Underwater robot docking system and method, electronic equipment and storage medium

Abstract

The invention provides a docking system of an underwater robot. The docking system comprises a first docking part, a second docking part and a controller. The first butt joint part comprises a base, a guide part, a metal rail and a limiting part. The second butt joint part comprises a navigation part and a magnetic detection part. And the controller generates and sends a first control instruction based on the received position information of the first docking part and the first position information so as to control the underwater robot to move towards the first docking part. And when the controller judges that the first position information meets a first preset condition, the magnetic detection part is started, and a second control instruction is generated and sent based on the received track detection information, so that the underwater robot is controlled to move towards the metal track. And under the condition that the controller judges that the underwater robot enters the metal track, the controller controls the underwater robot to move towards the base along the metal track, so that the underwater robot is in butt joint with the base. According to the technical scheme, the navigation part and the magnetic detection part are combined to position the underwater robot, so that the docking precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot control, and in particular to a docking system and method, electronic equipment and storage medium for an underwater robot. Background Art

[0002] Underwater Vehicle is an intelligent mechanical device that can perform various operations in underwater environments.

[0003] When an underwater robot is operating in an underwater environment, it may need to go to a docking target for docking. For example, when the underwater robot is low on power, the underwater robot needs to go to the docking target to complete docking and charge. For another example, when the underwater robot needs to transmit operating data back to the control center, it also needs to go to the docking target to complete the task of transmitting the operating data back. In order to complete the docking task of the underwater robot. The prior art controls the underwater robot to complete the docking task by setting a docking system.

[0004] The docking system of the prior art solution uses a single positioning device to provide navigation information to control the underwater robot to complete the docking task.

[0005] The inventors of the present application have found that the prior art has at least the following problems. When the existing docking system uses an inertial navigation system to navigate the underwater robot, the positioning accuracy of the inertial navigation system gradually decreases over time, which may cause the underwater robot to be unable to find the target to be docked, and thus cause the underwater robot to be unable to successfully complete the docking task. When the existing docking system uses an optical positioning device to navigate the underwater robot, the optical positioning device may fail to locate due to low underwater visibility, causing the underwater robot to be unable to find the target to be docked, and thus causing the underwater robot to be unable to dock successfully.

[0006] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0007] The present application aims to solve at least one of the technical problems mentioned above.

[0008] According to one aspect of the present application, a docking system for an underwater robot is provided. The docking system includes a first docking part, a second docking part and a controller. The first docking part is arranged at a target position to be docked, and includes a base, a guide part, a metal track and a limit part. The base matches the docking end of the underwater robot. One end of the guide part is arranged at the base, and the other end is a trumpet-shaped opening. One end of the metal track is connected to the guide part. The limit part is arranged at the connection between the guide part and the base. The second docking part is arranged at the underwater robot, and includes a navigation part and a magnetic detection part. The navigation part is used to confirm and send the first position information of the underwater robot. The magnetic detection part detects the metal track and generates and sends the track detection information. The controller is arranged at the underwater robot, and generates and sends the first control instruction based on the received position information of the first docking part and the first position information to control the underwater robot to move to the first docking part. The controller is also used to generate and send a first opening instruction to turn on the magnetic detection part when it is determined that the first position information meets the first preset condition, and generate and send a second control instruction based on the received track detection information to control the underwater robot to move to the metal track. The controller is also used to generate and send a third control instruction to control the underwater robot to move along the metal track toward the base so that the underwater robot docks with the base when it is determined based on the track detection information that the underwater robot has entered the metal track.

[0009] According to some embodiments of the present application, the controller is also used to generate and send a second start instruction when it is determined that the first position information meets the second preset condition. The second docking part also includes an acoustic receiving part. The acoustic receiving part is turned on in response to the second start instruction, and receives the sound wave information sent by the acoustic transmitting part to confirm and send the second position information of the underwater robot, so that the controller generates and sends a fourth control instruction based on the received position information and second position information of the first docking part to control the underwater robot to move toward the first docking part. The first docking part also includes an acoustic transmitting part. The acoustic transmitting part is used to send sound wave information.

[0010] According to some embodiments of the present application, the controller is further configured to generate and send a third start instruction when the underwater robot enters the metal track based on the track detection information. The second docking part also includes an altimeter. The altimeter is turned on in response to the third start instruction, confirms and sends the third position information of the underwater robot, so that the controller generates and sends a fifth control instruction based on the received position information of the first docking part and the third position information, so as to control the underwater robot to move toward the base, so that the underwater robot is docked with the base.

[0011] According to some embodiments of the present application, the controller is further configured to generate and send a fourth start instruction when it is determined based on the track detection information that the underwater robot has entered the metal track. The second docking portion further includes a visual guide portion. The visual guide portion is turned on in response to the fourth start instruction, confirms and sends the fourth position information of the underwater robot, so that the controller generates and sends a sixth control instruction based on the received position information of the first docking portion and the fourth position information, so as to control the underwater robot to move toward the base, so that the underwater robot is docked with the base.

[0012] According to another aspect of the present application, a docking method for an underwater robot is also provided. The docking method is executed by a controller of a docking system. The docking system includes a first docking part, a second docking part and a controller. The first docking part includes a base, a guide part, a metal track and a limit part. The second docking part includes a navigation part and a magnetic detection part. The docking method includes: receiving the position information of the first docking part and the first position information of the underwater robot sent by the navigation part; sending a first control instruction generated based on the position information of the first docking part and the first position information to control the underwater robot to move toward the first docking part; in the case where it is judged that the first position information meets the first preset condition, generating and sending a first start instruction to turn on the magnetic detection part to confirm and send the track detection information; sending a second control instruction generated based on the received track detection information to control the underwater robot to move toward the metal track; in the case where it is judged that the underwater robot enters the metal track, generating and sending a third control instruction to control the underwater robot to move along the metal track toward the base so that the underwater robot docks with the base.

[0013] According to some embodiments of the present application, when it is determined that the first position information satisfies the first preset condition, a first start instruction is generated and sent to turn on the magnetic detection unit to confirm and send the track detection information. The docking method also includes: when the first position information satisfies the second preset condition, a second start instruction is generated and sent to turn on the acoustic receiving unit, so that the acoustic receiving unit receives the sound wave information sent by the acoustic transmitting unit to confirm and send the second position information of the underwater robot, the acoustic receiving unit is arranged at the first docking unit, and the acoustic transmitting unit is arranged at the second docking unit; a fourth control instruction generated based on the received position information of the first docking unit and the second position information is sent to control the underwater robot to move toward the first docking unit.

[0014] According to some embodiments of the present application, when it is determined that the underwater robot has entered a metal track, a third control instruction is generated and sent to control the underwater robot to move along the metal track toward the base so that the underwater robot docks with the base, including: when it is determined that the underwater robot has entered a metal track, a third start instruction is generated and sent to turn on the altimeter, so that the altimeter confirms and sends third position information of the underwater robot, and the altimeter is arranged at the second docking part; a fifth control instruction generated based on the position information of the first docking part and the third position information is sent to control the underwater robot to move toward the base so that the underwater robot docks with the base.

[0015] According to some embodiments of the present application, when it is determined that the underwater robot has entered a metal track, a third control instruction is generated and sent to control the underwater robot to move along the metal track toward the base so that the underwater robot docks with the base, including: when it is determined that the underwater robot has entered a metal track, a fourth start instruction is generated and sent to turn on the visual guide part so that the visual guide part confirms and sends fourth position information of the underwater robot, and the visual guide part is arranged at the second docking part; a sixth control instruction generated based on the position information of the first docking part and the fourth position information is sent to control the underwater robot to move toward the base so that the underwater robot docks with the base.

[0016] According to another aspect of the present application, an electronic device is also provided. The electronic device includes one or more processors. The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the docking method of the present application.

[0017] According to another aspect of the present application, a non-volatile computer-readable storage medium is also provided. The non-volatile computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the docking method of the present application is implemented.

[0018] Beneficial Effects The technical solution of the present application preliminarily confirms the position of the underwater robot through the navigation unit, controls the underwater robot to move toward the target to be docked, and completes the preliminary guidance of the underwater robot. After the underwater robot enters the range where the magnetic detection unit can detect the metal track, the magnetic detection unit guides the underwater robot to move toward the metal track. The technical solution of magnetic detection can still maintain stable detection performance in turbid waters or strong current environments, thereby improving the environmental adaptability of the underwater robot during the docking process. After entering the metal track, the underwater robot moves along the metal track toward the base and docks with the base. The technical solution of the present application performs multi-level positioning and guidance of the underwater robot through the different characteristics of navigation positioning, magnetic detection guidance and mechanical limiting, thereby improving the success rate of docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic diagram showing the structure of a docking system of an underwater robot according to an embodiment of the present application is shown; Figure 2 A schematic diagram showing a process of a docking method of an underwater robot according to an embodiment of the present application is shown; Figure 3 Another schematic diagram of the process of docking the underwater robot according to the embodiment of the present application is shown; Figure 4 A schematic flow chart of step S150 of the underwater robot docking method according to an embodiment of the present application is shown; Figure 5 Another flowchart diagram of step S150 of the underwater robot docking method according to an embodiment of the present application is shown.

[0021] Description of reference numerals: Controller 1; base 21; acoustic transmitting unit 22; guiding unit 23; limiting unit 24; metal track 25; navigation unit 31; magnetic detection unit 32; acoustic receiving unit 33; altimeter 34; visual guiding unit 35. DETAILED DESCRIPTION

[0022] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0023] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0024] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0025] The terms "first", "second" and the like in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order.

[0026] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0027] Figure 1 FIG. 1 is a schematic diagram showing the structure of the docking system of the underwater robot according to an embodiment of the present application. Figure 1 As shown, the docking system includes a first docking part (not shown in the figure), a second docking part (not shown in the figure) and a controller 1. The first docking part is arranged at a target position to be docked. For example, the target position to be docked can be a fixed position at the bottom of the water or on the surface of the water. For example, the first docking part is used to dock with a docking end of an underwater robot.

[0028] The first docking portion includes a base 21, a guide portion 23, a metal track 25 and a limit portion 24. The base 21 matches the docking end of the underwater robot. For example, a docking interface (not shown in the figure) can be provided on the base 21. The docking interface can match the interface of the docking end of the underwater robot. One end of the guide portion 23 is provided on the base 21, and the other end is a trumpet-shaped opening. For example, the minimum diameter of the trumpet-shaped opening can be larger than the diameter of the docking end of the underwater robot, and the trumpet-shaped opening can provide a physical contact surface. After the underwater robot contacts the physical contact surface of the trumpet-shaped interface, it can move toward the base 21 along the direction of the central axis of the trumpet-shaped opening and dock with the base 21.

[0029] One end of the metal track 25 is connected to the guide part 23. For example, the material of the metal track 25 can be metal such as metal iron, stainless steel, metal copper, metal aluminum, etc., and the shape can be rectangular, square, etc., and the length can be set to 5 meters. The limiter 24 is provided at the connection between the guide part 23 and the base 21. For example, the limiter 24 can fix the underwater robot on the base 21 by means of clamping, magnetic attraction, etc., to prevent the underwater robot from being displaced from the base 21 due to external force.

[0030] The second docking unit is provided on the underwater robot, and includes a navigation unit 31 and a magnetic detection unit 32. The navigation unit 31 is used to confirm and send the first position information of the underwater robot. For example, the first position information may be the current position information of the underwater robot measured by the navigation unit 31. For example, the navigation unit 31 may be an inertial navigation device. The inertial navigation device may measure the angular velocity and linear acceleration of the underwater robot, and in combination with the initial position and attitude information of the underwater robot, calculate the current position information, velocity information and attitude information of the underwater robot in real time.

[0031] The magnetic detection unit 32 detects the metal track 25, generates and sends track detection information. For example, the magnetic detection unit 32 can be set at the bottom of the underwater robot. For example, the magnetic detection unit 32 can be a magnetic detection device equipped with a magnetic sensor. The magnetic detection device can locate the metal track 25 by sensing changes in the surrounding magnetic field.

[0032] The controller 1 is provided in the underwater robot. The controller 1 generates and sends a first control instruction based on the received position information of the first docking part and the first position information to control the underwater robot to move toward the first docking part. Exemplarily, the position information of the first docking part may be a fixed position preset by a user. The user may send the position information of the first docking part to the controller 1. Exemplarily, the first position information is the current position information of the underwater robot located by the navigation unit 31. The navigation unit 31 sends the first position information to the controller 1. For example, the first control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the first docking part.

[0033] The controller 1 is also used to generate and send a first start instruction to turn on the magnetic detection unit 32 when it is determined that the first position information meets the first preset condition, and to generate and send a second control instruction based on the received track detection information to control the underwater robot to move toward the metal track 25. For example, the first preset condition may be that the distance between the position of the underwater robot included in the first position information and the position of the first docking part is less than or equal to 20 meters. The first start instruction may be an instruction issued by the controller 1 to turn on the magnetic detection unit 32. For example, the second control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the metal track 25.

[0034] For example, the track detection information may include the magnetic field detected by the magnetic detection unit 32. The magnetic detection unit 32 sends the track detection information to the controller 1 by measuring the change of the surrounding magnetic field, so that the controller 1 locates the metal track 25 based on the received track detection information. The calculation formula is formula (1)

[0035] is the magnetic field emitted by the magnetic detection unit 32, is the vacuum permeability, is the current in the transmitting coil of the magnetic detection unit 32, r is the distance from the transmitting coil to the metal track 25, and is the angle parameter of the transmitting coil. The value of r can be calculated using formula (1).

[0036] The calculation formula of the magnetic field generated by the eddy current in the metal track 25 is formula (2)

[0037] is the induced magnetic field generated by the eddy current in the metal track 25, is the electrical conductivity of the metal track 25, is the induced electric field generated by the metal track 25, and the integration is performed over the volume V of the metal track 25. The calculation formula of the total magnetic field received by the magnetic detection unit 32 is formula (3) = +

[0038] is the total magnetic field received by the magnetic detection unit 32. Track detection information may include , and Controller 1 analyzes , and The amplitude, phase, etc. of the metal track 25 can be used to confirm the position information of the metal track 25, thereby realizing the positioning of the metal track.

[0039] The controller 1 is also used to generate and send a third control instruction when it is determined based on the track detection information that the underwater robot has entered the metal track 25, so as to control the underwater robot to move along the metal track 25 toward the base 21, so that the underwater robot is docked with the base 21. For example, the third control instruction may be an instruction issued by the controller 1 to control the underwater robot to move along the metal track 25 toward the base 21.

[0040] In the above-mentioned embodiment, the position of the underwater robot is preliminarily confirmed by the navigation unit, and the underwater robot is controlled to move toward the target to be docked, thereby completing the preliminary guidance of the underwater robot. After the underwater robot enters the range where the magnetic detection unit can detect the metal track, the magnetic detection unit is used to guide the underwater robot to move toward the metal track. The technical solution of magnetic detection can still maintain stable detection performance in turbid waters or strong current environments, thereby improving the environmental adaptability of the underwater robot during the docking process. After entering the metal track, the underwater robot moves along the metal track toward the base and docks with the base. The technical solution of the present application performs multi-level positioning and guidance on the underwater robot through the different characteristics of navigation positioning, magnetic detection guidance and mechanical limiting, thereby improving the success rate of docking.

[0041] Optionally, the controller 1 is further configured to generate and send a second start instruction to start the acoustic receiving unit 33 when it is determined that the first position information satisfies a second preset condition. For example, the second preset condition may be that the distance between the position of the underwater robot included in the first position information and the position of the first docking unit is less than or equal to 50 meters. The second start instruction may be an instruction issued by the controller 1 to start the acoustic receiving unit 33.

[0042] The first docking part also includes an acoustic transmitter 22. The acoustic transmitter 22 is used to send sound wave information. The second docking part also includes an acoustic receiver 33. The acoustic receiver 33 receives the sound wave information sent by the acoustic transmitter 22 to confirm and send the second position information of the underwater robot, so that the controller 1 generates and sends a fourth control instruction based on the received position information and second position information of the first docking part to control the underwater robot to move toward the first docking part.

[0043] For example, the fourth control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the first docking part. For example, the second position information may be the current position information of the underwater robot confirmed by the acoustic receiving unit 33. For example, the acoustic receiving unit 33 may be an acoustic beacon. The acoustic transmitting unit 22 may be an acoustic beacon base station. The acoustic beacon base station may send sound wave information to the acoustic beacon. The acoustic beacon receives the sound wave information, calculates the distance from the acoustic beacon base station by the time of sound wave propagation, and then may confirm the position information of the acoustic beacon by the position of the acoustic beacon base station. The position information of the acoustic beacon base station may be equivalent to the position information of the first docking part. The position information of the acoustic beacon may be equivalent to the second position information of the underwater robot.

[0044] The above embodiment constructs a multi-level progressive guidance system by adding a new acoustic positioning step between the navigation positioning of the navigation unit and the magnetic detection positioning of the magnetic detection unit, thereby improving the docking accuracy and robustness of the underwater robot docking system.

[0045] Optionally, the second docking part further includes an altimeter 34. The controller 1 is further configured to generate and send a third start instruction to start the altimeter 34 when it is determined based on the track detection information that the underwater robot has entered the metal track 25. The altimeter 34 confirms and sends the third position information of the underwater robot, so that the controller 1 generates and sends a fifth control instruction based on the received position information of the first docking part and the third position information, so as to control the underwater robot to move toward the base 21, so that the underwater robot is docked with the base 21.

[0046] For example, the third position information may be the current position information of the underwater robot confirmed by the altimeter 34. The fifth control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the base 21. The third start instruction may be an instruction issued by the controller 1 to start the altimeter 34. For example, the altimeter 34 may be a laser altimeter. The laser altimeter may emit a laser pulse to the first docking part, and determine the current position information of the underwater robot based on the time difference between emitting the laser pulse and receiving the laser pulse reflected back from the first docking part, combined with the position information of the first docking part.

[0047] In the above embodiment, after the underwater robot enters the metal track, an altimeter positioning and guiding step is added, which utilizes the high measurement accuracy of the altimeter to further improve the docking accuracy and robustness of the underwater robot docking system.

[0048] Optionally, the second docking part further includes a visual guide part 35. The controller 1 is further configured to generate and send a fourth opening instruction to open the visual guide part 35 when it is determined based on the track detection information that the underwater robot has entered the metal track 25. The visual guide part 35 confirms and sends the fourth position information of the underwater robot, so that the controller 1 generates and sends a sixth control instruction based on the received position information of the first docking part and the fourth position information, so as to control the underwater robot to move toward the base 21, so that the underwater robot is docked with the base 21.

[0049] For example, the fourth position information may be the current position information of the underwater robot confirmed by the visual guide unit 35. The fourth start instruction may be an instruction issued by the controller 1 to turn on the visual guide unit 35. For example, the visual guide unit 35 may collect image information of the first docking part, determine the positional relationship between the visual guide unit 35 and the first docking part based on information such as corner points and edges extracted from the image information of the first docking part, and then determine the fourth position information of the underwater robot in combination with the position information of the first docking part. The sixth control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the base 21. For example, the visual guide unit 35 may be a camera with a visual positioning function.

[0050] In the above embodiment, after the underwater robot enters the metal track, a step of visual positioning guidance by the visual guide part is added, which utilizes the high positioning accuracy of the visual guide part to further improve the docking accuracy and robustness of the underwater robot docking system.

[0051] Figure 2 FIG. 1 is a flow chart showing a method for docking an underwater robot according to an embodiment of the present application. Figure 2 As shown, the docking method includes S110 - S150 . Exemplarily, the docking method may be executed by the controller 1 .

[0052] In S110, the position information of the first docking part and the first position information of the underwater robot sent by the navigation part are received. Exemplarily, the position information of the first docking part can be a fixed position preset by the user. The user can send the position information of the first docking part to the controller 1. Exemplarily, the first position information is the current position information of the underwater robot located by the navigation part 31.

[0053] In S120, a first control instruction generated based on the position information of the first docking portion and the first position information is sent to control the underwater robot to move toward the first docking portion. For example, the first control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the first docking portion. The navigation unit 31 may send the first position information to the controller 1.

[0054] In S130, when it is determined that the first position information satisfies the first preset condition, a first start instruction is generated and sent to start the magnetic detection unit to confirm and send the track detection information. For example, the first preset condition may be that the distance between the position of the underwater robot included in the first position information and the position of the first docking unit is less than or equal to 20 meters. The first start instruction may be an instruction issued by the controller 1 to start the magnetic detection unit 32.

[0055] In S140, a second control instruction generated based on the received track detection information is sent to control the underwater robot to move toward the metal track. For example, the second control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the metal track 25. For example, the track detection information may be a magnetic field detected by the magnetic detection unit 32. The magnetic detection unit 32 sends the track detection information to the controller 1, and locates the metal track 25 by measuring the changes in the surrounding magnetic field. The process of locating the metal track 25 has been described above and will not be repeated here.

[0056] In S150, when it is determined that the underwater robot enters the metal track, a third control instruction is generated and sent to control the underwater robot to move along the metal track 25 toward the base 21, so that the underwater robot is docked with the base 21. For example, the third control instruction may be an instruction issued by the controller 1 to control the underwater robot to move along the metal track 25 toward the base 21.

[0057] In the above-mentioned embodiment, the position of the underwater robot is preliminarily confirmed by the navigation unit, and the underwater robot is controlled to move toward the target to be docked, thereby completing the preliminary guidance of the underwater robot. After the underwater robot enters the range where the magnetic detection unit can detect the metal track, the magnetic detection unit is used to guide the underwater robot to move toward the metal track. The technical solution of magnetic detection can still maintain stable detection performance in turbid waters or strong current environments, thereby improving the environmental adaptability of the underwater robot during the docking process. After entering the metal track, the underwater robot moves along the metal track toward the base and docks with the base. The technical solution of the present application performs multi-level positioning and guidance on the underwater robot through the different characteristics of navigation positioning, magnetic detection guidance and mechanical limiting, thereby improving the success rate of docking.

[0058] Figure 3 FIG. 2 is another flow chart of the method for docking an underwater robot according to an embodiment of the present application. Figure 3 As shown, the docking method includes S210-S270. Exemplarily, the docking method can be executed by the controller 1. S210 and S220 are respectively the same as S110 and S220 mentioned in the above content. S250-S270 are the same as S130-S150 mentioned in the above content. No further description is given here.

[0059] In S230, when the first position information satisfies the second preset condition, a second start instruction is generated and sent to start the acoustic receiving unit so that the acoustic receiving unit receives the sound wave information sent by the acoustic transmitting unit to confirm and send the second position information of the underwater robot. For example, the second preset condition may be that the distance between the position of the underwater robot contained in the first position information and the position of the first docking unit is less than or equal to 50 meters. The second start instruction may be an instruction issued by the controller 1 to start the acoustic receiving unit 33. The second position information may be the current position information of the underwater robot confirmed by the acoustic receiving unit 33.

[0060] In S240, a fourth control instruction generated based on the received position information of the first docking part and the second position information is sent to control the underwater robot to move toward the first docking part. For example, the fourth control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the first docking part.

[0061] The above embodiment constructs a multi-level progressive guidance system by adding a new acoustic positioning step between the navigation positioning of the navigation unit and the magnetic detection positioning of the magnetic detection unit, thereby improving the docking accuracy and robustness of the underwater robot docking system.

[0062] Figure 4 A schematic flow chart of step S150 of the underwater robot docking method according to an embodiment of the present application is shown. Figure 4 As shown, S150 includes S151 and S152.

[0063] In S151, when it is determined that the underwater robot has entered the metal track, a third start instruction is generated and sent to start the altimeter, so that the altimeter confirms and sends the third position information of the underwater robot. For example, the third position information may be the current position information of the underwater robot confirmed by the altimeter 34. The third start instruction may be an instruction issued by the controller 1 to start the altimeter 34. The altimeter 34 may be a laser altimeter.

[0064] In S152, a fifth control instruction generated based on the position information of the first docking portion and the third position information is sent to control the underwater robot to move toward the base so that the underwater robot docks with the base. For example, the fifth control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the base 21.

[0065] In the above embodiment, after the underwater robot enters the metal track, an altimeter positioning and guiding step is added, which utilizes the high measurement accuracy of the altimeter to further improve the docking accuracy and robustness of the underwater robot docking system.

[0066] Figure 5 FIG. 2 is another flow chart of step S150 of the method for docking an underwater robot according to an embodiment of the present application. Figure 5 As shown, S150 includes S153 and S154.

[0067] In S153, when it is determined that the underwater robot has entered the metal track, a fourth start instruction is generated and sent to start the visual guide unit so that the visual guide unit confirms and sends the fourth position information of the underwater robot. For example, the fourth position information may be the current position information of the underwater robot confirmed by the visual guide unit 35. The visual guide unit 35 may be a camera with a visual positioning function. The fourth start instruction may be an instruction issued by the controller 1 to start the visual guide unit 35.

[0068] In S154, a sixth control instruction generated based on the position information of the first docking portion and the fourth position information is sent to control the underwater robot to move toward the base so that the underwater robot docks with the base. For example, the sixth control instruction may be an instruction issued by the controller 1 to control the underwater robot to move toward the base 21.

[0069] In the above embodiment, after the underwater robot enters the metal track, a step of visual positioning guidance by the visual guide part is added, which utilizes the high positioning accuracy of the visual guide part to further improve the docking accuracy and robustness of the underwater robot docking system.

[0070] According to another aspect of the present application, an electronic device is also provided. The electronic device includes one or more processors. The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the docking method of the present application.

[0071] According to another aspect of the present application, a non-volatile computer-readable storage medium is also provided. The non-volatile computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the docking method of the present application is implemented.

[0072] The controller may be implemented in any suitable manner. For example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller may also be implemented as part of the control logic of the memory.

[0073] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0074] Finally, it should be noted that the above are only preferred embodiments of the present application and are not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A docking system for an underwater robot, characterized in that: include: The first docking portion is disposed at the target position to be docked, and includes: A base, matching the docking end of the underwater robot; A guide portion, one end of which is disposed on the base and the other end of which is a trumpet-shaped opening; a metal track, one end of which is connected to the guide portion; A limiting portion, provided at the connection between the guide portion and the base; The second docking portion is provided on the underwater robot and includes: A navigation unit, used for confirming and sending first position information of the underwater robot; A magnetic detection unit detects the metal track, generates and sends track detection information; a controller, provided in the underwater robot, generating and sending a first control instruction based on the received position information of the first docking portion and the first position information, so as to control the underwater robot to move toward the first docking portion; The controller is further configured to generate and send a first start instruction to turn on the magnetic detection unit when it is determined that the current position information of the underwater robot meets a first preset condition, and to generate and send a second control instruction based on the received track detection information to control the underwater robot to move toward the metal track; The controller is also used to generate and send a third control instruction to control the underwater robot to move along the metal track toward the base when it is determined based on the track detection information that the underwater robot has entered the metal track, so that the underwater robot can dock with the base.

2. The docking system of an underwater robot according to claim 1, characterized in that: The controller is further configured to generate and send a second opening instruction when it is determined that the first position information meets a second preset condition; The second docking portion further includes: an acoustic receiving unit, which is turned on in response to the second start instruction, receives the sound wave information sent by the acoustic transmitting unit to confirm and send the second position information of the underwater robot, so that the controller generates and sends a fourth control instruction based on the received position information of the first docking part and the second position information to control the underwater robot to move toward the first docking part; The first docking portion further includes: The acoustic transmitting unit is used to send the sound wave information.

3. The docking system of an underwater robot according to claim 1, characterized in that: The controller is further configured to generate and send a third start instruction when it is determined that the underwater robot has entered the metal track based on the track detection information; The second docking portion further includes: The altimeter is turned on in response to the third start instruction, confirms and sends the third position information of the underwater robot, so that the controller generates and sends the fifth control instruction based on the received position information of the first docking part and the third position information, so as to control the underwater robot to move toward the base so that the underwater robot docks with the base.

4. The docking system of an underwater robot according to claim 1, characterized in that: The controller is further configured to generate and send a fourth start instruction when it is determined that the underwater robot has entered the metal track based on the track detection information; The second docking portion further includes: The visual guide unit is turned on in response to the fourth start instruction, confirms and sends the fourth position information of the underwater robot, so that the controller generates and sends the sixth control instruction based on the received position information of the first docking part and the fourth position information, so as to control the underwater robot to move toward the base so that the underwater robot docks with the base.

5. A method for docking an underwater robot, characterized in that: The docking method is executed by a controller of a docking system, the docking system comprises a first docking part, a second docking part and a controller, the first docking part comprises a base, a guide part, a metal track and a limit part, the second docking part comprises a navigation part and a magnetic detection part, and the docking method comprises: Receiving the position information of the first docking unit and the first position information of the underwater robot sent by the navigation unit; Sending a first control instruction generated based on the position information of the first docking portion and the first position information to control the underwater robot to move toward the first docking portion; When it is determined that the current position information of the underwater robot meets the first preset condition, a first start instruction is generated and sent to turn on the magnetic detection unit to confirm and send the track detection information; Sending a second control instruction generated based on the received track detection information to control the underwater robot to move toward the metal track; When it is determined that the underwater robot enters the metal track, a third control instruction is generated and sent to control the underwater robot to move along the metal track toward the base, so that the underwater robot is docked with the base.

6. The docking method according to claim 5, characterized in that: In the case where it is determined that the first position information satisfies the first preset condition, before generating and sending a first start instruction to start the magnetic detection unit to confirm and send the track detection information, the docking method further includes: In the case where the first position information satisfies a second preset condition, a second start instruction is generated and sent to turn on the acoustic receiving unit, so that the acoustic receiving unit receives the sound wave information sent by the acoustic transmitting unit, so as to confirm and send the second position information of the underwater robot, wherein the acoustic receiving unit is arranged at the first docking unit, and the acoustic transmitting unit is arranged at the second docking unit; A fourth control instruction generated based on the received position information of the first docking portion and the second position information is sent to control the underwater robot to move toward the first docking portion.

7. The docking method according to claim 5, characterized in that: In the case where it is determined that the underwater robot enters the metal track, generating and sending a third control instruction to control the underwater robot to move along the metal track toward the base so that the underwater robot docks with the base includes: In the case where it is determined that the underwater robot enters the metal track, a third start instruction is generated and sent to start an altimeter, so that the altimeter confirms and sends third position information of the underwater robot, wherein the altimeter is arranged at the second docking portion; A fifth control instruction generated based on the position information of the first docking portion and the third position information is sent to control the underwater robot to move toward the base so that the underwater robot is docked with the base.

8. The method for docking an underwater robot according to claim 5, characterized in that: In the case where it is determined that the underwater robot enters the metal track, generating and sending a third control instruction to control the underwater robot to move along the metal track toward the base so that the underwater robot docks with the base includes: In the case where it is determined that the underwater robot enters the metal track, a fourth opening instruction is generated and sent to open the visual guide part, so that the visual guide part confirms and sends fourth position information of the underwater robot, and the visual guide part is arranged at the second docking part; A sixth control instruction generated based on the position information of the first docking portion and the fourth position information is sent to control the underwater robot to move toward the base so that the underwater robot is docked with the base.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the docking method as described in any one of claims 5-8.

10. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the docking method according to any one of claims 5 to 8 is implemented.

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