Energy supply device and method for underwater robot, and unmanned boat

Abstract

The present invention provides an energy supply device and method for an underwater robot, and an unmanned boat, which solves the problem that the unmanned boat and the underwater robot rely on manual operation for energy supply, and the operation risk is relatively large and the efficiency is low. The energy supply device of the underwater robot includes: a charging cabin; a wireless charger, which is arranged in the charging cabin; an energy storage unit, which is arranged outside the charging cabin and is electrically connected to the wireless charger; an energy conversion unit, which is arranged outside the charging cabin and is connected to the energy storage unit, and is used to convert light energy into electrical energy and store the electrical energy in the energy storage unit.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering technology, and in particular to an energy supply device and method for an underwater robot and an unmanned ship. Background Art

[0002] With the rapid development of unmanned ship and underwater robot technology and products, more and more underwater detection operations can be completed by remote control unmanned ship + underwater robot + acoustic detection equipment. However, at this stage, after the energy of the unmanned ship and underwater robot is consumed, it can only be recovered to the deck of the supporting mother ship for energy replenishment, and it is inseparable from manual operation, which has high operation risks and low efficiency. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides an energy supply device and method for an underwater robot, and an unmanned boat, which solves the problem that unmanned boats and underwater robots rely on manual operation when performing energy replenishment, and have high operation risks and low efficiency.

[0004] An energy supply device for an underwater robot provided by one embodiment of the present invention comprises:

[0005] Charging Cabin;

[0006] A wireless charger is arranged in the charging cabin;

[0007] An electric energy storage unit is arranged outside the charging cabin and is electrically connected to the wireless charger;

[0008] The electric energy conversion unit is arranged outside the charging cabin and connected to the electric energy storage unit, and is used for converting light energy into electric energy and storing the electric energy in the electric energy storage unit.

[0009] In one embodiment, the charging cabin includes at least one storage compartment, and each storage compartment is provided with a wireless charger.

[0010] In one embodiment, a charging transmitter is provided in the charging cabin for automatically starting the charging mode.

[0011] In one embodiment, it also includes: a power module, which is arranged outside the charging cabin and is used to monitor the electric energy storage unit and perform energy management.

[0012] In one embodiment, the wireless charger uses electromagnetic induction wireless charging technology to transfer the power of the energy storage unit to the underwater robot.

[0013] In one embodiment, the electrical energy storage unit is a lithium battery pack.

[0014] A method for supplying energy to an underwater robot, comprising:

[0015] Convert light energy into electrical energy and store it;

[0016] Recovering the underwater robot to a charging cabin;

[0017] The stored electrical energy is transmitted to the underwater robot through wireless charging;

[0018] Determine whether the underwater robot has sufficient power. If so, stop charging to complete energy replenishment of the underwater robot.

[0019] In one embodiment, after the step of recovering the underwater robot to the charging cabin, the method further includes: detecting whether there is a receiving end, and if so, starting the charging mode.

[0020] In one embodiment, when executing the step of transmitting the stored electric energy to the underwater robot by wireless charging, it also includes: real-time monitoring of the charging status and receiving the electric power data of the underwater robot.

[0021] An unmanned boat comprises the energy supply device of the underwater robot mentioned above.

[0022] The embodiments of the present invention provide an energy replenishment device and method for an underwater robot and an unmanned boat. By arranging a charging cabin, a wireless charger, an energy storage unit, and an energy conversion unit, etc., the continuous replenishment of energy for the unmanned boat is achieved. The energy storage unit realizes energy storage, and the energy replenishment of the underwater robot is achieved through the charging cabin and the wireless charger, thereby greatly improving the long-term operation of the system. Combined with the unmanned autonomous deployment and recovery system, the unmanned energy recycling replenishment function of the system platform is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. 1 is a schematic structural diagram of an energy supply device for an underwater robot provided in one embodiment of the present invention.

[0024] Figure 2 Shown is a schematic structural diagram of a charging cabin provided in one embodiment of the present invention.

[0025] Figure 3 Shown is a schematic structural diagram of a charging cabin provided in another embodiment of the present invention.

[0026] Figure 4 FIG. 1 is a flow chart of an energy replenishment method for an underwater robot provided in another embodiment of the present invention.

[0027] Figure 5Shown is a flow chart of an unmanned boat operation diagram for deployment, recovery and energy replenishment of multiple underwater robots provided by another embodiment of the present invention.

[0028] Figure 6 Shown is a schematic diagram of an unmanned ship communication relay and its coordinated positioning with multiple underwater robots provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] At present, there are three application pain points in the combination of remote-controlled unmanned ships + underwater robots + acoustic detection equipment to complete underwater unmanned detection operations: First, surface underwater robots can only realize unmanned underwater detection, but the operation of unmanned ships requires the support of small and medium-sized support mother ships and operation teams, and the deployment and recovery of unmanned ships and underwater robots cannot be separated from manual operation; second, unmanned ships and underwater robots carry limited energy. When their own energy is consumed, they can only be recovered to the deck of the support mother ship for energy replenishment, and it is difficult to replenish energy underwater. If umbilical cables are used for energy replenishment, the scope and flexibility of detection operations will be affected; third, when a single underwater robot operates over ultra-long distances, communication or control failures are prone to occur, resulting in a greater risk of loss, and the operation data cannot be sent back to the command center in time, resulting in low operation efficiency.

[0031] With the development of artificial intelligence and Internet technology, wireless charging technology, robotic arm three-dimensional vision technology, multi-mode networking communication technology, etc. have been gradually applied and promoted in the industrial field, which has also brought technological innovation to underwater detection operations. In the future, underwater detection operations will inevitably develop in the direction of unmanned, collaborative and intelligent. In order to solve the above problems, this patent combines artificial intelligence and Internet technologies to propose an energy supply device and method for underwater robots and unmanned boats, which not only ensures the long-term operation of unmanned boats, but also can realize the energy cycle supply of underwater robots through autonomous deployment and recovery and wireless charging cabins, thus solving the technical problems of energy supply for unmanned boats and underwater robots.

[0032] This embodiment provides an energy supply device for an underwater robot, and the energy supply device is arranged on an unmanned ship 1. Figure 1 , Figure 2 and Figure 3As shown, the energy supply device of the underwater robot 2 includes: a charging cabin 4, an infinite charger, an electric energy storage unit 3 and an electric energy conversion unit 5.

[0033] The charging cabin 4 is used to store the underwater robot 2 and provide space support for charging the underwater robot 2. Optionally, the charging cabin 4 includes at least one storage compartment 401, and each storage compartment 401 is provided with a wireless charger. Specifically, two charging cabins 4 are arranged on the unmanned ship 1, respectively arranged on both sides of the moon pool on the main deck of the unmanned ship 1; each charging cabin 4 is composed of four underwater robot 2 storage compartments, and each storage compartment is provided with a wireless charger that can automatically start charging.

[0034] The wireless charger is arranged in the charging cabin 4 and is used to charge the underwater robot 2. Specifically, the wireless charger transmits the power of the power storage unit 3 to the underwater robot 2 by using electromagnetic induction wireless charging technology.

[0035] The power storage unit 3 is arranged outside the charging cabin 4 and is electrically connected to the wireless charger. Optionally, the power storage unit 3 is a lithium battery pack. Specifically, the power storage unit 3 is arranged on both sides of the bottom of the unmanned ship 1 hull, and is mainly used to provide power for the navigation of the unmanned ship 1 and store electric energy, and provide electric energy for the energy supply of the underwater robot 2.

[0036] The power conversion unit 5 is arranged outside the charging cabin 4 and connected to the power storage unit 3, and is used to convert light energy into electrical energy and store the electrical energy in the power storage unit 3. Optionally, the power conversion unit 5 is a photovoltaic panel. Specifically, the photovoltaic panel is arranged on the deck at the top of the unmanned ship 1.

[0037] In one embodiment of the present invention, the energy supply device of the underwater robot 2 also includes a charging transmitter 7, which is arranged in the charging cabin 4 and is used to automatically start the charging mode. The charging transmitter 7 wirelessly charges the underwater unmanned ship by magnetically coupling with the charging receiving terminal 3 of the underwater unmanned ship.

[0038] Specifically, a charging transmitter 7 is designed and arranged in each storage compartment in the charging cabin 4, and the charging transmitter 7 can be a ring-shaped wireless charging transmitter 7; the coil of the charging transmitter 7 adopts an arc S-shaped design, which can adapt to the arc shape of the underwater robot 2. When the underwater robot 2 is placed on the storage compartment, the transmitter on the storage compartment can automatically and intelligently detect whether there is a receiving terminal 8. When it is determined that there is a receiving terminal 8, the charging mode can be automatically turned on without accepting the power on and off command of the host computer. When the underwater robot 2 arrives at the designated position, the transmitter detects the receiving terminal 8 installed on the underwater robot 2 and automatically turns on the charging mode. At the same time, when wireless charging is performed, communication can also be carried out through the power carrier, thereby realizing energy replenishment and data interaction for the underwater robot 2.

[0039] Optionally, the charging transmitter 7 includes: at least two groups of parallel transmitting coils laid along the circumference of the outer surface of the underwater robot, the internal magnetic field direction of the transmitting coil is the same as the internal magnetic field direction of the receiving coil in the underwater robot, and the underwater robot is fixed by the underwater robot support part so that each group of transmitting coils and the same number of receiving coils in the underwater robot stored in the storage compartment are in the same central angle of the fan-shaped area, thereby making the spacing between each group of transmitting coils and the corresponding groups of receiving coils in the underwater robot equal everywhere. Among them, the support part can be a hardware device of a bracket structure, which is used to limit the stable state of the underwater robot when it is placed and the fixed spacing between the underwater robot and the transmitting coil.

[0040] In a specific example, the transmitting coils may be laid in a semicircular arc shape in the circumferential direction. For example, when the AUV has a hollow cylindrical shape and four sets of receiving coils are laid in parallel in the circumferential direction in the AUV, two sets of transmitting coils may be provided so that when the AUV is charged, the positions of the two sets of transmitting coils correspond exactly to the positions of the two sets of receiving coils in the AUV.

[0041] In a specific example, the charging transmitter 7 may further include: an inverter corresponding to each group of transmitting coils, the input end of the inverter is connected to direct current, and the output end of the inverter is connected to the input end of the corresponding transmitting coil.

[0042] In another specific example, the charging transmitter 7 may also include: a transmitter controller, which is used to receive a handshake signal sent by the wireless charging receiver 8 in the AUV, and when the handshake signal is received, controls the transmitting coil to switch from the first working mode to the second working mode, wherein the first working mode includes an intermittent working mode, and the second working mode includes a continuous working mode.

[0043] In one embodiment of the present invention, the energy supply device of the underwater robot 2 also includes a power module 6, which is arranged outside the charging cabin 4 and is used to monitor and manage the output and conversion of electric energy. Specifically, the power module 6 is arranged on the left side of the bow of the main deck of the unmanned ship 1, and mainly realizes the functions of lithium battery pack voltage-stabilized power supply output, photovoltaic energy storage conversion, wireless charging output and monitoring; wherein, the unmanned ship 1 is also provided with an energy management system, which can monitor the state of the lithium battery pack in real time, such as the power, voltage, charging current, and discharge current, and intelligently manage the energy of the entire system.

[0044] This embodiment provides an energy supply method for an underwater robot 2, such as Figure 4 As shown, the energy replenishment method of the underwater robot 2 includes:

[0045] Step 01: Convert light energy into electrical energy and store it. Specifically, the photovoltaic panels on the top deck of the unmanned ship 1 can convert light energy into electrical energy and store it in the electrical energy storage unit 3 arranged on both sides of the bottom of the unmanned ship 1.

[0046] Step 02: Recover the underwater robot 2 to the charging cabin 4. Specifically, the unmanned ship 1 remotely receives the operation task from the shore-based command center at the port or sea area, and the unmanned ship 1 autonomously plans the track according to the operation task and autonomously navigates to the target sea area; the unmanned ship 1 autonomously deploys the underwater robot 2 in sequence through the mechanical arm on the unmanned ship 1, and the underwater robot 2 cooperates with the network to autonomously perform the underwater detection operation task; when the power of the underwater robot 2 is insufficient (lower than the preset value, optionally, the preset value can be 15% of the total power), the underwater robot 2 automatically floats up and sends a recovery signal; after receiving the recovery signal, the unmanned ship 1 autonomously drives to a position near the underwater robot 2; the unmanned ship 1 releases the underwater towed docking device through the electric winch, and the underwater robot 2 and the underwater docking device are accurately docked through the sound and light positioning, and the underwater robot 2 is locked and fixed; after the electric winch recovers the underwater docking device and the underwater robot 2 to the fixed position of the unmanned ship 1, the underwater robot 2 is automatically grasped by the mechanical arm and recovered to a storage compartment 401 of the charging cabin 4.

[0047] Step 03: The stored electric energy is transmitted to the underwater robot 2 by wireless charging. After the underwater robot 2 is recovered into the charging cabin 4, the underwater robot 2 performs wireless charging and data exchange in the charging cabin 4.

[0048] Specifically, after the underwater robot 2 is recovered into a storage compartment 401 in the charging cabin 4, the charging transmitter 7 in the storage compartment 401 of the charging cabin 4 detects whether there is a receiving terminal 8. If so, the wireless charger in the storage compartment 401 of the charging cabin 4 automatically turns on the charging mode to charge the unmanned boat 1.

[0049] In the process of charging the unmanned boat 1 , the energy supply device of the underwater robot 2 monitors the charging status and receives the power data of the underwater robot 2 in real time.

[0050] Step 04: Determine whether the underwater robot 2 has sufficient power. If so, stop charging to complete the energy supply of the underwater robot 2. The unmanned ship 1 determines whether the underwater robot 2 has sufficient power based on the power data of the underwater robot 2. When the power of the underwater robot 2 is greater than or equal to a preset threshold (optionally, the preset threshold is 95% of the total power of the underwater robot 2), it is determined that the underwater robot 2 has sufficient power. The underwater robot 2 can be grabbed by the robotic arm of the unmanned ship 1 again, and can be autonomously deployed and autonomously dived for detection operations; when the power of the underwater robot 2 is insufficient, it can be autonomously recovered and charged, and this cycle is repeated until the operation task is completed; after all the operation tasks are completed, the unmanned ship 1 recovers the underwater robot 2, automatically performs track planning, and returns to the port terminal.

[0051] Through the energy supply device and energy supply method of the underwater robot 2 described in the above embodiment of the present invention, the fully autonomous deployment, recovery and energy supply of the underwater robot 2 are realized, and the underwater operation collaborative networking of the underwater robot 2 and the communication relay with the shore-based command center are fully automated and unmanned, thereby greatly improving the operation efficiency and operation time of the underwater robot 2.

[0052] This embodiment provides an unmanned ship 1, such as Figure 5 The flowchart is a schematic diagram of the operation of the unmanned boat 1 for deploying, recovering and recharging multiple underwater robots 2. The unmanned boat 1 includes the energy recharging device of the underwater robot 2 described in the above embodiment. In addition, the unmanned boat 1 also includes a deployment and recovery system and a communication, navigation and positioning system. Specifically:

[0053] The deployment and recovery system is mainly composed of a seven-function mechanical arm, an electric winch, and an underwater towed docking device. The underwater towed docking device is fixed in the bottom limit structure of the unmanned ship 1. It adopts a trumpet structure and has large horizontal wing plates on both sides, which can enable the underwater propulsion device to always maintain a micro-horizontal posture during the forward towing process. At the same time, a vertical wing plate is designed in the middle area of ​​the tail of the underwater towed docking device to maintain the heading stability of the underwater docking device, effectively reducing its rolling motion and improving the docking stability with the underwater robot 2. An electric lock ring mechanism is designed inside the bow of the underwater docking device. The closing and opening of the two-finger lock ring is controlled by an electric motor, so as to achieve the clamping and fixing of the underwater robot 2 after entering the underwater docking device. The underwater docking device has built-in acoustic positioning systems and optical positioning systems, which can realize communication positioning and underwater precise docking with the underwater robot 2. The front end of the underwater towed docking device is connected to the electric winch of the unmanned ship 1 through an umbilical cable, and the electric winch can be used to realize the lowering and recovery of the docking device. Two optical position sensors are arranged in the bottom limit structure of the unmanned ship 1. When the underwater towed docking device is stretched into the bottom limit structure of the unmanned ship 1, the sensor laser is blocked, triggering the position feedback signal, and the electric winch is automatically locked to ensure that the docking device and the unmanned ship 1 are relatively stable and fixed, so that the robotic arm can grab the underwater robot 2. The electric winch is arranged in the middle area of ​​the bow of the main deck of the unmanned ship 1. The winch is wrapped with an optoelectronic composite umbilical cable. The umbilical cable is connected to the underwater towed docking device through two fixed pulleys. It is mainly used to lower and recover the underwater docking device, transmit power and communication to the underwater docking device, and realize the recovery of the underwater docking device to the fixed position of the unmanned ship 1. The seven-function robotic arm is arranged in the middle area of ​​the front end of the moon pool. A longitudinal electric slide is installed at the bottom of the robotic arm to realize the forward and backward movement of the robotic arm as a whole. A gripper and a binocular depth camera are installed at the end of the manipulator. By controlling the opening and closing of the gripper, the underwater robot 2s can be grasped. A pressure sensor is arranged at each end of the gripper to feedback the clamping force signal of the gripper. When the clamping force reaches the set value, it is fed back to the autopilot of the unmanned ship 1. The autopilot then sends an action command to the underwater docking device to release the left and right slider clamping mechanisms. The manipulator then grabs the underwater robot 2 and transports it to the appropriate position of the wireless charging compartment to ensure that the underwater robot 2 is firmly clamped and successfully recovered. The binocular depth camera at the front end of the gripper is mainly used to assist the manipulator in target recognition and position determination to ensure the stability of the recovery and deployment of the underwater robot 2. Inside the cabin of the unmanned boat 1, a three-dimensional camera is also arranged on the top of the robotic arm, which is mainly used to perform three-dimensional construction of the interior of the unmanned boat 1 and identify the storage status of the underwater robot 2 in the wireless charging cabin. When the underwater robot 2 is recovered, the robotic arm is assisted to determine which storage compartment to recover the underwater robot 2 to. When the underwater robot 2 is deployed, it is determined which underwater robot 2 is to be deployed, thereby realizing intelligent management of the storage of the underwater robot 2.

[0054] like Figure 6 As shown in the figure, the communication, navigation and positioning system is mainly composed of inertial navigation, GPS, AIS, Beidou, acoustic positioning system, navigation radar, obstacle avoidance system, antenna system, ultra-short baseline and acoustic communicator. The inertial navigation + GPS + navigation radar + obstacle avoidance system is mainly used for navigation, positioning and obstacle avoidance of the unmanned ship 1, and realizes the autonomous navigation of the track planning of the unmanned ship 1. The transducer of the ultra-short baseline acoustic positioning system is arranged at the bottom of the unmanned ship 1, and is mainly used for acoustic ranging and positioning with the transponders installed on each underwater robot 2 and the underwater docking device. The ultra-short baseline positioning system adopts a multi-purpose acoustic beacon, which can track more than a dozen positioning targets at the same time and exchange two-way data. Beidou and wireless digital image transmission can realize ultra-long-distance and short-distance remote communication between the unmanned ship 1 and the shore-based command center, and are used to receive task instructions and transmit task data information. The underwater acoustic communicator is arranged at the bottom of the right cabin of the unmanned ship 1, and is mainly used for acoustic communication with the acoustic modem installed on the underwater robot 2 to issue tasks or feedback status information. The unmanned boat 1 serves as a communication relay between the underwater robot 2 and the shore-based command center, realizes data interaction between the shore-based and the underwater robot 2, transmits underwater operation task data to the command center in a timely manner, and sends new operation tasks to the underwater robot 2.

[0055] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0056] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0057] In addition, each functional unit in each embodiment of the present invention can be integrated into a processing unit 20, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program check codes.

[0058] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the security protection method described in the above embodiment.

[0059] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An energy supply device for an underwater robot, characterized in that: The energy supply device is arranged in a cabin on the unmanned ship, and includes: A charging cabin, the charging cabin comprising at least one storage compartment, each of which is provided with a wireless charger; A wireless charger is arranged in the charging cabin; An electric energy storage unit is arranged outside the charging cabin and is electrically connected to the wireless charger; an electric energy conversion unit, disposed outside the charging cabin and connected to the electric energy storage unit, for converting light energy into electric energy and storing the electric energy in the electric energy storage unit; A robotic arm, wherein a gripper is disposed at the end of the robotic arm, and the underwater robot is grasped and transported to a target storage compartment in the charging cabin by controlling the opening and closing of the gripper. A binocular depth camera is disposed at the front end of the gripper, and a three-dimensional camera is disposed at the top of the robotic arm, and the three-dimensional camera is used to perform three-dimensional construction of the interior of the unmanned boat and identify the storage status of the underwater robot in the charging cabin.

2. The energy supply device for an underwater robot according to claim 1, characterized in that: A charging transmitter is provided in the charging cabin for automatically starting the charging mode.

3. The energy supply device for an underwater robot according to claim 1, characterized in that: Also includes: The power module is arranged outside the charging cabin and is used to monitor and manage the output and conversion of electric energy.

4. The energy supply device for an underwater robot according to claim 1, characterized in that: The wireless charger uses electromagnetic induction wireless charging technology to transmit the power of the energy storage unit to the underwater robot.

5. The energy supply device for an underwater robot according to claim 1, characterized in that: The electric energy storage unit is a lithium battery pack.

6. A method for supplying energy to an underwater robot, characterized in that: Energy replenishment is performed using the energy replenishment device of the underwater robot according to any one of claims 1 to 5, and the energy replenishment method comprises: Convert light energy into electrical energy and store it; Recovering the underwater robot to a charging cabin; The stored electrical energy is transmitted to the underwater robot through wireless charging; Determine whether the underwater robot has sufficient power. If so, stop charging to complete energy replenishment of the underwater robot.

7. The energy supply method for an underwater robot according to claim 6, characterized in that: After the step of recovering the underwater robot to the charging cabin, the method further includes: detecting whether there is a receiving end, and if so, starting the charging mode.

8. The energy supply method for an underwater robot according to claim 6, characterized in that: When executing the step of transmitting the stored electric energy to the underwater robot by wireless charging, it also includes: real-time monitoring of the charging status and receiving the electric quantity data of the underwater robot.

9. An unmanned ship, characterized in that: An energy supply device for an underwater robot comprising any one of claims 1 to 5.

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