Bidirectional information transmission system and method for underwater close-range docking, and device

Abstract

The present invention relates to the technical field of underwater docking. Disclosed are a bidirectional information transmission system and method for underwater close-range docking, and an electronic device. The system comprises a docking mechanism that comprises a first camera, an information lamp array, and a first single chip microcomputer. The first camera is used for collecting image data of an underwater robot and acquiring robot information on the basis of the image data; the first single chip microcomputer is used for determining the relative position of the underwater robot and the docking mechanism, calculating motion adjustments required for the underwater robot to achieve successful docking, and controlling the working state of the information lamp array on the basis of the required motion adjustments; the underwater robot comprises a second camera and a second single chip microcomputer; the second camera is used for collecting image data of the information lamp array and acquiring digital information on the basis of the image data, and the second single chip microcomputer adjusts the position and attitude of the underwater robot on the basis of the digital information. According to the present invention, dynamic light signals are utilized to navigate the underwater robot, improving the decking precision and efficiency.

Description

Two-way information transmission system, method and equipment for underwater close-range docking Technical Field

[0001] The present invention relates to the technical field of underwater docking, and in particular to a two-way information transmission system, method and electronic equipment for underwater close-range docking. Background Art

[0002] Current short-distance underwater docking and navigation technologies rely primarily on one-way information transmission. The underwater robot passively receives information, and the amount of information transmitted is relatively small. Therefore, the underwater robot must utilize a variety of sensors and algorithms to interpret this limited information, thereby determining posture deviations and making adjustments. For example, navigation can be achieved by acquiring information from the docking structure through optical, acoustic, and magnetic guidance methods.

[0003] For pure optical (visual) navigation, this method is mainly used in close-range docking processes, and its technical implementation relies on installing four light sources on the docking structure to form a regular square layout. When the underwater robot is observed from the center position directly in front of the docking structure, the distance between the four light sources should theoretically remain consistent. However, if the underwater robot is offset relative to the docking structure, the side lengths of the square formed by the four light sources will be different, and the offset of the underwater robot relative to the docking structure can be calculated based on this change. Although this technology has undergone years of iteration and optimization, it still has some limitations; for example, interference from natural light may affect the recognition of light source signals, resulting in navigation yaw; in addition, the transmission of information in this method is unidirectional and the information density is low, which limits its application effect in complex underwater environments.

[0004] Acoustic-optical fusion navigation systems are designed for long-distance docking missions. Long-distance navigation relies on acoustic signals to guide underwater vehicles (AUVs) to a range where optical navigation can provide sufficient accuracy, and then uses optical means for precise guidance. However, during close-range docking, the inherent latency of acoustic communication is large, making the system less efficient in performing precise positioning and attitude adjustments.

[0005] For magnetic navigation, the magnetic docking process involves designing and installing permanent magnets on an underwater vehicle (AUV) and a docking station or another robot. These magnets are arranged so that when the two objects approach, the tail magnets rotate in an automatic, attractive force, guiding the AUV passively into alignment. The initial guidance phase does not require extreme precision; it suffices to ensure the AUV is within the effective attraction range of the magnets. As the AUV approaches, the attractive force between the magnets takes effect, automatically guiding the AUV to the correct docking position. Once magnetic alignment is achieved, additional mechanical means (such as screws or a robotic arm) are typically employed to secure the connection between the two objects and ensure stability. To undocking, the two objects can be separated by changing the orientation of the magnets or by using a mechanical system to push them apart. This magnetic docking method is favored for its simplicity and passive nature, making it particularly suitable for energy-constrained underwater vehicles, as it consumes virtually no additional energy during the docking process. However, this technical solution has several drawbacks: magnetic navigation is difficult to identify at long distances and has relatively low accuracy. Furthermore, it requires pre-deployed underwater devices with sufficient magnetic force, which is costly. Furthermore, the AUV's magnetic field sensing components are complex and lack reliability. Furthermore, when the environment is densely populated with metallic components, magnetic field interference is severe, making accurate identification difficult. For ultra-short baseline acoustic navigation, this approach uses an ultra-short baseline (USBL) system to navigate and assess the probability of successful docking for autonomous underwater vehicles (AUVs). A modular and cascaded Kalman filter (KF) approach is proposed, leveraging a suite of underwater navigation sensors (including a USBL, Doppler velocity log (DVL), compass, and gyroscope) to estimate the AUV's heading, azimuth, position, and velocity relative to the docking station. Based on this sensor data, the AUV calculates its distance and direction to the docking station, further improving navigation accuracy by combining velocity and yaw rate information provided by the compass and gyroscope. During the docking process, the AUV first receives signals from the docking station using the USBL system. The signal's range and direction information, combined with compass-derived azimuth information, determines its position relative to the docking station. Then, using velocity and yaw rate information from the DVL and gyroscope, a cascaded KF filter further improves navigation accuracy. Finally, the covariance information output by the KF is used to calculate the probability of successful docking. The AUV then uses this probability to determine whether to continue docking or take corrective measures to improve the docking success rate. This technical solution has the following drawbacks: acoustic navigation, especially ultra-short baseline acoustic navigation, places high demands on the AUV's sensors and signal processing. It requires a large number of acoustic devices, which are large in size. Accuracy improvements rely heavily on improvements in computing power and algorithms, making it less suitable for small / micro robots.

[0006] Summary of the Invention

[0007] In order to solve at least one of the technical problems existing in the prior art to a certain extent, the purpose of the present invention is to provide a two-way information transmission system, method and electronic equipment for underwater close-range docking.

[0008] The technical solution adopted in the present invention is:

[0009] A two-way information transmission system for underwater close-range docking, comprising:

[0010] The docking mechanism includes a first camera, an information light array, and a first single-chip microcomputer; the first camera is used to collect image data of the underwater robot and obtain robot information based on the image data; the first single-chip microcomputer is used to determine the relative position of the underwater robot and the docking mechanism based on the robot information, calculate the movement adjustments required for the underwater robot to successfully dock, and control the working state of the information light array according to the required movement adjustments;

[0011] The underwater robot includes a second camera and a second single-chip microcomputer; the second camera is used to collect image data of the information light array and obtain digital information based on the image data; the second single-chip microcomputer adjusts the position and posture of the underwater robot according to the digital information to achieve docking.

[0012] Furthermore, the first camera is a programmable visual camera with a built-in image processing algorithm for collecting images of the underwater robot and obtaining posture information and position information of the underwater robot after processing the images.

[0013] Furthermore, the information light array is an n×n LED light array, where n is an integer greater than or equal to 2; the binary number "0" or "1" is transmitted by turning the LED lights on or off.

[0014] Furthermore, when the camera resolution is insufficient or the underwater robot is far away from the docking mechanism, the entire information light array is divided into multiple areas of equal size, and all the lamp beads in the same area light up or go out at the same time to represent the binary number "1" or "0".

[0015] Furthermore, the information light array is an n×n LED light array, which is divided into n rows, each row is an area, and there are n areas in total, and each area represents an n-bit digital information.

[0016] Furthermore, the information light array includes a plurality of color-changing LED lights, and the change of color represents the change of the transmitted information; and / or,

[0017] The information light array includes multiple LED lights, which transmit information by flashing the light beads, and different flashing frequencies represent different information.

[0018] Another technical solution adopted in the present invention is:

[0019] A two-way information transmission method for underwater close-range docking, applied to the above-mentioned two-way information transmission system for underwater close-range docking, comprises the following steps:

[0020] When docking begins, the information light array in the docking mechanism displays the initial light array information;

[0021] The underwater robot collects light array information through the second camera, and the second single chip microcomputer adjusts the movement direction and movement posture of the underwater robot according to the light array information;

[0022] The docking mechanism collects image data of the underwater robot through the first camera and obtains the robot's posture information based on the second image data; the first single-chip computer calculates the relative position relationship between the docking mechanism and the underwater robot based on the posture information, and determines whether there is a risk of yaw of the underwater robot during the docking process. If there is a risk of yaw, the first single-chip computer calculates the action adjustment required for the underwater robot and controls the working state of the information light array according to the action adjustment required;

[0023] After the underwater robot collects the changed light array information, it corrects the route according to the light array information to achieve successful docking between the underwater robot and the docking mechanism.

[0024] Furthermore, the two-way information transmission method further includes the steps of unloading and recovering the underwater robot:

[0025] When unloading, the underwater robot is close to the docking mechanism, and the information light array in the docking mechanism displays the first light array information;

[0026] The second single chip computer controls the underwater robot to move to a target position away from the fortress according to the information of the first light array;

[0027] The docking mechanism captures and locks the underwater robot in real time, and determines whether the underwater robot has reached the set target position or whether there is a risk of yaw;

[0028] If it is detected that the underwater robot has reached the target position, the information light array in the docking mechanism displays the second light array information;

[0029] If a yaw risk is detected, the docking mechanism determines the yaw direction and current position of the underwater robot, calculates the adjustment information of the underwater robot, and controls the information light array to display the third light array information based on the adjustment information;

[0030] After the underwater robot collects the second light array information, it controls the underwater robot to return to the fortress; after the underwater robot collects the third light array information, it adjusts the route according to the third light array information;

[0031] After detecting that the underwater robot has returned to the fort, the information light array in the docking mechanism displays the fourth light array information to make the underwater robot stay in the preset position.

[0032] Furthermore, the underwater two-way information transmission system includes a plurality of docking mechanisms, and the two-way information transmission method further includes a directional cruising step of the underwater robot:

[0033] The docking mechanism display light array information is controlled in sequence according to a preset order to control the underwater robot to perform directionally cruising between multiple docking mechanisms according to a preset route.

[0034] Another technical solution adopted in the present invention is:

[0035] An electronic device, comprising:

[0036] at least one processor;

[0037] at least one memory for storing at least one program;

[0038] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0039] The present invention provides a technical solution for bidirectional information transmission with high information density. By actively acquiring the underwater robot's posture and position information in real time through machine vision and using implicit information communication with dynamic light signals to navigate the underwater robot, the system improves docking accuracy and efficiency, particularly enhancing its applicability in complex situations. Furthermore, the present invention utilizes simple equipment, is low-cost, and is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following introduction is made to the drawings of the embodiments of the present invention or the related technical solutions in the prior art. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0041] FIG1 is a schematic diagram of a two-way information transmission system for underwater close-range docking according to an embodiment of the present invention;

[0042] FIG2 is a schematic diagram of a docking mechanism according to an embodiment of the present invention;

[0043] FIG3 is a front view of an information light array according to an embodiment of the present invention;

[0044] FIG4 is a schematic diagram of partitioning the information light array in an embodiment of the present invention;

[0045] FIG5 is a schematic diagram showing each region representing a binary number in an embodiment of the present invention;

[0046] FIG6 is a schematic diagram of the visible light color transition of the information light array according to an embodiment of the present invention;

[0047] FIG7 is a schematic diagram of an underwater robot according to an embodiment of the present invention;

[0048] FIG8 is a schematic diagram of the docking process between the docking mechanism and the underwater robot according to an embodiment of the present invention;

[0049] 9 is a schematic diagram of an underwater robot unloading and recycling an embodiment of the present invention;

[0050] FIG10 is a schematic diagram of the directional cruising of the underwater robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided for ease of explanation only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0052] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0053] In the description of the present invention, the meaning of "several" is one or more, the meaning of "many" is two or more, and "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of the first and the second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features. In addition, "and / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship.

[0054] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0055] As shown in FIG1 , this embodiment provides a two-way information transmission system for underwater close-range docking. The system mainly consists of two parts: an underwater robot 1 - 1 to be docked and a docking mechanism 1 - 2 .

[0056] As shown in Figure 2, the docking mechanism consists of an image processing module 2-1 (i.e., the first camera), an information light array 2-2, a single-chip microcontroller 2-3 (i.e., the first single-chip microcontroller, located within the mechanical structure), and other necessary mechanical and electronic components. Image processing module 2-1 is a programmable visual camera with a built-in image processing algorithm that can capture and perform simple image processing. Image processing module 2-1 in the docking mechanism is used to capture the underwater robot's posture and position, and after simple processing, transmits this information to single-chip microcontroller 2-3. Single-chip microcontroller 2-3 in the docking mechanism is programmed with pre-programmed code. After receiving information from image processing module 2-1, it can determine the relative position of the underwater robot and the docking mechanism, calculate the necessary motion adjustments for the underwater robot to successfully dock, and issue corresponding instructions to change the light array information, conveying the necessary motion adjustments to the underwater robot in the form of binary information.

[0057] The information light array consists of multiple small LEDs that can be controlled to produce different patterns, control the color of visible light, and vary the flashing frequency, thereby conveying information. See Figure 3 , where 3-1 is an off LED, 3-2 is an on LED emitting red light, and 3-3 is an on LED emitting yellow light. Other electronic components and basic circuitry provide power and transmit information between the image processing module, information light array, and microcontroller. The necessary mechanical structure ensures the image processing module, information light array, microcontroller, and other electronic components function properly underwater.

[0058] As one of the innovative features of the present invention, the information light array has multiple ways to transmit information, and the principles are as follows: The first way, which is also the most commonly used way, is that the information light array represents binary digits by turning the information light array beads on and off. The lighting or extinguishing of each bead represents the information "1" or "0" in the binary digit. Taking the 8×8 information light array in Figure 3 as an example, by using the lighting and extinguishing of the 64 beads in the information light array, 64 binary digits "0" or "1" can be obtained. The digits and information represented by them are agreed upon, thereby transmitting binary information to the underwater robot. The entire information light array can also be divided into multiple areas of equal size. Each area can represent one of the binary digits. If all the beads in an area are fully lit, it means that the number on the binary digit represented by this area is "1". Similarly, if all the beads in an area are fully extinguished, it means that the number on the binary digit represented by this area is "0". By agreeing in advance on the information represented by the transmitted binary digits, the purpose of transmitting information to the underwater robot in binary form can be achieved using visible light, an implicit information transmission method, rather than explicit information transmission methods such as radio.

[0059] If the image processing module's resolution is insufficient or the underwater robot is far from the docking mechanism, the entire information light array can be artificially divided into multiple equal-sized areas. The simultaneous lighting or extinguishing of all the lamps in an area represents a binary digit of "1" or "0." By specifying the number of bits of the binary digit represented by each area, a complete binary message can be transmitted, making it easier for the underwater robot's image processing module to receive it. As shown in Figure 4, an 8×8 information light array is divided into four equal-sized areas, each containing 4×4 lamps. From left to right and top to bottom, each area represents the first digit 4-1, second digit 4-2, third digit 4-3, and fourth digit 4-4 of a binary number. Lighting all the lamps in an area represents a "1" in that binary digit, while extinguishing all the lamps in that area represents a "0" in that binary digit. Therefore, the binary number output by Figure 4 is "1110." In this way, an entire area of ​​the information light array represents a single bit of a binary digit, thus resolving the issues of insufficient image processing module resolution and the long distance between the underwater robot and the docking mechanism.

[0060] When a message light array needs to simultaneously transmit multiple messages or issue a more complex command, it can also be divided into multiple zones, each representing a single binary message. As shown in Figure 5, an 8×8 message light array is divided into 8 rows, each row representing a zone, for a total of 8 zones, which can transmit 8 binary messages. Each zone contains 8 LEDs, and the lighting or extinguishing of each LED represents a binary digit. Therefore, a zone can represent a digital message in the range of 0-255. Each message can represent different meanings, such as yaw angle, speed, depth, etc. As shown in Figure 5, the first row of binary information represents the yaw angle of 30°; the second row represents the speed of 10 cm / s; and the third row represents the depth of 100 cm. By predetermining the meaning of each binary message, multiple binary messages with different meanings or a complex command requiring multiple parameter variables can be sent simultaneously.

[0061] The first method uses the lighting and extinguishing of lamp beads to represent the binary digits "1" and "0." In addition to this method, the information light array can also transmit information through the second method, namely, using the color of the visible light emitted by the information light array. Different colors of visible light from the information light array represent different information, and the change in color represents the change in the transmitted information, as shown in Figure 6. Thirdly, the information light array can also transmit information by flashing the lamp beads, with different flashing frequencies representing different information. In summary, the three implicit collaborative methods of representing binary digits by turning the lamp beads on and off, using visible light color, and using visible light flashing frequency each have their own advantages and disadvantages. They can be used separately or in combination. Through this implicit collaborative method of information, the information light array can smoothly transmit information to the underwater robot for docking. As an optional implementation, a data verification function can be added through the flashing frequency. For example, the information light array has two pages of information, which are switched by flashing. The first page is the information to be transmitted, and the second page is the verification information (which is obtained by adding the data of the first page to the specified size data). After the underwater robot receives the first page of information at the other end, it also adds the specified size of data and verifies this data with the second page of data to see whether the data is correct, thereby achieving the verification function.

[0062] Referring to Figure 7, the underwater robot is composed of an image processing module 7-1 (i.e., the second camera), a single-chip microcomputer 7-2 (i.e., the second single-chip microcomputer), and other mechanical structures and electronic components. The image processing module 7-1 can capture and lock the underwater light source, thereby converting the received information light array pattern into binary information. The circuit transmits the binary information obtained by the image processing module 7-1 to the single-chip microcomputer 7-2. After receiving the binary information given by the information light array, the single-chip microcomputer 7-2 sends instructions to other electronic components that control the mechanical structure, thereby changing the position and posture of the underwater robot so that the docking can be completed smoothly. It should be noted that the underwater robot in the present invention is not limited to an underwater fish-shaped robot, but can also be a robot of other shapes. These robots with the function of swimming in water should all fall within the scope of protection of this application.

[0063] Referring to Figure 8 , the entire process of successfully docking an underwater robot with a docking mechanism using the aforementioned information transmission system for bidirectional information transmission is as follows: At the start of docking, the underwater robot and the docking mechanism are at a certain distance, and the information light array in the docking mechanism displays an initial light array signal. The underwater robot's OpenMV visual camera captures and locks onto the visible light source of the information light array. It receives and performs simple processing on the image of light array signal 1, which is then transmitted by a circuit to the underwater robot's microcontroller. The microcontroller analyzes and interprets the binary information conveyed by the light array and, based on this information, controls other electronic components and mechanical structures, thereby controlling the underwater robot's direction and posture. Simultaneously, the image processing module in the docking mechanism remains operational, capturing and locking onto the underwater robot's image. After simple processing, the information is transmitted to the microcontroller in the docking mechanism. Based on this information, the microcontroller in the docking mechanism calculates the relative positional relationship between the docking mechanism and the underwater robot, thereby determining whether the underwater robot is at risk of yaw during the docking process. If there's a risk of yaw, the microcontroller within the docking mechanism quickly calculates how to adjust the underwater robot's direction and posture to ensure a successful docking. It then transmits the corresponding instructions to the underwater robot in the form of light array information, controlled by a circuit. After capturing the altered light array information, the underwater robot's image processing module performs simple processing and transmits this information to the microcontroller, which then issues instructions to change the underwater robot's direction and posture, thereby correcting the course and successfully docking the underwater robot and docking mechanism.

[0064] The system in this embodiment is an underwater information transmission system based on implicit information collaboration. It can solve a series of problems associated with underwater robot docking when there are few reference points and no human input and instructions. This information transmission method offers advantages such as high speed and large information capacity for short-distance underwater information transmission. It is highly practical and can be applied to a wide range of practical scenarios. The following examples illustrate the use of underwater robots for unloading and recovering objects and directional navigation.

[0065] Example 1: Unloading and Recovering of Stacks by Underwater Robot

[0066] As shown in Figure 9, when unloading a dock, the underwater robot is relatively close to the docking mechanism, and the information light array in the docking mechanism displays Light Array Information 1. The underwater robot's image processing module receives the image of Light Array Information 1, performs simple processing, and transmits this information to the microcontroller. The microcontroller controls other electronic components to direct the underwater robot toward a target position away from the docking opening. The image processing module in the docking mechanism captures and locks onto the underwater robot in real time. After performing simple processing on the image of the underwater robot, the microcontroller transmits this information to the microcontroller. The microcontroller uses this information to calculate the relative position of the underwater robot and the docking mechanism, thereby determining whether the underwater robot has reached the target position and whether there is any risk of yaw. When the microcontroller in the docking mechanism detects that the underwater robot has reached the target position, it issues a command to change the pattern on the information light array to Light Array Information 2. At this point, the underwater robot's image processing module detects the change in Light Array Information 1, processes the new pattern, and transmits it to the microcontroller. After receiving Light Array Information 2, the microcontroller controls other electronic components to change the underwater robot's motion state, causing the underwater robot to return to the docking opening. If the underwater robot yaws due to some factors during its movement, the OpenMV camera in the docking mechanism will first capture the robot's abnormal position, process the image, and transmit it to the docking mechanism's microcontroller. The microcontroller determines the robot's yaw direction and current position, calculates how the robot should adjust, and converts the instructions for the robot to make adjustments into binary information. This information controls the information light array and transmits the adjustment instructions to the underwater robot in the form of light array information 3. The image processing module in the underwater robot receives the pattern conveyed by the information light array, performs simple processing, and transmits the information to the microcontroller. After receiving the adjustment instructions, the microcontroller controls the other electronic components of the underwater robot to make adjustments, thereby returning the underwater robot to its original course. After the underwater robot returns to the crenel, the OpenMV camera in the docking mechanism captures the image of the underwater robot, processes it, and transmits it to the microcontroller in the docking mechanism. The microcontroller calculates the robot's position and determines that the robot has returned to the crenel. It then converts the instructions for the underwater robot to stop at its current position into binary information and controls the information light array, which converts the pattern into light array information 4. The image processing module in the underwater robot receives the pattern conveyed by the information light array, performs simple processing, and transmits the information to the single-chip microcontroller. After receiving the adjustment command, the single-chip microcontroller controls the other electronic components of the underwater robot to make adjustments, so that the underwater robot stays in place. This allows the underwater robot to complete a stacking and recovery without other reference points or human radio commands.

[0067] Example 2: Random multi-target cruising of underwater robots

[0068] As shown in Figure 10, the process of directional cruising requires multiple docking mechanisms, the number of which depends on the cruise route. Taking route ABCA as an example, this embodiment requires three docking mechanisms, A, B, and C, placed at points A, B, and C, respectively, each displaying different light array information 1, light array information 2, and light array information 3. The underwater robot departs from point A and next needs to travel to point B. The underwater robot's image processing module captures light array information 2 from light array B at point B. After simple processing, it sends light array information 2 to the underwater robot's microcontroller. The microcontroller determines whether this light array information corresponds to the light array information 2 provided by the docking mechanism at the desired point B, thereby avoiding locking onto the wrong docking mechanism. If the microcontroller successfully determines this, it controls other electronic components to direct the underwater robot toward point B. The image processing module of docking mechanism B at point B captures the underwater robot's image, briefly processes it, and transmits it to the microcontroller in docking mechanism B. The microcontroller calculates the relative distance between the underwater robot and docking mechanism B, thereby inferring the distance between the underwater robot and point B. When the microcontroller calculates that the underwater robot has reached point B, it converts the command for the underwater robot to move toward docking mechanism C into binary information. This command is then transmitted to the underwater robot by converting light array information 2 of the information light array in docking mechanism B into light array information 4. The image processing module in the underwater robot receives light array information 4 and processes it before transmitting it to the underwater robot's microcontroller. Upon receiving light array information 4, the microcontroller stops locking onto the information light array at point B and controls other electronic components to direct the underwater robot toward point C at the set cruising angle and speed. The image processing module in the underwater robot captures light array information 3 of the information light array at point C, locks onto point C, and transmits the processed image to the underwater robot's microcontroller. After receiving light array information 3, the microcontroller controls other electronic components to direct the underwater robot toward point C. Similarly, after the underwater robot reaches point C, the docking mechanism and the underwater robot operate in the same manner, returning the underwater robot to point A, thus completing a directional cruise without human radio control.

[0069] In summary, the underwater close-range docking two-way information transmission system of the present invention has the following advantages and beneficial effects compared to existing technical solutions:

[0070] (1) In terms of information interaction, existing technical solutions all use open-loop control with unidirectional information flow. In this technical solution, information is transmitted bidirectionally, and the information density is high. The underwater fish-shaped robot can obtain the environmental position from the information light array through the camera. At the same time, the docking mechanism also senses the position and status of the robot fish through the camera, achieving more precise control of the robot fish.

[0071] (2) In terms of implementation difficulty, most existing solutions enhance environmental perception through multi-sensor fusion information processing, which greatly increases the computing power requirements of the onboard equipment. In contrast, this solution only uses cameras and light arrays. Through simple light beam arrangement, it is easy to extract information from the image and has lower computing power requirements. Part of the computing power can be borne by the docking mechanism and then transferred to the robot fish.

[0072] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0073] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

[0074] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A two-way information transmission system for underwater close-range docking, characterized in that: include: The docking mechanism includes a first camera, an information light array, and a first single-chip microcomputer; The first camera is used to collect image data of the underwater robot and obtain robot information based on the image data; the first single-chip computer is used to determine the relative position of the underwater robot and the docking mechanism based on the robot information, calculate the motion adjustments required for the underwater robot to successfully dock, and control the working state of the information light array according to the required motion adjustments; The underwater robot includes a second camera and a second single-chip microcomputer; the second camera is used to collect image data of the information light array and obtain digital information based on the image data; the second single-chip microcomputer adjusts the position and posture of the underwater robot according to the digital information to achieve docking.

2. A two-way information transmission system for underwater close-range docking according to claim 1, characterized in that: The first camera is a programmable visual camera with a built-in image processing algorithm for collecting images of the underwater robot and obtaining the posture information and position information of the underwater robot after processing the images.

3. A two-way information transmission system for underwater close-range docking according to claim 1, characterized in that: The information light array is an n×n LED light array, where n is an integer greater than or equal to 2; the binary number "0" or "1" is transmitted by turning the LED lights on or off.

4. A two-way information transmission system for underwater close-range docking according to claim 3, characterized in that: When the camera resolution is insufficient or the underwater robot is far away from the docking mechanism, the entire information light array is divided into multiple areas of equal size. All the light beads in the same area light up or go out at the same time to represent the binary number "1" or "0".

5. The two-way information transmission system for underwater close-range docking according to claim 1, characterized in that: The information light array is an n×n LED light array, which is divided into n rows, each row is an area, and there are n areas in total. Each area represents an n-bit digital information.

6. A two-way information transmission system for underwater close-range docking according to claim 1, characterized in that: The information light array includes a plurality of color-changing LED lights, and the change of color represents the change of the transmitted information; and / or, The information light array includes multiple LED lights, which transmit information by flashing the light beads, and different flashing frequencies represent different information.

7. A two-way information transmission method for underwater close-range docking, applied to a two-way information transmission system for underwater close-range docking according to any one of claims 1 to 6, characterized in that: The following steps are involved: When docking begins, the information light array in the docking mechanism displays the initial light array information; The underwater robot collects light array information through the second camera, and the second single chip microcomputer adjusts the movement direction and movement posture of the underwater robot according to the light array information; The docking mechanism collects image data of the underwater robot through the first camera and obtains the robot's posture information based on the second image data; the first single-chip computer calculates the relative position relationship between the docking mechanism and the underwater robot based on the posture information, and determines whether there is a risk of yaw of the underwater robot during the docking process. If there is a risk of yaw, the first single-chip computer calculates the action adjustment required for the underwater robot and controls the working state of the information light array according to the action adjustment required; After the underwater robot collects the changed light array information, it corrects the route according to the light array information to achieve successful docking between the underwater robot and the docking mechanism.

8. The method for two-way information transmission for underwater close-range docking according to claim 7, characterized in that: The two-way information transmission method further includes the steps of unloading and recovering the underwater robot: When unloading, the underwater robot is close to the docking mechanism, and the information light array in the docking mechanism displays the first light array information; The second single chip computer controls the underwater robot to move to a target position away from the fortress according to the information of the first light array; The docking mechanism captures and locks the underwater robot in real time, and determines whether the underwater robot has reached the set target position or whether there is a risk of yaw; If it is detected that the underwater robot has reached the target position, the information light array in the docking mechanism displays the second light array information; If a yaw risk is detected, the docking mechanism determines the yaw direction and current position of the underwater robot, calculates the adjustment information of the underwater robot, and controls the information light array to display the third light array information based on the adjustment information; After the underwater robot collects the second light array information, it controls the underwater robot to return to the fortress; after the underwater robot collects the third light array information, it adjusts the route according to the third light array information; After detecting that the underwater robot has returned to the fort, the information light array in the docking mechanism displays the fourth light array information to make the underwater robot stay in the preset position.

9. The method for two-way information transmission for underwater close-range docking according to claim 7, characterized in that: The underwater two-way information transmission system includes multiple docking mechanisms, and the two-way information transmission method also includes a directional cruising step of the underwater robot: The docking mechanism display light array information is controlled in sequence according to a preset order to control the underwater robot to perform directionally cruising between multiple docking mechanisms according to a preset route.

10. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a two-way information transmission method for underwater close-range docking as described in any one of claims 7-9.

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