Robot recycling platform, method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a robot recycling platform, method, device and equipment and a storage medium. The robot recycling platform comprises a cabin; the clamping module is arranged below the cabin and comprises a first baffle and a second baffle which are arranged in parallel, a plurality of clamps are arranged on the side, close to the second baffle, of the first baffle and the side, close to the first baffle, of the second baffle correspondingly, and each clamp is connected with a corresponding first driver; the first drivers are used for driving the corresponding clamps to move along a first straight line, and the first straight line is parallel to the plane where the first baffle is located. The camera module is arranged outside the cabin, and the camera module is used for collecting image data of the underwater robot; the first driver and the camera module are electrically connected with the control module, and the control module is used for controlling the clamping module to recycle the underwater robot. According to the embodiment of the invention, the recovery loss of the underwater robot can be reduced, and the recovery efficiency of the underwater robot is improved.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of robotics technology, and in particular to a robotic recycling platform, method, device, equipment and storage medium. Background Art

[0002] At present, underwater robots are needed in unmanned aquaculture systems and underwater work scenarios such as marine scientific research. Underwater robots mainly rely on manual recovery, but the cost of manual recovery is high, the efficiency is low, and the recovery process is not standardized, which can easily cause collective damage to underwater robots. Summary of the invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The embodiments of the present application provide a robot recovery platform, method, device, equipment and storage medium, which can reduce the recovery loss of the underwater robot and improve the efficiency of recovering the underwater robot.

[0005] To achieve the above-mentioned objectives, the first aspect of an embodiment of the present application proposes a robot recovery platform, comprising: a cabin; a clamping module, arranged below the cabin, the clamping module comprising a first baffle and a second baffle arranged in parallel, a side of the first baffle close to the second baffle and a side of the second baffle close to the first baffle are respectively provided with a plurality of clamps, each of the clamps is connected to a corresponding first driver, the first driver is used to drive the corresponding clamp to move along a first straight line, and the first straight line is parallel to the plane where the first baffle is located; a camera module, arranged outside the cabin, the camera module is used to collect image data of the underwater robot; a moving module, arranged below the cabin, the moving module is used to drive the robot recovery platform to move; a control module, the first driver and the camera module are respectively electrically connected to the control module, and the control module is used to control the clamping module to recover the underwater robot.

[0006] In some embodiments, the robot recovery platform further includes a connection module, wherein the connection module is disposed below the cabin, and the first baffle and the second baffle are respectively disposed on opposite sides of the connection module.

[0007] In some embodiments, a first electric push rod is provided on one side of the connecting module, and a second electric push rod is provided on the other side of the connecting module, the first baffle is fixedly connected to the movable end of the first electric push rod, the first electric push rod is connected to a second driver, the second driver is used to drive the first electric push rod to extend and retract to drive the first baffle to move along a second straight line, the second baffle is fixedly connected to the movable end of the second electric push rod, the second electric push rod is connected to a third driver, the third driver is used to drive the second electric push rod to extend and retract to drive the second baffle to move along the second straight line, and the second straight line is perpendicular to the plane where the first baffle is located.

[0008] In some embodiments, the clamp includes a base and a plurality of limiting members, the plurality of limiting members are arranged on the base at intervals, and the distance between two adjacent limiting members is the same.

[0009] In some embodiments, the robot recovery platform also includes a first positioning module and a communication module, and the first positioning module and the communication module are electrically connected to the control module respectively. The first positioning module is used to obtain first positioning information of the robot recovery platform, and the communication module is used to receive second positioning information sent by the underwater robot. The first positioning information is used to indicate the position of the robot recovery platform, and the second positioning information is used to indicate the position of the underwater robot.

[0010] In some embodiments, the robot recovery platform also includes a power module, which is arranged between the first baffle and the second baffle. The mobile module includes a drive component, a first propeller and a second propeller. The drive component is arranged between the first baffle and the second baffle. The first propeller is arranged on the outside of the first baffle, and the second propeller is arranged on the outside of the second baffle. The drive component is used to drive the first propeller and the second propeller to rotate, and the power module and the drive component are electrically connected to the control module respectively.

[0011] To achieve the above-mentioned purpose, the second aspect of an embodiment of the present application proposes a robot recovery method, which is applied to the robot recovery platform described in the second aspect above, and the robot recovery method includes: continuously collecting image data of the underwater robot through a camera module; determining a first relative distance and a relative angle between the underwater robot and the robot recovery platform based on the currently collected image data; based on the currently determined first relative distance and the relative angle, driving the robot recovery platform toward the underwater robot through a moving module; if the currently determined first relative distance is less than or equal to a preset first threshold, controlling the clamping module to recover the underwater robot.

[0012] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes a robot recovery device, comprising: an acquisition module, used to continuously acquire image data of the underwater robot through a camera module; a measurement module, used to determine a first relative distance and a relative angle between the underwater robot and the robot recovery platform based on the currently acquired image data; a navigation module, used to drive the robot recovery platform toward the underwater robot through a moving module based on the currently determined first relative distance and the relative angle; and a recovery module, used to control a clamping module to recover the underwater robot if the currently determined first relative distance is less than or equal to a preset first threshold.

[0013] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and the processor implements the robot recycling method described in the second aspect when executing the computer program.

[0014] To achieve the above-mentioned purpose, the fifth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the robot recycling method described in the second aspect is implemented.

[0015] The embodiments of the present application include at least the following beneficial effects: the clamping module is arranged below the cabin, the clamping module includes a first baffle and a second baffle arranged in parallel, a plurality of clamps are respectively arranged on one side of the first baffle close to the second baffle and on one side of the second baffle close to the first baffle, each clamp is configured with a corresponding first driver, the first driver is electrically connected to the control module, the first driver is used to drive the corresponding clamp to move along a first straight line, the first straight line is parallel to the plane where the first baffle is located, so that each clamp moves relatively independently, for various types of underwater robots, each clamp can be moved to a suitable position to fix various types of underwater robots in a standardized manner, thereby reducing the recovery loss of the underwater robot, in addition, since the camera module is arranged outside the cabin, the camera module is used to collect image data of the underwater robot, the mobile module is arranged below the cabin, the mobile module is used to drive the robot recovery platform to move, and the camera module and the mobile module are respectively electrically connected to the control module, therefore, the robot recovery platform can gradually approach and recover the underwater robot based on the image data of the underwater robot, realize automatic recovery of the underwater robot, and improve the efficiency of recovering the underwater robot.

[0016] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0018] Figure 1 A schematic diagram of an optional structure of a robot recycling platform provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of an optional structure of a clamp moving mechanism provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of an optional structure of a connection module provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of an optional structure of a clamp provided in an embodiment of the present application;

[0022] Figure 5 An optional structural schematic diagram of a cabin provided in an embodiment of the present application;

[0023] Figure 6 An optional rear view of the structure of the robot recycling platform provided in the embodiment of the present application;

[0024] Figure 7 A schematic diagram of an optional structure of a clamping module provided in an embodiment of the present application;

[0025] Figure 8 An optional flowchart of the robot recycling method provided in the embodiment of the present application;

[0026] Fig. 9 An optional system block diagram of the robot recycling platform provided in the embodiment of the present application;

[0027] Fig.10 A schematic diagram of an optional structure of a robot recovery device provided in an embodiment of the present application;

[0028] Fig.11 A schematic diagram of an optional hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] It should be noted that in each specific embodiment of the present application, when it comes to the need to perform relevant processing based on data related to the characteristics of the target object such as target object attribute information or attribute information set, the permission or consent of the target object will be obtained first, and the collection, use and processing of these data will comply with relevant laws, regulations and standards. Among them, the target object can be a user. In addition, when the embodiment of the present application needs to obtain the target object attribute information, the target object's separate permission or separate consent will be obtained by means of a pop-up window or jumping to a confirmation page, etc., and after the separate permission or separate consent of the target object is clearly obtained, the necessary target object-related data for enabling the normal operation of the embodiment of the present application will be obtained.

[0031] In the description of this application, “several” means one or more, “more” means more than two, “greater than”, “less than”, “exceed”, etc. are understood to exclude the number, and “above”, “below”, “within”, etc. are understood to include the number.

[0032] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims or the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0033] At present, underwater robots are needed in unmanned aquaculture systems and underwater work scenarios such as marine scientific research. Underwater robots mainly rely on manual recovery, but the cost of manual recovery is high, the efficiency is low, and the recovery process is not standardized, which can easily cause collective damage to underwater robots.

[0034] In response to the problems of large recovery loss and low recovery efficiency of underwater robots, the present application provides a robot recovery platform, method, device, equipment and storage medium, the robot recovery platform comprising: a cabin; a clamping module, arranged below the cabin, the clamping module comprising a first baffle and a second baffle arranged in parallel, a side of the first baffle close to the second baffle and a side of the second baffle close to the first baffle are respectively provided with multiple clamps, each clamp is connected to a corresponding first driver, the first driver is used to drive the corresponding clamp to move along a first straight line, and the first straight line is parallel to the plane where the first baffle is located; a camera module, arranged outside the cabin, the camera module is used to collect image data of the underwater robot; a moving module, arranged below the cabin, the moving module is used to drive the robot recovery platform to move; a control module, the first driver and the camera module are respectively electrically connected to the control module, and the control module is used to control the clamping module to recover the underwater robot. According to the solution provided in the embodiment of the present application, the clamping module is arranged below the cabin, and the clamping module includes a first baffle and a second baffle arranged in parallel. A plurality of clamps are respectively arranged on one side of the first baffle close to the second baffle and on one side of the second baffle close to the first baffle, and each clamp is configured with a corresponding first driver, and the first driver is electrically connected to the control module. The first driver is used to drive the corresponding clamp to move along a first straight line, and the first straight line is parallel to the plane where the first baffle is located, so that each clamp moves relatively independently. For various types of underwater robots, each clamp can be moved to a suitable position to fix various types of underwater robots in a standardized manner, thereby reducing the recovery loss of the underwater robot. In addition, since the camera module is arranged outside the cabin, the camera module is used to collect image data of the underwater robot, the mobile module is arranged below the cabin, the mobile module is used to drive the robot recovery platform to move, and the camera module and the mobile module are respectively electrically connected to the control module. Therefore, the robot recovery platform can gradually approach and recover the underwater robot based on the image data of the underwater robot, thereby realizing automatic recovery of the underwater robot and improving the efficiency of recovering the underwater robot.

[0035] The robot recycling platform, method, device, equipment and storage medium provided in the embodiments of the present application are specifically illustrated through the following embodiments. First, the robot recycling platform in the embodiments of the present application is described.

[0036] The robot recovery method provided in the embodiment of the present application relates to the field of computer technology. The robot recovery method provided in the embodiment of the present application can be applied to a robot recovery platform, and can also be software running in the robot recovery platform. In some embodiments, the robot recovery platform can be an underwater robot recovery ship or an underwater robot recovery submarine, etc.; the software can be an application that implements the robot recovery method, etc., but is not limited to the above forms.

[0037] The present application can be used in many general or special computer system environments or configurations. For example: multi-processor systems, microprocessor-based systems including distributed computing environments of any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0038] The embodiments of the present application are further described below in conjunction with the accompanying drawings.

[0039] Reference Figure 1 , Figure 2 and Fig. 9 , Figure 1 An optional structural diagram of the robot recycling platform provided in the embodiment of the present application is shown in FIG. Figure 2 This is an optional structural diagram of the clamp moving mechanism provided in the embodiment of the present application. Fig. 9 This is an optional system block diagram of a robot recycling platform provided in an embodiment of the present application. An embodiment of the present application provides a robot recycling platform, including:

[0040] Cabin 100;

[0041] The clamping module 200 is arranged below the cabin 100. The clamping module 200 includes a first baffle 210 and a second baffle 220 arranged in parallel. A plurality of clamps 230 are respectively arranged on one side of the first baffle 210 close to the second baffle 220 and on one side of the second baffle 220 close to the first baffle 210. Each clamp 230 is connected to a corresponding first driver 240. The first driver 240 is used to drive the corresponding clamp 230 to move along a first straight line. The first straight line is parallel to the plane where the first baffle 210 is located.

[0042] A camera module 300 is disposed outside the cabin 100 and is used to collect image data of the underwater robot 400;

[0043] A mobile module 310 is disposed below the cabin 100 and is used to drive the robot recovery platform to move;

[0044] The control module 320 , the first driver 240 and the camera module 300 are electrically connected to the control module 320 , respectively. The control module 320 is used to control the clamping module 200 to recover the underwater robot 400 .

[0045] The control module 320 is disposed inside the cabin 100 .

[0046] The shape of the cabin 100 may be a polyhedron or an ellipsoid, which is not limited in the embodiments of the present disclosure.

[0047] When the shape of the cabin 100 is a polyhedron, the plane where the bottom of the cabin 100 is located is a horizontal plane; when the shape of the cabin 100 is an ellipsoid, the bottom of the cabin 100 is tangent to the horizontal plane.

[0048] The camera module 300 is disposed above the cabin 100 .

[0049] The first baffle plate 210 may be shaped like a prism, and the bottom of the prism may be provided with a downward protrusion with a trapezoidal horizontal cross section. The second baffle plate 220 and the first baffle plate 210 are mirror-symmetrical in shape, which is not limited in the embodiment of the present disclosure.

[0050] Wherein, under the premise that the first straight line is parallel to the plane where the first baffle 210 is located, the first straight line may be parallel to the horizontal plane or perpendicular to the horizontal plane, which is not limited in the embodiment of the present disclosure.

[0051] Among them, the first baffle 210 is provided with a first driver 240 and a conveyor belt 241 corresponding to the first driver 240 on a side close to the second baffle 220, and the second baffle 220 is provided with a first driver 240 and a conveyor belt 241 corresponding to the first driver 240 on a side close to the first baffle 210, the rotating shaft of the first driver 240 is perpendicular to the plane where the first baffle 210 is located, the conveyor belt 241 is parallel to the plane where the first baffle 210 is located, and the conveyor belt 241 is parallel to the horizontal plane, the rotating shaft of the first driver 240 is transmission-connected with the conveyor belt 241, the clamp 230 is fixedly connected to the upper belt of the conveyor belt 241, and the first driver 240 is used to drive the fixed connection point between the conveyor belt 241 and the clamp 230 to move along the first straight line, thereby driving the clamp 230 to move along the first straight line.

[0052] For each fixture 230 , on the premise that the first straight line is parallel to the plane where the first baffle 210 is located, the first straight line passes through the corresponding fixture 230 .

[0053] Among them, the moving direction and moving distance of each clamp 230 can be different, so that the target position of each clamp 230 can be different. For example, for the underwater robot 400 of model A, each clamp 230 can be moved to the first position corresponding to model A. When the underwater robot 400 is between the first baffle 210 and the second baffle 220, each clamp 230 can be moved to the second position corresponding to model A to fix the underwater robot 400 of model A without causing damage; for the underwater robot 400 of model B, each clamp 230 can be moved to the first position corresponding to model B. When the underwater robot 400 is between the first baffle 210 and the second baffle 220, each clamp 230 can be moved to the second position corresponding to model B to fix the underwater robot 400 of model B without causing damage.

[0054] Among them, the clamp 230 is made of flexible material to reduce the loss of the target during the recovery process. At the same time, during the fixing process, the clamping module 200 can feedback the clamping torque to the control module 320 so that the control module 320 can accurately control the force on the target.

[0055] Among them, except for only one clamp 230, any number of multiple clamps 230 can fix an underwater robot 400. For example, two clamps 230 both located on the first baffle 210 can move toward each other and finally fix an underwater robot 400; two clamps both located on the first baffle 210 can fix one side of the underwater robot 400, and two clamps 230 both located on the second baffle 220 can fix the other side of the underwater robot 400, thereby fixing an underwater robot 400.

[0056] The number of the clamps 230 provided on the first baffle plate 210 is consistent with the number of the clamps 230 provided on the second baffle plate 220 , and the clamps 230 provided on the first baffle plate 210 correspond to the clamps 230 provided on the second baffle plate 220 one by one.

[0057] Among them, a wireless charging module 800 is also provided inside the cabin 100, and the wireless charging module 800 can provide power replenishment for the underwater robot 400 and enhance its endurance underwater.

[0058] Based on this, the clamping module 200 is arranged below the cabin 100, and the clamping module 200 includes a first baffle 210 and a second baffle 220 arranged in parallel. A plurality of clamps 230 are respectively arranged on one side of the first baffle 210 close to the second baffle 220 and on one side of the second baffle 220 close to the first baffle 210, each clamp 230 is configured with a corresponding first driver 240, and the first driver 240 is electrically connected to the control module 320. The first driver 240 is used to drive the corresponding clamp 230 to move along a first straight line, and the first straight line is parallel to the plane where the first baffle 210 is located, so that each clamp 230 moves relatively independently. For various types of underwater robots 400, each clamp 230 can move to a suitable position to standardize and fix various types of underwater robots 400, thereby reducing the recovery loss of the underwater robot 400. In addition, since the camera module 300 is arranged outside the cabin 100, the camera module 300 is used to collect image data of the underwater robot 400, and the mobile module 310 is arranged below the cabin 100, the mobile module 310 is used to drive the robot recovery platform to move, and the camera module 300 and the mobile module 310 are electrically connected to the control module 320 respectively. Therefore, the robot recovery platform can gradually approach and recover the underwater robot 400 based on the image data of the underwater robot 400, thereby realizing automatic recovery of the underwater robot 400 and improving the efficiency of recovering the underwater robot 400.

[0059] Reference Figure 1 , Figure 3 and Figure 7 , Figure 3 This is an optional structural diagram of a connection module provided in an embodiment of the present application. Figure 7 An optional structural schematic diagram of a clamping module provided in an embodiment of the present application. In a possible implementation, the robot recovery platform also includes a connection module 500, which is arranged below the cabin 100, and the first baffle 210 and the second baffle 220 are respectively arranged on opposite sides of the connection module 500.

[0060] Based on this, the connection module 500 is arranged below the cabin 100, and the first baffle 210 and the second baffle 220 are respectively arranged on opposite sides of the connection module 500, which can balance the weight on both sides of the robot recovery platform and improve the stability of the robot recovery platform.

[0061] In a possible implementation, a locking member may be provided above the connection module 500, and a locking member may be provided below the cabin 100, and the connection module 500 may be fixed below the cabin 100 through the connection between the locking member and the locking member.

[0062] In another possible implementation, a first threaded through hole is provided in the center of the connection module 500, and a second threaded through hole corresponding to the first threaded through hole is provided at the bottom of the cabin 100. The first threaded through hole is aligned with the second threaded through hole, and screws can be screwed into the first threaded through hole and the second threaded through hole in sequence to fix the connection module 500 under the cabin 100.

[0063] Reference Figure 3 and Fig. 9 In a possible implementation, a first electric push rod 510 is provided on one side of the connecting module 500, and a second electric push rod 520 is provided on the other side of the connecting module 500, the first baffle 210 is fixedly connected to the movable end of the first electric push rod 510, the first electric push rod 510 is connected to the second driver 530, the second driver 530 is used to drive the first electric push rod 510 to extend and retract to drive the first baffle 210 to move along a second straight line, the second baffle 220 is fixedly connected to the movable end of the second electric push rod 520, the second electric push rod 520 is connected to the third driver 540, the third driver 540 is used to drive the second electric push rod 520 to extend and retract to drive the second baffle 220 to move along a second straight line, and the second straight line is perpendicular to the plane where the first baffle 210 is located.

[0064] The second driver 530 and the third driver 540 are electrically connected to the control module 320 respectively.

[0065] The straight line where the first electric push rod 510 or the second electric push rod 520 is located is perpendicular to the plane where the first baffle 210 is located, and the second straight line may be the straight line where the first electric push rod 510 or the second electric push rod 520 is located.

[0066] Among them, since the first baffle 210 and the second baffle 220 can move along the second straight line, and a plurality of clamps 230 are respectively provided on the side of the first baffle 210 close to the second baffle 220 and the side of the second baffle 220 close to the first baffle 210, therefore, for each clamp 230, the third straight line is a straight line passing through the clamp 230 and parallel to the second straight line, and each clamp 230 can move along the corresponding third straight line.

[0067] In a possible implementation, the first electric push rod 510 and the second electric push rod 520 can both be screw rods, the fixed end of the first electric push rod 510 is threadedly connected to the connecting module 500, the second driver 530 is arranged inside the connecting module 500, the second driver 530 can be a stepping motor, and the second driver 530 can drive the first electric push rod 510 to rotate around the axis of the first electric push rod 510, so that the movable end of the first electric push rod 510 is away from or close to the connecting module 500, thereby realizing the extension and retraction of the electric push rod; Similarly, the fixed end of the second electric push rod 520 is threadedly connected to the connecting module 500, and the third driver 540 is arranged inside the connecting module 500. The third driver 540 can be a stepping motor. The third driver 540 can drive the second electric push rod 520 to rotate around the axis of the second electric push rod 520, so that the movable end of the second electric push rod 520 is away from or close to the connecting module 500, thereby realizing the extension and retraction of the electric push rod. Therefore, the first baffle 210 can move along the second straight line, and the second baffle 220 can move along the second straight line.

[0068] Based on this, the first electric push rod 510 is extended and retracted to drive the first baffle 210 to move along the second straight line, and the second electric push rod 520 is extended and retracted to drive the second baffle 220 to move along the second straight line, so that the first baffle 210 and the second baffle 220 have the translational freedom to move along the second straight line. Since a plurality of clamps 230 are respectively provided on the side of the first baffle 210 close to the second baffle 220 and the side of the second baffle 220 close to the first baffle 210, each clamp 230 also has the translational freedom to move along the second straight line. At the same time, each clamp 230 has the translational freedom to move along the first straight line. Therefore, when recovering the underwater robot 400, each clamp 230 can be moved to more different positions, so that the robot recovery platform can perform more diverse recovery actions to better fix underwater robots 400 in various states and various models.

[0069] Reference Figure 2 and Figure 4 , Figure 4 An optional structural schematic diagram of a clamp provided in an embodiment of the present application, in a possible implementation, the clamp 230 includes a base 231 and a plurality of limit members 232, the plurality of limit members 232 are spaced apart on the base 231, and the distance between two adjacent limit members 232 is the same.

[0070] Each of the limiting members 232 is in the shape of an elongated strip, and the long side of each of the limiting members 232 is perpendicular to the plane where the first baffle plate 210 is located.

[0071] Among them, on each base 231, the number of the limiting members 232 can be two, which is not limited in the embodiment of the present disclosure.

[0072] It should be noted that on each base 231, the number of limit members 232 can be greater than two, the number of limit members 232 of every two clamps 230 is the same, and each limit member 232 corresponds to each other, and two corresponding limit members 232 can fix one position of the underwater robot 400. Therefore, multiple pairs of two corresponding limit members 232 can fix multiple positions of the underwater robot 400, thereby improving the stability and reliability of the robot recovery platform in fixing the underwater robot 400.

[0073] Among them, the first baffle 210 is provided with a first guide rail 242 and a second guide rail 243 on the side close to the second baffle 220 and the second baffle 220 is provided with a first guide rail 242 and a second guide rail 243 on the side close to the first baffle 210. The first guide rail 242 is arranged above the conveyor belt 241, and the second guide rail 243 is arranged below the conveyor belt 241. The first guide rail 242 and the second guide rail 243 are both used to ensure that the moving trajectory of the clamp 230 does not deviate from the first straight line.

[0074] Based on this, the clamp 230 includes a base 231 and a plurality of limit members 232. The plurality of limit members 232 are arranged at intervals on the base 231. The distance between two adjacent limit members 232 is the same. The positions of each limit member 232 are evenly set, which is conducive to controlling each clamp 230 to use a suitable limit member 232 to fix the underwater robot 400, thereby improving the stability and reliability of the robot recovery platform to fix the underwater robot 400.

[0075] Refer again Fig. 9 In a possible implementation, the robot recovery platform also includes a first positioning module 330 and a communication module 340. The first positioning module 330 and the communication module 340 are electrically connected to the control module 320, respectively. The first positioning module 330 is used to obtain the first positioning information of the robot recovery platform, and the communication module 340 is used to receive the second positioning information sent by the underwater robot 400. The first positioning information is used to indicate the position of the robot recovery platform, and the second positioning information is used to indicate the position of the underwater robot 400.

[0076] The communication module 340 can communicate with other devices or the remote control center 600 via radio to ensure accurate communication of instructions and real-time transmission of data.

[0077] The first positioning module 330 may obtain first positioning information through the Beidou satellite navigation system or the global positioning system. Similarly, the underwater robot 400 is provided with a second positioning module 350 , and the underwater robot 400 obtains second positioning information through the second positioning module 350 .

[0078] Specifically, refer to Figure 5 , Figure 5 An optional structural schematic diagram of a cabin provided in an embodiment of the present application. In one possible implementation, an antenna 341 is provided above the cabin 100. The antenna 341 is used to receive signals from other devices or a remote control center 600 and transmit the signals to the communication module 340. It can also transmit signals to other devices or the remote control center 600.

[0079] It should be noted that the robot recovery platform obtains the first positioning information through the first positioning module 330, determines the position of the robot recovery platform based on the first positioning information, and receives the second positioning information sent by the underwater robot 400 through the communication module 340, determines the position of the underwater robot 400 based on the second positioning information, performs measurement based on the first positioning information and the second positioning information, determines the second relative distance and yaw angle between the underwater robot 400 and the robot recovery platform, and then adjusts the fuselage direction so that the yaw angle is less than the preset angle, drives the robot recovery platform toward the underwater robot 400 through the moving module 310, and updates the second relative distance and yaw angle in real time, and adjusts the fuselage direction in real time. When the second relative distance is less than the second threshold, the robot recovery platform can collect image data of the underwater robot 400 through the camera module 300.

[0080] Based on this, the robot recovery platform obtains the first positioning information through the first positioning module 330 to determine the position of the robot recovery platform, and receives the second positioning information sent by the underwater robot 400 through the communication module 340 to determine the position of the underwater robot 400. The robot recovery platform is first quickly approached to the underwater robot 400 through a rougher positioning method, and then the underwater robot 400 is more accurately positioned through the camera module 300. This can effectively reduce the time the robot recovery platform spends searching for the underwater robot 400, thereby improving the efficiency of recovering the underwater robot 400.

[0081] Reference Figure 6 and Fig. 9 , Figure 6 An optional structural rear view of the robot recovery platform provided in an embodiment of the present application. In a possible implementation, the robot recovery platform also includes a power module 700, which is arranged between the first baffle 210 and the second baffle 220. The mobile module 310 includes a drive assembly 311, a first propeller 312 and a second propeller 313. The drive assembly 311 is arranged between the first baffle 210 and the second baffle 220, the first propeller 312 is arranged on the outside of the first baffle 210, and the second propeller 313 is arranged on the outside of the second baffle 220. The drive assembly 311 is used to drive the first propeller 312 and the second propeller 313 to rotate, and the power module 700 and the drive assembly 311 are electrically connected to the control module 320 respectively.

[0082] The driving assembly 311 includes a fourth driver and a fifth driver, which are electrically connected to the control module 320 respectively. The fourth driver is used to drive the first propeller 312 to rotate, and the fifth driver is used to drive the second propeller 313 to rotate.

[0083] The power module 700 includes a first power supply battery 710 and a second power supply battery 720 . The first power supply battery 710 is relatively close to the first baffle 210 , and the second power supply battery 720 is relatively close to the second baffle 220 .

[0084] Among them, the first propeller 312 is specifically arranged behind the first baffle 210, and the second propeller 313 is specifically arranged behind the second baffle 220. The rotation planes of the first propeller 312 and the second propeller 313 are both perpendicular to the plane where the first baffle 210 is located. The rotation planes of the first propeller 312 and the second propeller 313 are located in the same plane, and the rotating axes of the first propeller 312 and the second propeller 313 are on the same horizontal plane, so as to stably drive the robot recovery platform to move.

[0085] Based on this, the power supply can increase the mass of the robot recovery platform and reduce the probability of the robot recovery platform being overturned, thereby improving the stability of the robot recovery platform. Then the drive component 311 is arranged between the first baffle 210 and the second baffle 220, the first propeller 312 is arranged on the outside of the first baffle 210, and the second propeller 313 is arranged on the outside of the second baffle 220. The drive component 311 is used to drive the first propeller 312 and the second propeller 313 to rotate. The power supply module 700 and the drive component 311 are respectively electrically connected to the control module 320, which can enhance the propulsion ability of the robot recovery platform in the water, enhance the steering ability of the robot recovery platform, and improve the moving speed and stability of the robot recovery platform, thereby improving the efficiency of recovering the underwater robot 400.

[0086] like Figure 8 As shown, Figure 8 An optional flow chart of a robot recycling method provided in an embodiment of the present application, the robot recycling method can be performed by a robot recycling platform, and the robot recycling method includes but is not limited to the following steps S810 to S840:

[0087] Step S810: continuously collect image data of the underwater robot through a camera module.

[0088] Step S820: determining a first relative distance and a relative angle between the underwater robot and the robot recovery platform based on the currently collected image data.

[0089] Step S830: Based on the currently determined first relative distance and relative angle, the robot recovery platform is driven by the moving module to move toward the underwater robot.

[0090] Step S840: If the currently determined first relative distance is less than or equal to a preset first threshold, control the gripping module to recycle the underwater robot.

[0091] Among them, distance detection can be performed based on the image data of the underwater robot to determine the first relative distance between the underwater robot and the robot recovery platform, and angle detection can be performed based on the image data of the underwater robot to determine the relative angle between the underwater robot and the robot recovery platform.

[0092] Among them, the image data can be processed by a method based on feature point matching to determine the first relative distance and relative angle between the underwater robot and the robot recovery platform. For example, a SIFT feature detector (Scale-Invariant Feature Transform) is used to extract key points in the image, and then BFMatcher is used for feature matching. Then, a PnP algorithm (Perspective-n-Point) is applied to estimate the posture of the robot recovery platform, and then the distance and angle of the target are calculated.

[0093] The number of camera modules may be one or more, which is not limited in the embodiments of the present disclosure.

[0094] Among them, when the robot recovery platform is driven by the mobile module to move toward the underwater robot, when there is no image of the underwater robot in the image data collected by the camera module, the robot recovery platform rotates and continues to acquire image data. If the image of the underwater robot appears again in the image data collected by the camera module, the robot recovery platform executes steps S to S again; if the robot recovery platform rotates to ° and there is still no image of the underwater robot in the image data collected by the camera module, a hosting request is sent to the remote control center through the communication module, so that the remote control center can control the robot recovery platform to search for the underwater robot.

[0095] Based on this, the image data of the underwater robot is continuously collected through the camera module, and then based on the currently collected image data, the first relative distance and relative angle between the underwater robot and the robot recovery platform are determined to achieve the positioning of the underwater robot, set the heading for the robot recovery platform, and then based on the currently determined first relative distance and relative angle, the robot recovery platform is driven toward the underwater robot through the moving module, so that the robot recovery platform will not deviate from the route, thereby improving the recovery success rate of the robot recovery platform; if the currently determined first relative distance is less than or equal to the preset first threshold value, the underwater robot is recovered by the clamping module, which can achieve automatic recovery of the underwater robot and improve the efficiency of recovering the underwater robot.

[0096] In one possible implementation, the robot recovery platform can transport the underwater robot to be launched to the target location on the water surface, and then open the clamping module, and the underwater robot starts automatically, thereby completing the transportation and launch of the underwater robot.

[0097] In addition, refer to Fig.10 , the present application also provides a robot recovery device 1000, comprising:

[0098] The acquisition module 1010 is used to continuously acquire image data of the underwater robot through a camera module;

[0099] The measuring module 1020 is used to determine a first relative distance and a relative angle between the underwater robot and the robot recovery platform based on the currently collected image data;

[0100] A navigation module 1030, configured to drive the robot recovery platform to move toward the underwater robot through the movement module based on the currently determined first relative distance and relative angle;

[0101] The recovery module 1040 is used to control the clamping module to recover the underwater robot if the currently determined first relative distance is less than or equal to a preset first threshold.

[0102] It can be understood that the specific implementation of the robot recycling device 1000 is basically the same as the specific implementation of the above-mentioned robot recycling method, and will not be repeated here.

[0103] In addition, refer to Fig.11 , Fig.11 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0104] The processor 1101 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0105] The memory 1102 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1102 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1102, and the processor 1101 calls and executes the robot recycling method of the embodiment of this application.

[0106] Input / output interface 1103, used to implement information input and output;

[0107] The communication interface 1104 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0108] A bus 1105 that transmits information between various components of the device (e.g., the processor 1101, the memory 1102, the input / output interface 1103, and the communication interface 1104);

[0109] The processor 1101 , the memory 1102 , the input / output interface 1103 and the communication interface 1104 are connected to each other in communication within the device via the bus 1105 .

[0110] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium used for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-mentioned robot recycling method.

[0111] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0112] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0113] It can be understood by those skilled in the art that Figures 1 to 11 The technical solutions shown in the figure do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figure, or a combination of certain steps, or different steps.

[0114] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0115] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0116] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0117] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0118] In the several embodiments provided in the present application, it should be understood that the disclosed 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 above 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.

[0119] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0121] If the integrated unit 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 application, or the part that contributes to the prior art, or all or 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 multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0122] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A robot recycling platform, characterized in that: include: cabin; A clamping module is arranged below the cabin, the clamping module comprises a first baffle and a second baffle arranged in parallel, a side of the first baffle close to the second baffle and a side of the second baffle close to the first baffle are respectively provided with a plurality of clamps, each of the clamps is connected to a corresponding first driver, the first driver is used to drive the corresponding clamp to move along a first straight line, and the first straight line is parallel to the plane where the first baffle is located; A camera module, arranged outside the cabin, and used for collecting image data of the underwater robot; A moving module, disposed below the cabin, and used to drive the robot recovery platform to move; A control module, wherein the first driver, the camera module and the moving module are electrically connected to the control module respectively, and the control module is used to control the clamping module to recover the underwater robot.

2. The robot recycling platform according to claim 1, characterized in that: The robot recovery platform also includes a connection module, which is arranged below the cabin, and the first baffle and the second baffle are respectively arranged on opposite sides of the connection module.

3. The robot recycling platform according to claim 2, characterized in that: A first electric push rod is provided on one side of the connecting module, and a second electric push rod is provided on the other side of the connecting module, the first baffle is fixedly connected to the movable end of the first electric push rod, the first electric push rod is connected to a second driver, the second driver is used to drive the first electric push rod to extend and retract to drive the first baffle to move along a second straight line, the second baffle is fixedly connected to the movable end of the second electric push rod, the second electric push rod is connected to a third driver, the third driver is used to drive the second electric push rod to extend and retract to drive the second baffle to move along the second straight line, and the second straight line is perpendicular to the plane where the first baffle is located.

4. The robot recycling platform according to claim 1, characterized in that: The clamp comprises a base and a plurality of limiting members, wherein the plurality of limiting members are arranged on the base at intervals, and the distance between two adjacent limiting members is the same.

5. The robot recycling platform according to claim 1, characterized in that: The robot recovery platform also includes a first positioning module and a communication module, which are electrically connected to the control module respectively. The first positioning module is used to obtain first positioning information of the robot recovery platform, and the communication module is used to receive second positioning information sent by the underwater robot. The first positioning information is used to indicate the position of the robot recovery platform, and the second positioning information is used to indicate the position of the underwater robot.

6. The robot recycling platform according to claim 1, characterized in that: The robot recovery platform also includes a power module, which is arranged between the first baffle and the second baffle. The mobile module includes a drive component, a first propeller and a second propeller. The drive component is arranged between the first baffle and the second baffle. The first propeller is arranged on the outside of the first baffle, and the second propeller is arranged on the outside of the second baffle. The drive component is used to drive the first propeller and the second propeller to rotate. The power module and the drive component are electrically connected to the control module respectively.

7. A robot recycling method, characterized in that: Applied to the robot recycling platform according to any one of claims 1 to 6, the robot recycling method comprises: Continuously collect image data of the underwater robot through the camera module; Determine a first relative distance and a relative angle between the underwater robot and the robot recovery platform based on the currently collected image data; Based on the currently determined first relative distance and the relative angle, driving the robot recovery platform toward the underwater robot through a moving module; If the currently determined first relative distance is less than or equal to a preset first threshold, the clamping module is controlled to recover the underwater robot.

8. A robot recycling device, characterized in that: include: An acquisition module, used to continuously acquire image data of the underwater robot through a camera module; A measuring module, configured to determine a first relative distance and a relative angle between the underwater robot and the robot recovery platform based on the currently collected image data; a navigation module, configured to drive the robot recovery platform to move toward the underwater robot through a movement module based on the first relative distance and the relative angle currently determined; The recovery module is used to control the clamping module to recover the underwater robot if the first relative distance currently determined is less than or equal to a preset first threshold.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the robot recycling method described in claim 7 when executing the computer program.

10. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the robot recycling method of claim 7 is implemented.

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