Docking System and Method for Underwater Robot, Electronic Device and Storage Medium

Abstract

The present application provides a docking system for an underwater robot, which includes a first docking part, a second docking part and a controller. The first docking part includes a base, a guiding part, a metal track and a limiting part. The second docking part includes a navigation part and a magnetic detection part. 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 to control the underwater robot to move towards the first docking part. When the controller determines that the first position information meets the first preset condition, it turns on the magnetic detection part and generates and sends a second control instruction based on the received track detection information to control the underwater robot to move towards the metal track. When the controller determines that the underwater robot enters the metal track, it controls the underwater robot to move along the metal track towards the base so that the underwater robot docks with the base. The technical solution of the present application improves the docking accuracy by combining the navigation part and the magnetic detection part to position the underwater robot.

Description

Technical Field

[0001] This application relates to the technical field of robot control. Specifically, it relates to a docking system and method for an underwater robot, an electronic device, and a storage medium. Background Art

[0002] An underwater robot is an intelligent mechanical device that can perform various operations in an underwater environment.

[0003] When an underwater robot operates in an underwater environment, it may need to go to a target to be docked for docking. For example, when the battery of the underwater robot is low, the underwater robot needs to go to the target to be docked to complete docking for charging. Another example is that when the underwater robot needs to transmit operation data back to the control center, it also needs to go to the target to be docked to complete the task of transmitting operation data. To complete the docking task of the underwater robot, the prior art controls the underwater robot to complete the docking task by setting up 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 this application 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 fail to find the target to be docked, and thus the underwater robot cannot 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 position due to low underwater visibility, resulting in the underwater robot being unable to find the target to be docked, and thus the underwater robot cannot be successfully docked.

[0006] The content in the background art section is only the technology known to the applicant and does not necessarily represent the prior art in this field. Summary of the Invention

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

[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 disposed at the target docking position and includes a base, a guiding part, a metal track, and a limiting part. The base is matched with the docking end of the underwater robot. One end of the guiding part is disposed on the base, and the other end is a flared opening. One end of the metal track is connected to the guiding part. The limiting part is disposed at the connection between the guiding part and the base. The second docking part is disposed on 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, generates and sends track detection information. The controller is disposed on the underwater robot, 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 towards the first docking part. The controller is further configured to generate and send a first opening instruction to activate the magnetic detection part when it is determined that the first position information meets a 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 towards the metal track. The controller is further configured to generate and send a third control instruction to control the underwater robot to move along the metal track towards the base when it is determined based on the track detection information that the underwater robot enters the metal track, so that the underwater robot docks with the base.

[0009] According to some embodiments of the present application, 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 part further includes an acoustic receiving part. The acoustic receiving part is activated in response to the second opening instruction, receives the acoustic wave information sent by the acoustic transmitting part, and confirms and sends 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 towards the first docking part. The first docking part further includes an acoustic transmitting part. The acoustic transmitting part is used to send acoustic wave information.

[0010] According to some embodiments of the present application, the controller is further configured to generate and send a third opening instruction when it is determined based on the track detection information that the underwater robot enters the metal track. The second docking part further includes an altimeter. The altimeter is activated in response to the third opening 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 to control the underwater robot to move towards the base, so that the underwater robot docks with the base.

[0011] According to some embodiments of the present application, the controller is further configured to generate and send a fourth opening instruction when it is determined based on the track detection information that the underwater robot enters the metal track. The second docking part further includes a vision guiding part. The vision guiding part is opened in response to the fourth opening instruction, and 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 part and the fourth position information, to control the underwater robot to move towards the base, so that the underwater robot docks with the base.

[0012] According to another aspect of the present application, a docking method for an underwater robot is further provided. The docking method is executed by the controller of the 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 guiding part, a metal track and a limiting 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 towards the first docking part; when it is determined that the first position information meets the first preset condition, generating and sending a first opening instruction to open 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 towards the metal track; when 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 towards the base, so that the underwater robot docks with the base.

[0013] According to some embodiments of the present application, before generating and sending a first opening instruction to open the magnetic detection part to confirm and send the track detection information when it is determined that the first position information meets the first preset condition, the docking method further includes: when the first position information meets the second preset condition, generating and sending a second opening instruction to open the acoustic receiving part, so that the acoustic receiving part receives the acoustic wave information sent by the acoustic transmitting part to confirm and send the second position information of the underwater robot, the acoustic receiving part is arranged on the first docking part, and the acoustic transmitting part is arranged on the second docking part; sending a fourth control instruction generated based on the received position information of the first docking part and the second position information, to control the underwater robot to move towards the first docking part.

[0014] According to some embodiments of the present application, 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 towards the base so that the underwater robot docks with the base, including: when it is determined that the underwater robot enters the metal track, a third activation instruction is generated and sent to activate the altimeter so that the altimeter confirms and sends the third position information of the underwater robot, and the altimeter is arranged at the second docking part; sending a fifth control instruction generated based on the position information of the first docking part and the third position information to control the underwater robot to move towards 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 enters the metal track, a third control instruction is generated and sent to control the underwater robot to move along the metal track towards the base so that the underwater robot docks with the base, including: when it is determined that the underwater robot enters the metal track, a fourth activation instruction is generated and sent to activate the visual guidance part so that the visual guidance part confirms and sends the fourth position information of the underwater robot, and the visual guidance part is arranged at the second docking part; sending a sixth control instruction generated based on the position information of the first docking part and the fourth position information to control the underwater robot to move towards the base so that the underwater robot docks with the base.

[0016] According to another aspect of the present application, an electronic device is further 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 the 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 further 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

[0019] The technical solution of the present application initially confirms the position of the underwater robot through the navigation part, controls the underwater robot to move towards the target to be docked, and completes the initial guidance of the underwater robot. After the underwater robot enters the range where the magnetic detection part can detect the metal track, the magnetic detection part guides the underwater robot to move towards the metal track. The technical solution of magnetic detection can still maintain stable detection performance in turbid waters or strong water flow environments, thereby improving the environmental adaptability of the underwater robot docking process. After the underwater robot enters the metal track, it moves along the metal track towards 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 and positioning, magnetic detection guidance and mechanical limit, and improves the success rate of docking. Description of the drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0021] Figure 1 It shows a schematic structural diagram of the docking system of the underwater robot in the embodiments of the present application;

[0022] Figure 2 It shows a schematic flowchart of one of the docking methods of the underwater robot in the embodiments of the present application;

[0023] Figure 3 It shows another schematic flowchart of the docking method of the underwater robot in the embodiments of the present application;

[0024] Figure 4 It shows a schematic flowchart of one of the steps S150 of the docking method of the underwater robot in the embodiments of the present application;

[0025] Figure 5 It shows another schematic flowchart of the step S150 of the docking method of the underwater robot in the embodiments of the present application.

[0026] Explanation of the reference numerals:

[0027] Controller 1; base 21; acoustic emission part 22; guiding part 23; limiting part 24; metal track 25; navigation part 31; magnetic detection part 32; acoustic receiving part 33; altimeter 34; visual guiding part 35. Detailed implementation manners

[0028] Now, the exemplary embodiments will be described more comprehensively with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present application will be comprehensive and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. Identical reference numerals in the figures denote identical or similar parts, and thus their repeated description will be omitted.

[0029] The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. may be adopted. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0030] Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. 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 optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0031] The terms "first", "second", etc. in the description and claims of this application and the above drawings are used to distinguish different objects, rather than to describe a specific order.

[0032] The technical solutions of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without creative efforts belong to the scope of protection of this application.

[0033] Figure 1 The structural schematic diagram of the docking system of the underwater robot in the embodiment of this application is shown. As Figure 1 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 the target docking position. For example, the target docking position can be a fixed position at the bottom or on the water surface. For example, the first docking part is used to dock the docking end of the underwater robot.

[0034] The first docking part includes a base 21, a guiding part 23, a metal track 25, and a limiting part 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 guiding part 23 is arranged on the base 21, and the other end is a flared opening. For example, the minimum diameter of the flared opening can be greater than the diameter of the docking end of the underwater robot, and the flared opening can provide a physical contact surface. After the underwater robot touches the physical contact surface of the flared interface, it can move along the central axis direction of the flared opening towards the base 21 and dock with the base 21.

[0035] One end of the metal track 25 is connected to the guiding part 23. For example, the material of the metal track 25 can be metals such as iron, stainless steel, copper, aluminum, etc. The shape can be rectangular, square, etc., and the length can be set to 5 meters. The limiting part 24 is arranged at the connection between the guiding part 23 and the base 21. For example, the limiting part 24 can fix the underwater robot to the base 21 by means of snap connection, magnetic attraction, etc., to prevent the underwater robot from disengaging from the base 21 due to displacement caused by external forces.

[0036] The second docking part is arranged on the underwater robot and includes a navigation part 31 and a magnetic detection part 32. The navigation part 31 is used to confirm and send the first position information of the underwater robot. For example, the first position information can be the current position information of the underwater robot measured by the navigation part 31. For example, the navigation part 31 can be an inertial navigation device. The inertial navigation device can measure the angular velocity and linear acceleration of the underwater robot, and combine the initial position and attitude information of the underwater robot to calculate the current position information, speed information and attitude information of the underwater robot in real time.

[0037] The magnetic detection part 32 detects the metal track 25, generates and sends track detection information. For example, the magnetic detection part 32 can be arranged at the bottom of the underwater robot. For example, the magnetic detection part 32 can be a magnetic detection device equipped with a magnetic sensor. The magnetic detection device can locate the metal track 25 by sensing the change of the surrounding magnetic field.

[0038] The controller 1 is arranged on 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 towards the first docking part. 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. The navigation part 31 sends the first position information to the controller 1. For example, the first control instruction can be an instruction issued by the controller 1 to control the underwater robot to move towards the first docking part.

[0039] The controller 1 is also used to generate and send a first activation instruction to activate the magnetic detection part 32 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 towards the metal track 25. For example, the first preset condition can 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 activation instruction can be an instruction issued by the controller 1 to activate the magnetic detection part 32. For example, the second control instruction can be an instruction issued by the controller 1 to control the underwater robot to move towards the metal track 25.

[0040] For example, the orbital detection information may include the magnetic field detected by the magnetic detection unit 32. The magnetic detection unit 32 measures the change in the surrounding magnetic field and sends the orbital detection information to the controller 1 so that the controller 1 locates the metal track 25 based on the received orbital detection information. For example, the magnetic field emitted by the magnetic detection unit 32 is calculated by formula (1)

[0041]

[0042] is the magnetic field emitted by the magnetic detection unit 32, is the vacuum permeability, is the current in the emission coil of the magnetic detection unit 32, r is the distance from the emission coil to the metal track 25, and are the angular parameters of the emission coil. The value of r can be calculated by formula (1).

[0043] The calculation formula for the magnetic field generated by the eddy current in the metal track 25 is formula (2)

[0044]

[0045] is the induced magnetic field generated by the eddy current in the metal track 25, is the 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 for the total magnetic field received by the magnetic detection unit 32 is formula (3)

[0046] = +

[0047] is the total magnetic field received by the magnetic detection unit 32. The orbital detection information may include 、 and . The controller 1 analyzes 、 and in terms of amplitude, phase, etc., to confirm the position information of the metal track 25, and then achieve the positioning of the metal track.

[0048] The controller 1 is also used to generate and send a third control instruction when it determines that the underwater robot enters the metal track 25 based on the orbital detection information, so as to control the underwater robot to move along the metal track 25 towards the base 21, so that the underwater robot docks 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 towards the base 21.

[0049] In the above embodiments, the position of the underwater robot is preliminarily confirmed by the navigation unit, and the underwater robot is controlled to move towards the target to be docked, thus 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 guides the underwater robot to move towards the metal track. The technical solution of magnetic detection can still maintain stable detection performance in turbid waters or strong water flow environments, thereby improving the environmental adaptability of the underwater robot docking process. After the underwater robot enters the metal track, it moves along the metal track towards the base and docks with the base. The technical solution of the present application performs multi-level positioning guidance on the underwater robot through the different characteristics of navigation and positioning, magnetic detection guidance, and mechanical limit, improving the success rate of docking.

[0050] Optionally, the controller 1 is further configured to generate and send a second activation instruction to activate the acoustic receiving unit 33 when it is determined that the first position information meets the 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 part is less than or equal to 50 meters. The second activation instruction may be an instruction sent by the controller 1 to activate the acoustic receiving unit 33.

[0051] The first docking part further includes an acoustic transmitting unit 22. The acoustic transmitting unit 22 is configured to send acoustic wave information. The second docking part further includes an acoustic receiving unit 33. The acoustic receiving unit 33 receives the acoustic wave information sent by the acoustic transmitting unit 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 of the first docking part and the second position information to control the underwater robot to move towards the first docking part.

[0052] For example, the fourth control instruction may be an instruction sent by the controller 1 to control the underwater robot to move towards 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 can send acoustic wave information to the acoustic beacon. The acoustic beacon receives the acoustic wave information and calculates the distance from the acoustic beacon base station through the time of acoustic wave propagation, and then can confirm the position information of the acoustic beacon through 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.

[0053] In the above embodiments, by adding an acoustic positioning step between the navigation and positioning of the navigation unit and the magnetic detection positioning of the magnetic detection unit, a multi-level progressive guidance system is constructed, thereby improving the docking accuracy and robustness of the underwater robot docking system.

[0054] Optionally, the second docking part further includes an altimeter 34. The controller 1 is further configured to generate and send a third opening instruction to activate the altimeter 34 when it is determined based on the track detection information that the underwater robot enters 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 to control the underwater robot to move towards the base 21, so that the underwater robot docks with the base 21.

[0055] 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 sent by the controller 1 to control the underwater robot to move towards the base 21. The third opening instruction may be an instruction sent by the controller 1 to activate the altimeter 34. For example, the altimeter 34 may be a laser altimeter. The laser altimeter can emit laser pulses to the first docking part, and based on the time difference between the emitted laser pulses and the received laser pulses reflected back from the first docking part, combined with the position information of the first docking part, determine the current position information of the underwater robot.

[0056] In the above embodiment, after the underwater robot enters the metal track, a step of positioning and guiding with an altimeter is added, taking advantage of the high measurement accuracy of the altimeter to further improve the docking accuracy and robustness of the underwater robot docking system.

[0057] Optionally, the second docking part further includes a vision guidance part 35. The controller 1 is further configured to generate and send a fourth opening instruction to activate the vision guidance part 35 when it is determined based on the track detection information that the underwater robot enters the metal track 25. The vision guidance 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 to control the underwater robot to move towards the base 21, so that the underwater robot docks with the base 21.

[0058] For example, the fourth position information may be the current position information of the underwater robot confirmed by the vision guidance part 35. The fourth opening instruction may be an instruction sent by the controller 1 to activate the vision guidance part 35. For example, the vision guidance part 35 can collect image information of the first docking part, determine the positional relationship between the vision guidance part 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 combine the position information of the first docking part to determine the fourth position information of the underwater robot. The sixth control instruction may be an instruction sent by the controller 1 to control the underwater robot to move towards the base 21. For example, the vision guidance part 35 may be a camera with vision positioning function.

[0059] In the above embodiments, after the underwater robot enters the metal track, a step of visually positioning and guiding by the visual guiding part is added, which utilizes the characteristic of high positioning accuracy of the visual guiding part to further improve the docking accuracy and robustness of the underwater robot docking system.

[0060] Figure 2 FIG. shows a schematic flow chart of the docking method of the underwater robot according to an embodiment of the present application. As Figure 2 shown, the docking method includes S110-S150. Exemplarily, the docking method can be executed by the controller 1.

[0061] 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.

[0062] In S120, a first control instruction generated based on the position information of the first docking part and the first position information is sent to control the underwater robot to move towards the first docking part. For example, the first control instruction can be an instruction sent by the controller 1 to control the underwater robot to move towards the first docking part. The navigation part 31 can send the first position information to the controller 1.

[0063] In S130, when it is determined that the first position information meets the first preset condition, a first opening instruction is generated and sent to activate the magnetic detection part to confirm and send the track detection information. For example, the first preset condition can 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 opening instruction can be an instruction sent by the controller 1 to activate the magnetic detection part 32.

[0064] In S140, a second control instruction generated based on the received track detection information is sent to control the underwater robot to move towards the metal track. For example, the second control instruction can be an instruction sent by the controller 1 to control the underwater robot to move towards the metal track 25. For example, the track detection information can be the magnetic field detected by the magnetic detection part 32. The magnetic detection part 32 sends the track detection information to the controller 1, and locates the metal track 25 by measuring the change of the surrounding magnetic field. The process of locating the metal track 25 has been described above and will not be repeated here.

[0065] 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 towards the base 21, so that the underwater robot docks with the base 21. For example, the third control instruction can be an instruction sent by the controller 1 to control the underwater robot to move along the metal track 25 towards the base 21.

[0066] In the above embodiment, the navigation unit preliminarily confirms the position of the underwater robot and controls the underwater robot to move towards the docking target, 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 guides the underwater robot to move towards the metal track. The technical solution of magnetic detection can still maintain stable detection performance in turbid waters or strong water flow environments, thereby improving the environmental adaptability of the underwater robot docking process. After the underwater robot enters the metal track, it moves along the metal track towards the base and docks with the base. The technical solution of this application performs multi-level positioning guidance on the underwater robot through the different characteristics of navigation and positioning, magnetic detection guidance, and mechanical limit, improving the docking success rate.

[0067] Figure 3 Another flowchart showing the docking method of the underwater robot according to an embodiment of the present application is shown. As Figure 3 shown, the docking method includes S210 - S270. Exemplarily, the docking method can be executed by the controller 1. S210 and S220 are the same as S110 and S220 mentioned above respectively. S250 - S270 are the same as S130 - S150 mentioned above. Details are not described herein again.

[0068] In S230, when the first position information meets the second preset condition, a second activation instruction is generated and sent to activate the acoustic receiving unit, so that the acoustic receiving unit receives the acoustic wave information sent by the acoustic transmitting unit, and the second position information of the underwater robot is confirmed and sent. For example, the second preset condition can 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 50 meters. The second activation instruction can be an instruction sent by the controller 1 to activate the acoustic receiving unit 33. The second position information can be the current position information of the underwater robot confirmed by the acoustic receiving unit 33.

[0069] 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 towards the first docking part. For example, the fourth control instruction can be an instruction sent by the controller 1 to control the underwater robot to move towards the first docking part.

[0070] In the above embodiments, by adding an acoustic positioning step between the navigation and positioning of the navigation unit and the magnetic detection and positioning of the magnetic detection unit, a multi-level progressive guidance system is constructed, thereby improving the docking accuracy and robustness of the underwater robot docking system.

[0071] Figure 4 FIG. shows a flowchart of step S150 of the docking method of the underwater robot according to an embodiment of the present application. As Figure 4 shown, S150 includes S151 and S152.

[0072] In S151, when it is determined that the underwater robot enters the metal track, a third opening instruction is generated and sent to activate 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 opening instruction may be an instruction sent by the controller 1 to activate the altimeter 34. The altimeter 34 may be a laser altimeter.

[0073] In S152, 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 towards the base, so that the underwater robot docks with the base. For example, the fifth control instruction may be an instruction sent by the controller 1 to control the underwater robot to move towards the base 21.

[0074] In the above embodiments, after the underwater robot enters the metal track, the step of altimeter positioning guidance is added, taking advantage of the high measurement accuracy of the altimeter, and further improving the docking accuracy and robustness of the underwater robot docking system.

[0075] Figure 5 FIG. shows another flowchart of step S150 of the docking method of the underwater robot according to an embodiment of the present application. As Figure 5 shown, S150 includes S153 and S154.

[0076] In S153, when it is determined that the underwater robot enters the metal track, a fourth opening instruction is generated and sent to activate the vision guidance unit, so that the vision guidance 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 vision guidance unit 35. The vision guidance unit 35 may be a camera with a vision positioning function. The fourth opening instruction may be an instruction sent by the controller 1 to activate the vision guidance unit 35.

[0077] In S154, send a sixth control instruction generated based on the position information of the first docking part and the fourth position information to control the underwater robot to move towards the base, so that the underwater robot docks with the base. For example, the sixth control instruction can be an instruction for the controller 1 to control the underwater robot to move towards the base 21.

[0078] In the above embodiment, after the underwater robot enters the metal track, a step of visual positioning and guidance by the visual guidance part is added, taking advantage of the high positioning accuracy of the visual guidance part to further improve the docking accuracy and robustness of the underwater robot docking system.

[0079] 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 the one or more processors, the one or more processors implement the docking method of the present application.

[0080] 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.

[0081] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as 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 the controller include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory.

[0082] Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, the method steps can be logically programmed to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers to achieve the same function. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structure within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or the structure within the hardware component.

[0083] Finally, it should be noted that the above are only the preferred embodiments of the present application and are not used to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments or perform equivalent replacements on some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within 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 provided at the target location to be docked, and includes: A base, matching the docking end of the underwater robot; a guide portion, one end of which is provided 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, which is an inertial navigation device, is used to confirm and send the first position information of the underwater robot; A magnetic detection unit, configured to detect the metal track, generate and send 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, 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, wherein the first preset condition is 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 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 docks 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 and 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 portion and the second position information to control the underwater robot to move toward the first docking portion; 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 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 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 unit 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, wherein the docking system includes a first docking part, a second docking part, and a controller, wherein the first docking part includes a base, a guide part, a metal track, and a limit part, and 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 portion and the first position information of the underwater robot sent by the navigation portion, where the navigation portion is an inertial navigation device; 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; If it is determined that the current position information of the underwater robot meets a first preset condition, generating and sending a first start instruction to turn on the magnetic detection unit to confirm and send the track detection information, the first preset condition being 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; 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 has entered 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 docks with the base.

6. The docking method according to claim 5, characterized in that: Before generating and sending a first start instruction to start the magnetic detection unit to confirm and send the track detection information when it is determined that the first position information meets the first preset condition, the docking method further includes: When the first position information satisfies a second preset condition, generating and sending a second start instruction 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 being provided at the first docking unit and the acoustic transmitting unit being provided 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: The method of 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 when it is determined that the underwater robot has entered the metal track includes: When it is determined that the underwater robot has entered the metal track, a third start instruction is generated and sent to turn on an altimeter, so that the altimeter confirms and sends third position information of the underwater robot, wherein the altimeter is provided 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 docks with the base.

8. The method for docking an underwater robot according to claim 5, characterized in that: The method of 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 when it is determined that the underwater robot has entered the metal track includes: When it is determined that the underwater robot has entered the metal track, a fourth opening instruction is generated and sent to open the visual guide unit, so that the visual guide unit confirms and sends fourth position information of the underwater robot, wherein the visual guide unit is provided at the second docking portion; 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.

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 according to any one of claims 5 to 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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