Underwater robot wireless charging device and method based on visual positioning

Abstract

The invention discloses an underwater robot wireless charging device and method based on visual localization, and relates to the technical field of underwater robot wireless charging, the underwater robot wireless charging device comprises a circular truncated cone protective shell, the bottom of a connecting cylinder is provided with a drainage displacement piece, and the top of a pressing plate is provided with an air guide connecting piece. Through the arrangement of a drainage shifting piece and an air guide connecting piece, when a charging disc moves downwards relative to a connecting cylinder, a first inclined connecting rod drives a pull rod to move in the direction away from a water storage bin through a U-shaped pull block, and when the bottom of a pressing plate is attached to the top of the connecting cylinder, a connecting frame extrudes an L-shaped pressing plate; a rectangular movable sleeve drives a piston plate to move in the direction away from a water storage bin under the action of elastic restoring force of a second reset spring, so that a water solution between a pressing plate and a charging disc can enter the water storage bin through a liquid discharging pipe and a hose, and interference of water molecules to an electromagnetic field for wireless charging can be prevented; and the charging efficiency can be improved by matching with the air guide connecting piece.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robot wireless charging, and specifically to an underwater robot wireless charging device and method based on visual positioning. Background Art

[0002] Currently, for a submersible to be charged, it needs to surface to a nearby ship or onshore base. There are mainly two traditional methods of electric energy supply. One is to salvage the underwater device ashore, replace the battery with a new one or charge the battery in a wired manner; the other is to perform underwater wet plug-and-play charging on the underwater device through a cable system on a power supply platform such as a ship or a seabed base station. The first method requires manual operation, has a low degree of automation, poor charging concealment, and is likely to expose the target of underwater military equipment. The wet plug-and-play method has a complex operation and maintenance process and high costs. Due to the large plugging force, the interface wears severely, and leakage accidents are likely to occur, resulting in low reliability and safety.

[0003] Wireless charging technology provides a new possibility for the energy supply of underwater robots. Through electromagnetic induction or magnetic resonance, etc., the underwater robot can be charged when it returns to the charging area. This method does not require manual intervention and can greatly improve the working efficiency and safety of underwater robots. However, due to the special underwater environment, water molecules will absorb most of the high-frequency electromagnetic waves, resulting in a very fast attenuation of the charging signal in water, which will affect the charging efficiency and increase the charging duration. Summary of the Invention

[0004] The purpose of the present invention is to provide an underwater robot wireless charging device and method based on visual positioning to solve the problem of low charging efficiency.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An underwater robot wireless charging device based on visual positioning includes a frustum-shaped protective shell. The top of the frustum-shaped protective shell is connected with a connecting cylinder extending to the inside of the frustum-shaped protective shell. A guide rod is inserted on the outer wall of the connecting cylinder. The top of the guide rod is provided with a pressing plate located above the connecting cylinder. A clamping ring is slidably connected to the inside of the connecting cylinder. A charging disc is installed on the inner wall of the clamping ring. A drainage and displacement member is provided at the bottom of the connecting cylinder. A gas guiding connecting member is provided at the top of the pressing plate.

[0006] As a further solution of the present invention: The drainage displacement member includes a water storage bin installed at the bottom of the connecting cylinder. The bottom end of the guide rod is provided with a collar located outside the connecting cylinder. The bottom of the collar is provided with a connecting frame. The inner side of the connecting frame is rotatably connected to a first inclined connecting rod through a rotating shaft. A piston plate is slidably connected inside the water storage bin. On the side of the piston plate away from the central axis of the connecting cylinder, there is a rectangular movable sleeve extending outside the water storage bin. A pull rod is inserted inside the rectangular movable sleeve. On both sides of the pull rod, there are second return springs connected to the rectangular movable sleeve. The end of the pull rod away from the rectangular movable sleeve is provided with a U-shaped pull block located outside the rectangular movable sleeve. The bottom end of the first inclined connecting rod is rotatably connected to the U-shaped pull block through a rotating shaft. The end of the rectangular movable sleeve away from the piston plate is provided with a locking ring located below the U-shaped pull block. The two sides of the water storage bin are inserted with movable frames. The inner side of the movable frame is provided with movable pins extending inside the locking ring. The top of the movable frame is provided with an L-shaped pressing plate located below the connecting frame. One end of the L-shaped pressing plate is provided with a first return spring connected to the top of the water storage bin. The top of the water storage bin is connected to a hose located inside the connecting cylinder. The top end of the hose is connected to a drain pipe extending above the clamping ring.

[0007] As a further solution of the present invention: The space inside the water storage bin is equal to the space inside the connecting cylinder. A sealing gasket is provided at the position where the bottom of the pressing plate contacts the connecting cylinder.

[0008] As a further solution of the present invention: The diameter of the locking ring is equal to that of the movable pin. The top of the movable pin is rotatably connected to a ball through a rotating shaft.

[0009] As a further solution of the present invention: The outer wall of the clamping ring fits with the inner wall of the connecting cylinder. The outer wall of the connecting cylinder is provided with a guide hole that fits with the guide rod.

[0010] As a further solution of the present invention: The air guiding connecting member includes a transition bin installed on the top of the pressing plate. The bottom of the transition bin is provided with a transverse connecting pipe connected to the connecting rod. One side of the connecting rod is provided with an air spraying pipe located above the clamping ring. A gas blocking block extending outside the transition bin is inserted inside the transition bin. The top of the pressing plate is provided with limiting pipes located on both sides of the transition bin. A T-shaped inserting rod extending to the top of the limiting pipe is inserted inside the limiting pipe. The bottom of the T-shaped inserting rod is provided with a third return spring connected to the inner wall of the limiting pipe. The top of the T-shaped inserting rod is provided with a connecting plate located above the transition bin. The bottom of the connecting plate is provided with a second inclined connecting rod connected to the gas blocking block. The two ends of the second inclined connecting rod are respectively rotatably connected to the gas blocking block and the connecting plate through rotating shafts. A one-way valve is provided on the pressing plate. Side connecting plates are installed on both sides of the connecting plate. The top of the transition bin is provided with a connecting air pipe connected to an external air pump.

[0011] As a further solution of the present invention: air holes are provided inside the connecting rod, and the top and bottom of the air-blocking block are both in contact with the inner wall of the transition chamber.

[0012] As a further solution of the present invention: the horizontal height of the bottom of the side connecting plate is less than the horizontal height of the bottom of the pressing plate.

[0013] As a further solution of the present invention: the air inlet of the one-way valve is connected to the pressing plate.

[0014] The present invention also discloses a wireless charging method for an underwater robot based on visual positioning. Using the above-mentioned wireless charging device for an underwater robot based on visual positioning, it includes the following steps: S1: Through the operation of the visual locator in the underwater robot, the underwater robot falls to the top of the charging disk. At this time, the top of the charging disk moves downward relative to the connecting cylinder due to the gravity of the underwater robot, and at this time, the pressing plate will move downward along with the charging disk; S2: The underwater robot is completely moved into the inside of the connecting cylinder. At this time, the bottom of the pressing plate will contact the top of the connecting cylinder to block the top of the connecting cylinder; S3: Through the operation of the drainage displacement member, the aqueous solution located between the pressing plate and the charging disk is discharged, and at the same time, air is injected between the pressing plate and the charging disk through the air guiding connecting member, so as to convert the medium between the pressing plate and the clamping ring into air; S4: After charging is completed, the pressing plate is pushed by the upward movement of the underwater robot. When the underwater robot moves above the connecting cylinder, it can be separated from the charging disk by the translation of the underwater robot.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting the drainage displacement member and the air guiding connecting member, when the charging disk moves downward relative to the connecting cylinder, the first inclined connecting rod drives the pull rod to move away from the water storage bin through the U-shaped pull block. When the bottom of the pressing plate fits with the top of the connecting cylinder, the connecting frame squeezes the L-shaped pressing plate, the movable pin is separated from the locking ring, and the rectangular movable sleeve drives the piston plate to move away from the water storage bin under the action of the elastic restoring force of the second return spring. In this way, the aqueous solution between the pressing plate and the charging disk can enter the inside of the water storage bin through the drain pipe and the hose, so as to prevent water molecules from interfering with the electromagnetic field of wireless charging, and cooperate with the air guiding connecting member to improve the charging efficiency; 2. By setting up the air guide connecting piece, when the bottom of the pressing plate contacts the top of the connecting cylinder, the side connecting plate will move upward relative to the pressing plate due to the obstruction of the top of the connecting cylinder, so as to make the T-shaped insertion rod move upward relative to the limit pipe. At the same time, the third return spring stretches. At this time, the connecting plate will drive the air blocking block to move through the second inclined connecting rod, so that the air blocking block loses the shielding of the bottom of the connecting air pipe. At this time, the air ejected from the connecting air pipe will pass through the transition bin, the transverse connecting pipe, the connecting rod and finally be ejected from the air spraying pipe. In this way, the underwater robot entering the inside of the connecting cylinder can be surrounded by air, so as to achieve the effect of replacing the medium, thereby improving the charging efficiency. At the same time, the air ejected from the air spraying pipe will clean the top of the charging plate, so as to prevent the top of the charging plate from being covered by impurities in the water and affecting the charging efficiency. When the air volume between the pressing plate and the charging plate increases, the excess air can be discharged from the connecting cylinder through the one-way valve. When the pressing plate is separated from the connecting cylinder, the air blocking block will block the connecting air pipe again under the action of the elastic restoring force of the third return spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the whole invention; Figure 2 is a schematic connection diagram of the connecting cylinder and the water storage bin of the invention; Figure 3 is a schematic internal structure diagram of the water storage bin of the invention; Figure 4 is of the present invention Figure 3 enlarged view at A in; Figure 5 is a schematic connection diagram of the collar and the piston plate of the invention; Figure 6 is a schematic connection diagram of the rectangular movable sleeve and the pull rod of the invention; Figure 7 is a schematic connection diagram of the pressing plate and the clamping ring of the invention; Figure 8 is a schematic internal structure diagram of the transition bin of the invention.

[0017] In the figure: 1, frustum protective shell; 2, connecting cylinder; 3, guide rod; 4, pressing plate; 5, clamping ring; 6, charging plate; 7, connecting air pipe; 8, one-way valve; 9, air spraying pipe; 10, connecting rod; 11, drain pipe; 12, water storage bin; 13, collar; 14, transverse connecting pipe; 15, connecting frame; 16, L-shaped pressing plate; 17, first return spring; 18, rectangular movable sleeve; 19, pulling rod; 20, piston plate; 21, hose; 22, first inclined connecting rod; 23, movable frame; 24, locking ring; 25, movable pin; 26, U-shaped pulling block; 27, second return spring; 28, second inclined connecting rod; 29, connecting plate; 30, transition bin; 31, limiting pipe; 32, third return spring; 33, side connecting plate; 34, T-shaped inserting rod; 35, air blocking block. Detailed implementation manners

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. The embodiments of the present invention will be described below according to the overall structure of the present invention.

[0020] Please refer to Figures 1 to 8, in the embodiment of the present invention, a wireless charging device for an underwater robot based on visual positioning includes a frustum-shaped protective shell 1. A connecting cylinder 2 extending to the inside of the frustum-shaped protective shell 1 is connected to the top of the frustum-shaped protective shell 1. A guide rod 3 is inserted into the outer wall of the connecting cylinder 2. A pressing plate 4 located above the connecting cylinder 2 is arranged at the top of the guide rod 3. A clamping ring 5 is slidably connected to the inside of the connecting cylinder 2. A charging disk 6 is installed on the inner wall of the clamping ring 5. A drainage and displacement member is arranged at the bottom of the connecting cylinder 2. An air guide connecting member is arranged at the top of the pressing plate 4.

[0021] In this embodiment: When charging the underwater robot, first, the movement of the underwater robot causes the underwater robot to fall onto the top of the charging disk 6. At this time, the top of the charging disk 6 moves downward relative to the connecting cylinder 2 due to the gravity of the underwater robot. At this time, the pressing plate 4 will move downward along with the charging disk 6. When the underwater robot completely moves into the inside of the connecting cylinder 2, the bottom of the pressing plate 4 will contact the top of the connecting cylinder 2, so as to block the top of the connecting cylinder 2. At the same time, through the operation of the drainage and displacement member, the aqueous solution located between the pressing plate 4 and the charging disk 6 is discharged. At the same time, air is injected into the space between the pressing plate 4 and the charging disk 6 through the air guide connecting member, so as to convert the medium between the pressing plate 4 and the clamping ring 5 into air, thereby improving the charging efficiency. After charging is completed, the pressing plate 4 is pushed by the upward movement of the underwater robot. When the underwater robot moves above the connecting cylinder 2, it can be separated from the charging disk 6 by the translation of the underwater robot.

[0022] Please refer specifically to Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6, the drainage displacement member includes a water storage bin 12 installed at the bottom of the connecting cylinder 2. The bottom end of the guide rod 3 is installed with a collar 13 located outside the connecting cylinder 2. A connecting frame 15 is arranged at the bottom of the collar 13. The inner side of the connecting frame 15 is rotatably connected with a first inclined connecting rod 22 through a rotating shaft. A piston plate 20 is slidably connected inside the water storage bin 12. On the side of the piston plate 20 away from the central axis of the connecting cylinder 2, there is a rectangular movable sleeve 18 extending outside the water storage bin 12. A pull rod 19 is inserted inside the rectangular movable sleeve 18. On both sides of the pull rod 19, there are second return springs 27 connected to the rectangular movable sleeve 18. One end of the pull rod 19 away from the rectangular movable sleeve 18 is installed with a U-shaped pull block 26 located outside the rectangular movable sleeve 18. The bottom end of the first inclined connecting rod 22 is rotatably connected with the U-shaped pull block 26 through a rotating shaft. One end of the rectangular movable sleeve 18 away from the piston plate 20 is installed with a locking ring 24 located below the U-shaped pull block 26. The two sides of the water storage bin 12 are inserted with movable frames 23. The inner side of the movable frame 23 is provided with movable pins 25 extending inside the locking ring 24. The top of the movable frame 23 is provided with an L-shaped pressing plate 16 located below the connecting frame 15. One end of the L-shaped pressing plate 16 is provided with a first return spring 17 connected to the top of the water storage bin 12. The top of the water storage bin 12 is connected with a hose 21 located inside the connecting cylinder 2. The top end of the hose 21 is connected with a drain pipe 11 extending above the clamping ring 5.

[0023] In this embodiment, when the charging tray 6 moves downward relative to the connecting cylinder 2, the guide rod 3 drives the collar 13 to move downward. At this time, the collar 13 squeezes the top of the first inclined connecting rod 22 through the connecting frame 15, so that the first inclined connecting rod 22 drives the pull rod 19 to move away from the water storage tank 12 through the U-shaped pull block 26. At this time, since the locking ring 24 is limited by the movable pin 25, the pull rod 19 moves relative to the rectangular movable sleeve 18. During this process, the second return spring 27 is stretched by the pulling of the pull rod 19. When the bottom of the pressure plate 4 fits against the top of the connecting cylinder 2, the connecting frame 15 squeezes the L-shaped pressure plate 16 at this time, so that the L-shaped pressure plate 16 drives the movable frame 23 to move downward, so that the movable pin 25 is separated from the locking ring 24. At this time, the rectangular movable sleeve 18 will lose its limit. The rectangular movable sleeve 18 drives the piston plate 20 to move away from the water storage tank 12 under the action of the elastic restoring force of the second return spring 27. In this way, the aqueous solution between the pressure plate 4 and the charging tray 6 can enter the interior of the water storage tank 12 through the drain pipe 11 and the hose 21. In this way, it is possible to prevent water molecules from interfering with the electromagnetic field of wireless charging, and cooperate with the air guide connector to improve the charging efficiency. When the clamping ring 5 is restored, the collar 13 drives the pull rod 19 to move through the first inclined connecting rod 22. At this time, the pull rod 19 will push the rectangular movable sleeve 18 to move. When the locking ring 24 is aligned with the movable pin 25, the movable frame 23 will move upward under the action of the elastic restoring force of the first return spring 17, so that the movable pin 25 is inserted into the locking ring 24 to lock the rectangular movable sleeve 18. At the same time, the aqueous solution inside the water storage tank 12 will also be sprayed out of the drain pipe 11 as the piston plate 20 moves.

[0024] Please refer specifically to Figure 1 、 Figure 2 , the space inside the water storage tank 12 is equal to the space inside the connecting cylinder 2, and a sealing gasket is provided at the position where the bottom of the pressure plate 4 contacts the connecting cylinder 2.

[0025] In this embodiment, by setting this structure, when the piston plate 20 moves away from the water storage tank 12, the aqueous solution between the clamping ring 5 and the pressure plate 4 is completely extracted.

[0026] Please refer specifically to Figure 3 、 Figure 4 、 Figure 6 , the diameters of the locking ring 24 and the movable pin 25 are equal, and a ball is rotatably connected to the top of the movable pin 25 through a rotating shaft.

[0027] In this embodiment, by setting this structure, the stability of the rectangular movable sleeve 18 after the movable pin 25 is inserted into the locking ring 24 is improved, and at the same time, the friction between the movable pin 25 and the bottom of the rectangular movable sleeve 18 during the movement of the rectangular movable sleeve 18 is reduced.

[0028] Please refer specifically to Figure 3 , the outer wall of the clamping ring 5 fits against the inner wall of the connecting cylinder 2, and a guiding hole that fits with the guiding rod 3 is provided on the outer wall of the connecting cylinder 2.

[0029] In this embodiment: By setting this structure, the aqueous solution between the pressing plate 4 and the charging tray 6 is prevented from flowing below the charging tray 6.

[0030] Please refer specifically to Figure 1 , Figure 2 , Figure 7 , Figure 8 , the air guiding connector includes an over - flow chamber 30 installed on the top of the pressing plate 4. A horizontal connecting pipe 14 connected to the connecting rod 10 is provided at the bottom of the over - flow chamber 30. A jet pipe 9 located above the clamping ring 5 is provided on one side of the connecting rod 10. A gas - blocking block 35 extending outside the over - flow chamber 30 is inserted into the over - flow chamber 30. Limiting pipes 31 located on both sides of the over - flow chamber 30 are installed on the top of the pressing plate 4. A T - shaped insertion rod 34 extending to the top of the limiting pipe 31 is inserted into the limiting pipe 31. A third return spring 32 connected to the inner wall of the limiting pipe 31 is installed at the bottom of the T - shaped insertion rod 34. A connecting plate 29 located above the over - flow chamber 30 is installed at the top of the T - shaped insertion rod 34. A second inclined connecting rod 28 connected to the gas - blocking block 35 is provided at the bottom of the connecting plate 29. Both ends of the second inclined connecting rod 28 are connected to the gas - blocking block 35 and the connecting plate 29 through rotating shafts respectively. A one - way valve 8 is provided on the pressing plate 4. Side connecting plates 33 are installed on both sides of the connecting plate 29. A connecting air pipe 7 connected to an external air pump is provided at the top of the over - flow chamber 30.

[0031] In this embodiment: When the bottom of the pressing plate 4 contacts the top of the connecting cylinder 2, at this time, the side connecting plate 33 will move upward relative to the pressing plate 4 due to the obstruction of the top of the connecting cylinder 2, so that the T - shaped insertion rod 34 moves upward relative to the limiting pipe 31, and at the same time, the third return spring 32 extends. At this time, the connecting plate 29 will drive the gas - blocking block 35 to move through the second inclined connecting rod 28, so that the gas - blocking block 35 loses the block of the bottom of the connecting air pipe 7. At this time, the air ejected from the connecting air pipe 7 will pass through the over - flow chamber 30, the horizontal connecting pipe 14, the connecting rod 10 and finally be ejected from the jet pipe 9. In this way, the underwater robot entering the inside of the connecting cylinder 2 can be surrounded by air, so as to achieve the effect of replacing the medium, thereby improving the charging efficiency. At the same time, the air ejected from the jet pipe 9 will clean the top of the charging tray 6, thus preventing the top of the charging tray 6 from being covered by impurities in the water and affecting the charging efficiency. When the air volume between the pressing plate 4 and the charging tray 6 increases, the excess air can be discharged from the connecting cylinder 2 through the one - way valve 8. When the pressing plate 4 is separated from the connecting cylinder 2, the gas - blocking block 35 will block the connecting air pipe 7 again under the action of the elastic restoring force of the third return spring 32.

[0032] Please refer specifically toFigure 7 , Figure 8 , air holes are provided inside the connecting rod 10, and the top and bottom of the air-blocking block 35 are both in contact with the inner wall of the transition chamber 30.

[0033] In this embodiment: By setting this structure, the shielding effect of the air-blocking block 35 on the bottom of the connecting air pipe 7 is improved.

[0034] Please refer specifically to Figure 7 , Figure 8 , the horizontal height of the bottom of the side connecting plate 33 is less than the horizontal height of the bottom of the pressing plate 4.

[0035] In this embodiment: By setting this structure, when the pressing plate 4 is attached to the connecting cylinder 2, the side connecting plate 33 first contacts the top of the connecting cylinder 2, so as to accurately control the moving timing of the air-blocking block 35.

[0036] Please refer specifically to Figure 7 , Figure 8 , the air inlet of the one-way valve 8 is connected to the pressing plate 4.

[0037] In this embodiment: By setting this structure, the aqueous solution around the connecting cylinder 2 is prevented from entering between the charging plate 6 and the pressing plate 4 through the one-way valve 8.

[0038] The following provides a method for wireless charging of an underwater robot based on visual positioning in combination with the above-mentioned wireless charging device for an underwater robot based on visual positioning, which specifically includes the following steps: S1: Through the operation of the visual locator in the underwater robot, the underwater robot lands on the top of the charging plate 6. At this time, the top of the charging plate 6 moves downward relative to the connecting cylinder 2 due to the gravity of the underwater robot, and at this time, the pressing plate 4 will move downward along with the charging plate 6; S2: The underwater robot is completely moved into the inner side of the connecting cylinder 2. At this time, the bottom of the pressing plate 4 will contact the top of the connecting cylinder 2 to block the top of the connecting cylinder 2; S3: When the charging plate 6 moves downward relative to the connecting cylinder 2, the guide rod 3 will drive the collar 13 to move downward. At this time, the collar 13 squeezes the top end of the first inclined connecting rod 22 through the connecting frame 15, so that the first inclined connecting rod 22 drives the pull rod 19 to move away from the water storage bin 12 through the U-shaped pull block 26. At this time, since the locking ring 24 is limited by the movable pin 25, the pull rod 19 moves relative to the rectangular movable sleeve 18. During this process, the second return spring 27 is stretched by the pulling of the pull rod 19. When the bottom of the pressure plate 4 fits against the top of the connecting cylinder 2, the connecting frame 15 squeezes the L-shaped pressure plate 16 at this time, so that the L-shaped pressure plate 16 drives the movable frame 23 to move downward, so that the movable pin 25 is separated from the locking ring 24. At this time, the rectangular movable sleeve 18 will lose its limit, and the rectangular movable sleeve 18 drives the piston plate 20 to move away from the water storage bin 12 under the action of the elastic restoring force of the second return spring 27. In this way, the aqueous solution between the pressure plate 4 and the charging plate 6 can enter the water storage bin 12 through the drain pipe 11 and the hose 21, so as to prevent water molecules from interfering with the electromagnetic field of wireless charging. When the bottom of the pressure plate 4 contacts the top of the connecting cylinder 2, the side connecting plate 33 will move upward relative to the pressure plate 4 due to the obstruction of the top of the connecting cylinder 2, so that the T-shaped plug 34 moves upward relative to the limiting pipe 31, and at the same time the third return spring 32 is stretched. At this time, the connecting plate 29 drives the air blocking block 35 to move through the second inclined connecting rod 28, so that the air blocking block 35 loses the block of the bottom of the connecting air pipe 7. At this time, the air ejected from the connecting air pipe 7 will pass through the transition bin 30, the transverse connecting pipe 14, the connecting rod 10 and finally be ejected from the air jet pipe 9. In this way, the underwater robot entering the connecting cylinder 2 can be surrounded by air, so as to achieve the effect of replacing the medium, thereby improving the charging efficiency. At the same time, the air ejected from the air jet pipe 9 will clean the top of the charging plate 6, so as to prevent the top of the charging plate 6 from being covered by impurities in the water and affecting the charging efficiency. When the air volume between the pressure plate 4 and the charging plate 6 increases, the excess air can be discharged from the connecting cylinder 2 through the one-way valve 8; S4: After charging is completed, the underwater robot is pushed up to drive the pressure plate 4. When the underwater robot moves above the connecting cylinder 2, it can be separated from the charging plate 6 by the translation of the underwater robot.

[0039] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent replacements or changes, and should be covered within the protection scope of the present invention.

Claims

1. An underwater robot wireless charging device based on visual positioning, including a frustum-shaped protective shell (1), characterized in that, A connecting cylinder (2) extending to the inside of the frustum protective shell (1) is connected to the top of the frustum protective shell (1). A guide rod (3) is inserted into the outer wall of the connecting cylinder (2). A pressing plate (4) located above the connecting cylinder (2) is arranged at the top of the guide rod (3). A clamping ring (5) is slidably connected to the inside of the connecting cylinder (2). A charging disc (6) is installed on the inner wall of the clamping ring (5). A drainage displacement member is arranged at the bottom of the connecting cylinder (2). A gas guide connecting member is arranged at the top of the pressing plate (4).

2. The underwater robot wireless charging device based on visual positioning according to claim 1, wherein The drainage displacement member includes a water storage bin (12) installed at the bottom of the connecting cylinder (2). A collar (13) located outside the connecting cylinder (2) is installed at the bottom end of the guide rod (3). A connecting frame (15) is arranged at the bottom of the collar (13). A first inclined connecting rod (22) is rotatably connected to the inside of the connecting frame (15) through a rotating shaft. A piston plate (20) is slidably connected to the inside of the water storage bin (12). A rectangular movable sleeve (18) extending to the outside of the water storage bin (12) is arranged on one side of the piston plate (20) away from the central axis of the connecting cylinder (2). A pull rod (19) is inserted into the inside of the rectangular movable sleeve (18). Second return springs (27) connected to the rectangular movable sleeve (18) are arranged on both sides of the pull rod (19). A U-shaped pull block (26) located outside the rectangular movable sleeve (18) is installed at one end of the pull rod (19) away from the rectangular movable sleeve (18). The bottom end of the first inclined connecting rod (22) is rotatably connected to the U-shaped pull block (26) through a rotating shaft. A locking ring (24) located below the U-shaped pull block (26) is installed at one end of the rectangular movable sleeve (18) away from the piston plate (20). Movable frames (23) are inserted into both sides of the water storage bin (12). A movable pin (25) extending into the inside of the locking ring (24) is arranged on the inside of the movable frames (23). An L-shaped pressing plate (16) located below the connecting frame (15) is arranged at the top of the movable frames (23). A first return spring (17) connected to the top of the water storage bin (12) is arranged at one end of the L-shaped pressing plate (16). A hose (21) located inside the connecting cylinder (2) is connected to the top of the water storage bin (12). A drain pipe (11) extending above the clamping ring (5) is connected to the top end of the hose (21).

3. The underwater robot wireless charging device based on visual positioning according to claim 2, wherein, The space inside the water storage bin (12) is equal to the space inside the connecting cylinder (2). A sealing gasket is arranged at the position where the bottom of the pressing plate (4) contacts the connecting cylinder (2).

4. The underwater robot wireless charging device based on visual positioning according to claim 2, characterized in that The diameter of the locking ring (24) is equal to that of the movable pin (25). A ball is rotatably connected to the top of the movable pin (25) through a rotating shaft.

5. The underwater robot wireless charging device based on visual positioning according to claim 2, characterized in that The outer wall of the clamping ring (5) fits with the inner wall of the connecting cylinder (2). A guide hole matching the guide rod (3) is arranged on the outer wall of the connecting cylinder (2).

6. The underwater robot wireless charging device based on visual positioning according to claim 2, wherein, The air guiding connecting piece includes a transition bin (30) installed on the top of the pressing plate (4). A transverse connecting pipe (14) connected to the connecting rod (10) is arranged at the bottom of the transition bin (30). A jet pipe (9) located above the clamping ring (5) is arranged on one side of the connecting rod (10). A gas blocking block (35) extending outside the transition bin (30) is inserted into the inside of the transition bin (30). Limiting pipes (31) located on both sides of the transition bin (30) are installed on the top of the pressing plate (4). A T-shaped insertion rod (34) extending to the top of the limiting pipe (31) is inserted into the inside of the limiting pipe (31). A third return spring (32) connected to the inner wall of the limiting pipe (31) is installed at the bottom of the T-shaped insertion rod (34). A connecting plate (29) located above the transition bin (30) is installed at the top of the T-shaped insertion rod (34). A second inclined connecting rod (28) connected to the gas blocking block (35) is arranged at the bottom of the connecting plate (29). Two ends of the second inclined connecting rod (28) are respectively connected to the gas blocking block (35) and the connecting plate (29) through rotating shafts. A one-way valve (8) is arranged on the pressing plate (4). Side connecting plates (33) are installed on both sides of the connecting plate (29). A connecting air pipe (7) connected to an external air pump is arranged at the top of the transition bin (30).

7. The underwater robot wireless charging device based on visual positioning according to claim 6, characterized in that, Air holes are formed inside the connecting rod (10). The top and bottom of the gas blocking block (35) are both in contact with the inner wall of the transition bin (30).

8. The underwater robot wireless charging device based on visual positioning according to claim 6, characterized in that The horizontal height of the bottom of the side connecting plate (33) is less than the horizontal height of the bottom of the pressing plate (4).

9. The underwater robot wireless charging device based on visual positioning according to claim 6, characterized in that The air inlet of the one-way valve (8) is connected to the pressing plate (4).

10. A wireless charging method for an underwater robot based on visual positioning, characterized in that, Adopting the underwater robot wireless charging device based on visual positioning according to any one of claims 1-9, comprising the following steps: S1: The operation of the visual locator in the underwater robot causes the underwater robot to fall to the top of the charging plate (6). At this time, the top of the charging plate (6) moves downward relative to the connecting cylinder (2) due to the gravity of the underwater robot, and at this time, the pressing plate (4) will move downward along with the charging plate (6). S2: The underwater robot completely moves into the inside of the connecting cylinder (2). At this time, the bottom of the pressing plate (4) will contact the top of the connecting cylinder (2) to block the top of the connecting cylinder (2). S3: The aqueous solution located between the pressing plate (4) and the charging plate (6) is discharged through the operation of the drainage and displacement member, and at the same time, air is injected between the pressing plate (4) and the charging plate (6) through the air guiding connecting piece, so as to convert the medium between the pressing plate (4) and the clamping ring (5) into air. S4: After charging is completed, the pressing plate (4) is pushed by the upward movement of the underwater robot. When the underwater robot moves above the connecting cylinder (2), it can be separated from the charging plate (6) by the translation of the underwater robot.

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