot performs visual recognition on the visual beacon of the underwater charging pile, and adjusts the position and the gesture according to the recognition result, so that the wireless charging receiving module of the underwater robot is aligned to the wireless charging transmitting module of the underwater charging pile;
the underwater charging pile is used for fixing the underwater robot through a positioning device and identifying the underwater robot through an identification module;
after the underwater charging pile passes the identification, the control module of the underwater charging pile controls the wireless charging transmitting module to charge the underwater robot.
8. The method of charging an underwater robot of claim 7, further comprising the steps of:
after the charging is completed, the positioning device releases the underwater robot, and the wireless charging transmitting module stops charging.
9. The method for charging an underwater robot according to claim 7, wherein the step of determining the position of the underwater charging pile and approaching the underwater charging pile by the underwater robot comprises:
and the underwater robot determines the position of the underwater charging pile according to the coordinates of the underwater charging pile and an acoustic positioning means provided by the mother ship, and is close to the underwater charging pile.
10. The method for charging an underwater robot according to claim 7, wherein the step of the underwater robot visually recognizing the visual beacon of the underwater charging pile and adjusting the position and the posture according to the recognition result to align the wireless charging receiving module of the underwater robot with the wireless charging transmitting module of the underwater charging pile comprises:
the underwater robot shoots the visual beacon through a camera to acquire an image of the visual beacon;
identifying the image through a Yolov5 network model, and acquiring the relative position of the underwater robot and the visual beacon;
identifying the image through a VGG16 network model, and acquiring the relative gesture of the underwater robot to the visual beacon;
and adjusting the position and the posture of the underwater robot to enable a wireless charging receiving module of the underwater robot to be aligned with the wireless charging transmitting module of the underwater charging pile.
CN202310395442.XA 2023-04-13 2023-04-13 Underwater charging pile and charging method of underwater robot Pending CN116581837A (en)

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CN202310395442.XA CN116581837A (en) 2023-04-13 2023-04-13 Underwater charging pile and charging method of underwater robot

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117380595A (en) * 2023-12-06 2024-01-12 中国海洋大学 Can clear up electric pile cleaning structure that fills electric port of robot under water

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117380595A (en) * 2023-12-06 2024-01-12 中国海洋大学 Can clear up electric pile cleaning structure that fills electric port of robot under water
CN117380595B (en) * 2023-12-06 2024-02-27 中国海洋大学 Can clear up electric pile cleaning structure that fills electric port of robot under water

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