Wireless charging device and method for underwater robot based on visual positioning

Abstract

The present invention discloses a wireless charging device and method for underwater robots based on visual positioning, which relates to the technical field of wireless charging for underwater robots. The device comprises a truncated cone protective shell, a drainage displacement member provided at the bottom of the connecting cylinder, and an air guide connector provided at the top of the pressure plate. The present invention provides a drainage displacement member and an air guide connector. When the charging disk moves downward relative to the connecting cylinder, the first oblique connecting rod drives the guide rod to move away from the water storage tank through the U-shaped pull block. When the bottom of the pressure plate fits with the top of the connecting cylinder, the connecting frame squeezes the L-shaped pressure plate. The rectangular movable sleeve drives the piston plate to move away from the water storage tank under the action of the elastic restoring force of the second reset spring. In this way, the aqueous solution between the pressure plate and the charging disk can enter the water storage tank through the drain pipe and the hose. In this way, water molecules can be prevented from interfering with the electromagnetic field of wireless charging. In combination with the air guide connector, the charging efficiency can be improved.

Description

Technical Field

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

[0002] At present, submersibles need to surface to nearby ships or land bases to charge. There are two main traditional ways of power supply. One is to salvage the underwater equipment ashore, replace the battery with a new one or charge the battery by wired means; the other is to perform underwater wet plug-in charging on the underwater equipment through a cable system on power supply platforms such as ships and submarine base stations. The first method requires manual operation, has a low degree of automation, and poor charging concealment, which can easily expose underwater military equipment to targets. The wet plug-in method has a complex operation and maintenance process and is expensive. Due to the large plug-in force, the interface is severely worn, which can easily cause leakage accidents, and the reliability and safety are not high.

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

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

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a wireless charging device for an underwater robot based on visual positioning, comprising a conical protective shell, the top of the conical protective shell is connected to a connecting tube extending to the inner side of the conical protective shell, the outer wall of the connecting tube is plugged with a guide rod, the top of the guide rod is provided with a pressure plate located above the connecting tube, the inner side of the connecting tube is slidably connected with a retaining ring, the inner wall of the retaining ring is installed with a charging disk, the bottom of the connecting tube is provided with a drainage displacement piece, and the top of the pressure plate is provided with an air guide connecting piece.

[0006] As a further solution of the present invention: the drainage shifting member includes a water storage tank installed at the bottom of the connecting cylinder, the bottom end of the guide rod is installed with a collar located on the outside of 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 the first oblique connecting rod through a rotating shaft, the interior of the water storage tank is slidably connected to a piston plate, the side of the piston plate away from the central axis of the connecting cylinder is provided with a rectangular movable sleeve extending to the outside of the water storage tank, the inner side of the rectangular movable sleeve is plugged with a pull rod, and the two sides of the pull rod are provided with a second return spring connected to the rectangular movable sleeve, and the pull rod is installed at one end away from the rectangular movable sleeve There is a U-shaped pull block located on the outside of the rectangular movable sleeve, and the bottom end of the first oblique connecting rod is rotatably connected to the U-shaped pull block by a rotating shaft. The end of the rectangular movable sleeve away from the piston plate is equipped with a locking ring located below the U-shaped pull block, and movable frames are inserted on both sides of the water storage bin, and the inner side of the movable frame is provided with a movable pin extending to the inside of the locking ring. The top of the movable frame is provided with an L-shaped pressure plate located below the connecting frame, and one end of the L-shaped pressure plate is provided with a first return spring connected to the top of the water storage bin, and the top of the water storage bin is connected to a hose located on the inside of the connecting cylinder, and the top of the hose is connected to a drain pipe extending to the top of the clamping ring.

[0007] As a further solution of the present invention: the space inside the water storage bin is equal in size to the space inside the connecting tube, and a sealing gasket is provided at the position where the bottom of the pressure plate contacts the connecting tube.

[0008] As a further solution of the present invention: the diameters of the locking ring and the movable pin are equal, and the top of the movable pin is rotatably connected to a ball via a rotating shaft.

[0009] As a further solution of the present invention: the outer wall of the retaining ring is in contact with the inner wall of the connecting tube, and the outer wall of the connecting tube is provided with a guide hole that fits with the guide rod.

[0010] The top of the pressure plate is provided with a limit tube located on both sides of the transition bin, and the interior of the limit tube is plugged with a T-shaped plug extending to the top of the limit tube, and the bottom of the T-shaped plug is provided with a third return spring connected to the inner wall of the limit tube, and the top of the T-shaped plug is provided with a connecting plate located above the transition bin, and the bottom of the connecting plate is provided with a second oblique connecting rod connected to the air blocking block, and the two ends of the second oblique connecting rod are respectively connected to the air blocking block and the connecting plate by a rotating shaft. A one-way valve is provided on the pressure plate, and 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 the external air pump.

[0011] As a further solution of the present invention: an air hole is opened on the inner side of the connecting rod, and the top and bottom of the air blocking block are both in contact with the inner wall of the transition bin.

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

[0014] The present invention also discloses a method for wireless charging of an underwater robot based on visual positioning, which uses the above-mentioned wireless charging device for an underwater robot based on visual positioning, and includes the following steps:

[0015] S1: The underwater robot's visual locator is used to make the underwater robot fall to the top of the charging tray. At this time, the top of the charging tray moves downward relative to the connecting tube due to the gravity of the underwater robot. At this time, the pressure plate moves downward with the charging tray.

[0016] S2: The underwater robot moves completely into the connecting tube. At this time, the bottom of the pressure plate contacts the top of the connecting tube, thereby sealing the top of the connecting tube.

[0017] S3: The aqueous solution between the pressing plate and the charging disk is discharged through the operation of the drainage displacement member, and air is injected into the space between the pressing plate and the charging disk through the air guide connector, thereby converting the medium between the pressing plate and the retaining ring into air;

[0018] S4: After charging is completed, the underwater robot moves upward to push the pressure plate. When the underwater robot moves above the connecting tube, it can be separated from the charging plate by the translation of the underwater robot.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. By setting up a drainage shifting member and an air guide connecting member, when the charging disk moves downward relative to the connecting tube, the first oblique connecting rod drives the guide rod to move away from the water storage tank through the U-shaped pull block. When the bottom of the pressure plate is in contact with the top of the connecting tube, the connecting frame squeezes the L-shaped pressure plate, and the movable pin is separated from the locking ring. The rectangular movable sleeve drives the piston plate to move away from the water storage tank under the action of the elastic restoring force of the second return spring. In this way, the aqueous solution between the pressure plate and the charging disk can enter the water storage tank through the drainage pipe and the hose. This can prevent water molecules from interfering with the electromagnetic field of wireless charging. In conjunction with the air guide connecting member, the charging efficiency can be improved.

[0021] When the pressure plate is separated from the connecting tube, the air blocking block will block the connecting tube again under the action of the elastic restoring force of the third reset spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of the present invention as a whole;

[0023] Figure 2 This is a schematic diagram of the connection between the connecting cylinder and the water storage tank of the present invention;

[0024] Figure 3 This is a schematic diagram of the internal structure of the water storage bin of the present invention;

[0025] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0026] Figure 5 This is a schematic diagram of the connection between the collar and the piston plate of the present invention;

[0027] Figure 6 This is a schematic diagram of the connection between the rectangular movable sleeve and the pull rod of the present invention;

[0028] Figure 7 This is a schematic diagram of the connection between the pressing plate and the retaining ring of the present invention;

[0029] Figure 8 It is a schematic diagram of the internal structure of the transition bin of the present invention.

[0030] In the figure: 1. Cone protective shell; 2. Connecting tube; 3. Guide rod; 4. Pressure plate; 5. Positioning ring; 6. Charging disk; 7. Connecting air pipe; 8. One-way valve; 9. Injection pipe; 10. Connecting rod; 11. Drain pipe; 12. Water storage tank; 13. Ring; 14. Horizontal connecting pipe; 15. Connecting frame; 16. L-shaped pressure plate; 17. First return spring; 18. Rectangular movable sleeve; 19. Pull rod; 20. Piston plate; 21. Hose; 22. First oblique connecting rod; 23. Movable frame; 24. Locking ring; 25. Movable pin; 26. U-shaped pull block; 27. Second return spring; 28. Second oblique connecting rod; 29. Connecting plate; 30. Transition bin; 31. Limiting tube; 32. Third return spring; 33. Side connecting plate; 34. T-shaped plug; 35. Air block. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and should not be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected, detachably connected, or connected in one piece; they can be mechanically connected or electrically connected; they can be directly connected, or indirectly connected through an intermediate medium, or they can be internal connections between two components. 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 circumstances. The following describes an embodiment of the present invention based on its overall structure.

[0033] See also Figures 1 to 8In an embodiment of the present invention, a wireless charging device for an underwater robot based on visual positioning includes a conical protective shell 1, the top of the conical protective shell 1 is connected to a connecting tube 2 extending to the inner side of the conical protective shell 1, the outer wall of the connecting tube 2 is plugged with a guide rod 3, the top of the guide rod 3 is provided with a pressure plate 4 located above the connecting tube 2, the inner side of the connecting tube 2 is slidably connected with a retaining ring 5, the inner wall of the retaining ring 5 is installed with a charging disk 6, the bottom of the connecting tube 2 is provided with a drainage displacement piece, and the top of the pressure plate 4 is provided with an air guide connector.

[0034] In this embodiment: when charging the underwater robot, the underwater robot is first moved to make it fall to the top of the charging disk 6. At this time, the top of the charging disk 6 moves downward relative to the connecting tube 2 due to the gravity of the underwater robot. At this time, the pressure plate 4 will move downward with the charging disk 6, and the underwater robot will completely move into the inside of the connecting tube 2. At this time, the bottom of the pressure plate 4 will contact the top of the connecting tube 2 to seal the top of the connecting tube 2. At the same time, the aqueous solution between the pressure plate 4 and the charging disk 6 is discharged through the operation of the drainage shifter, and air is injected between the pressure plate 4 and the charging disk 6 through the air-guiding connector to convert the medium between the pressure plate 4 and the retaining ring 5 into air, thereby improving the charging efficiency. After charging is completed, the pressure plate 4 is pushed by the upward movement of the underwater robot. When the underwater robot moves above the connecting tube 2, it can be separated from the charging disk 6 through the translation of the underwater robot.

[0035] Please refer to Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6The drainage displacement member includes a water storage tank 12 installed at the bottom of the connecting tube 2, a collar 13 located on the outside of the connecting tube 2 is installed at the bottom end of the guide rod 3, a connecting frame 15 is provided at the bottom of the collar 13, and the inner side of the connecting frame 15 is rotatably connected to the first oblique connecting rod 22 through a rotating shaft. The inside of the water storage tank 12 is slidably connected to the piston plate 20, and the side of the piston plate 20 away from the central axis of the connecting tube 2 is provided with a rectangular movable sleeve 18 extending to the outside of the water storage tank 12, and a pull rod 19 is inserted into the inside of the rectangular movable sleeve 18. A second return spring 27 connected to the rectangular movable sleeve 18 is provided on both sides of the pull rod 19, and a pull rod 19 is installed on the outside of the rectangular movable sleeve 18 at one end away from the rectangular movable sleeve 18. The U-shaped pull block 26 is rotatably connected to the first oblique connecting rod 22 by a rotating shaft. The end of the rectangular movable sleeve 18 away from the piston plate 20 is equipped with a locking ring 24 located below the U-shaped pull block 26. Movable frames 23 are inserted on both sides of the water storage tank 12. The inner side of the movable frame 23 is provided with a movable pin 25 extending to the inside of the locking ring 24. The top of the movable frame 23 is provided with an L-shaped pressure plate 16 located below the connecting frame 15. One end of the L-shaped pressure plate 16 is provided with a first return spring 17 connected to the top of the water storage tank 12. The top of the water storage tank 12 is connected to a hose 21 located on the inner side of the connecting tube 2. The top of the hose 21 is connected to the drain pipe 11 extending to the top of the clamping ring 5.

[0036] In this embodiment: when the charging disk 6 moves downward relative to the connecting tube 2, the guide rod 3 will drive the ring 13 to move downward. At this time, the ring 13 squeezes the top of the first oblique connecting rod 22 through the connecting frame 15, so that the first oblique 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 pulled by the pull rod 19 to stretch. When the bottom of the pressure plate 4 is in contact with the top of the connecting tube 2, the connecting frame 15 squeezes the L-shaped pressure plate 16, so that the L-shaped pressure plate 16 drives the movable frame 23 to move downward, thereby separating the movable pin 25 from the locking ring 24. At this time, the rectangular movable sleeve 18 loses its limit, and the rectangular movable sleeve 18 is locked in the second return spring Under the action of the elastic restoring force 27, the piston plate 20 is driven to move in the direction away from the water storage tank 12, so that the aqueous solution between the pressure plate 4 and the charging disk 6 can enter the water storage tank 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. The charging efficiency can be improved in conjunction with the air guide connector. When the positioning ring 5 is restored, the sleeve ring 13 will drive the pull rod 19 to move through the first oblique 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, thereby locking the rectangular movable sleeve 18. At the same time, the aqueous solution inside the water storage tank 12 will also be sprayed out from the drain pipe 11 as the piston plate 20 moves.

[0037] Please refer to Figure 1 、 Figure 2 The space inside the water storage tank 12 is equal to the space inside the connecting tube 2, and a sealing gasket is provided at the position where the bottom of the pressure plate 4 contacts the connecting tube 2.

[0038] In this embodiment, by providing this structure, the aqueous solution between the retaining ring 5 and the pressing plate 4 is completely extracted when the piston plate 20 moves in a direction away from the water storage tank 12 .

[0039] Please refer to Figure 3 、 Figure 4 、 Figure 6 The diameters of the locking ring 24 and the movable pin 25 are equal, and the top of the movable pin 25 is connected to a ball through a rotating shaft.

[0040] In this embodiment, this structure is provided to improve the stability of the rectangular movable sleeve 18 after the movable pin 25 is inserted into the locking ring 24, and also to reduce 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.

[0041] Please refer to Figure 3 The outer wall of the retaining ring 5 fits with the inner wall of the connecting tube 2 , and the outer wall of the connecting tube 2 is provided with a guide hole that fits with the guide rod 3 .

[0042] In this embodiment, this structure is provided to prevent the aqueous solution between the pressing plate 4 and the charging tray 6 from flowing to the bottom of the charging tray 6 .

[0043] Please refer to Figure 1 、 Figure 2 、 Figure 7 、 Figure 8 The air guide connector includes a transition bin 30 installed on the top of the pressure plate 4, a transverse connecting pipe 14 connected to the connecting rod 10 is provided at the bottom of the transition bin 30, and an injection pipe 9 is provided on one side of the connecting rod 10 and located above the positioning ring 5. The interior of the transition bin 30 is plugged with an air blocking block 35 extending to the outside of the transition bin 30, and the top of the pressure plate 4 is equipped with a limiting tube 31 located on both sides of the transition bin 30. The interior of the limiting tube 31 is plugged with a T-shaped plug rod 34 extending to the top of the limiting tube 31. The T-shaped plug rod 34 A third return spring 32 connected to the inner wall of the limit tube 31 is installed at the bottom, and a connecting plate 29 located above the transition bin 30 is installed at the top of the T-shaped plug rod 34. A second oblique link 28 connected to the air blocking block 35 is provided at the bottom of the connecting plate 29. The two ends of the second oblique link 28 are respectively connected to the air blocking block 35 and the connecting plate 29 through a rotating shaft. A one-way valve 8 is provided on the pressure plate 4, and side connecting plates 33 are installed on both sides of the connecting plate 29. The top of the transition bin 30 is provided with a connecting air pipe 7 connected to an external air pump.

[0044] In this embodiment: when the bottom of the pressure plate 4 contacts the top of the connecting tube 2, the side connecting plate 33 will move up relative to the pressure plate 4 due to the obstruction of the top of the connecting tube 2, so that the T-shaped plug 34 moves up relative to the limit tube 31, and at the same time the third return spring 32 stretches. At this time, the connecting plate 29 will drive the air blocking block 35 to move through the second oblique connecting rod 28, so that the air blocking block 35 loses its obstruction on 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 tube 14, the connecting rod 10 and finally be ejected by the air jet pipe 9. This will fill the area around the underwater robot entering the connecting tube 2 with air, thereby achieving the effect of replacing the medium and improving the charging efficiency. At the same time, the air ejected through the jet pipe 9 will clean the top of the charging disk 6, thereby preventing the top of the charging disk 6 from being covered by impurities in the water and affecting the charging efficiency. When the amount of air between the pressure plate 4 and the charging disk 6 increases, the excess air can be discharged from the connecting tube 2 through the one-way valve 8. When the pressure plate 4 is separated from the connecting tube 2, the air 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.

[0045] Please refer to Figure 7 、 Figure 8 An air hole is opened on the inner side of 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 bin 30.

[0046] In this embodiment, this structure is provided to improve the shielding effect of the air blocking block 35 on the bottom of the connecting air pipe 7 .

[0047] Please refer 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.

[0048] In this embodiment, by setting this structure, the side connecting plate 33 is first in contact with the top of the connecting tube 2 when the pressing plate 4 is fitted with the connecting tube 2, so as to accurately control the movement timing of the air blocking block 35.

[0049] Please refer to Figure 7 、 Figure 8 , the air inlet of the one-way valve 8 is connected to the pressure plate 4.

[0050] In this embodiment, this structure is provided to prevent the aqueous solution around the connecting cylinder 2 from entering between the charging disk 6 and the pressing plate 4 through the one-way valve 8 .

[0051] In combination with the above-mentioned underwater robot wireless charging device based on visual positioning, a method for underwater robot wireless charging based on visual positioning is provided below, which specifically includes the following steps:

[0052] S1: The underwater robot falls to the top of the charging tray 6 through the operation of the visual locator in the underwater robot. At this time, the top of the charging tray 6 moves downward relative to the connecting tube 2 due to the gravity of the underwater robot. At this time, the pressure plate 4 moves downward with the charging tray 6;

[0053] S2: The underwater robot is completely moved into the inner side of the connecting tube 2. At this time, the bottom of the pressure plate 4 contacts the top of the connecting tube 2, thereby sealing the top of the connecting tube 2.

[0054] S3: When the charging disk 6 moves downward relative to the connecting tube 2, the guide rod 3 will drive the ring 13 to move downward. At this time, the ring 13 squeezes the top of the first oblique link 22 through the connecting frame 15, so that the first oblique link 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. In this process, the second return spring 27 is pulled by the pull rod 19 to stretch. When the pressure When the bottom of the plate 4 fits with the top of the connecting tube 2, the connecting frame 15 squeezes the L-shaped pressure plate 16, so that the L-shaped pressure plate 16 drives the movable frame 23 to move downward, thereby separating the movable pin 25 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, so that the aqueous solution between the pressure plate 4 and the charging disk 6 can enter the water storage tank through the drain pipe 11 and the hose 21. When the bottom of the pressure plate 4 contacts the top of the connecting tube 2, the side connecting plate 33 will be blocked by the top of the connecting tube 2 and move up relative to the pressure plate 4, so that the T-shaped plug 34 moves up relative to the limit tube 31. At the same time, the third return spring 32 stretches, and the connecting plate 29 will drive the air blocking block 35 to move through the second oblique connecting rod 28, so that the air blocking block 35 loses its shielding against the bottom of the connecting air pipe 7. At this time, the air ejected from the connecting air pipe 7 The air will pass through the transition chamber 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 tube 2 will be filled with air, thereby achieving the effect of replacing the medium and improving the charging efficiency. At the same time, the air ejected from the air jet pipe 9 will clean the top of the charging disk 6, thereby preventing the top of the charging disk 6 from being covered by impurities in the water and affecting the charging efficiency. When the amount of air between the pressure plate 4 and the charging disk 6 increases, the excess air can be discharged from the connecting tube 2 through the one-way valve 8.

[0055] S4: After charging is completed, the underwater robot moves upward to push the pressure plate 4. When the underwater robot moves above the connecting tube 2, it can be separated from the charging tray 6 by the translation of the underwater robot.

[0056] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A wireless charging device for an underwater robot based on visual positioning, comprising a truncated cone protective shell (1), characterized in that: The top of the truncated cone protective shell (1) is connected to a connecting tube (2) extending to the inner side of the truncated cone protective shell (1), the outer wall of the connecting tube (2) is plugged with a guide rod (3), the top of the guide rod (3) is provided with a pressure plate (4) located above the connecting tube (2), the inner side of the connecting tube (2) is slidably connected to a retaining ring (5), the inner wall of the retaining ring (5) is installed with a charging disk (6), the bottom of the connecting tube (2) is provided with a drainage displacement piece, and the top of the pressure plate (4) is provided with an air guide connector; The drainage displacement member includes a water storage tank (12) installed at the bottom of the connecting tube (2), the bottom end of the guide rod (3) is installed with a ring (13) located outside the connecting tube (2), the bottom of the ring (13) is provided with a connecting frame (15), the inner side of the connecting frame (15) is rotatably connected to a first oblique connecting rod (22) through a rotating shaft, the interior of the water storage tank (12) is slidably connected to a piston plate (20), the side of the piston plate (20) away from the central axis of the connecting tube (2) is provided with a rectangular movable sleeve (18) extending to the outside of the water storage tank (12), the inner side of the rectangular movable sleeve (18) is plugged with a guide rod (19), the two sides of the guide rod (19) are provided with a second return spring (27) connected to the rectangular movable sleeve (18), and the end of the guide rod (19) away from the rectangular movable sleeve (18) is provided with a spring located outside the rectangular movable sleeve (18). The U-shaped pull block (26) is connected to the bottom end of the first oblique connecting rod (22) and the U-shaped pull block (26) by a rotating shaft. The 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 tank (12) are plugged with movable frames (23). The inner side of the movable frame (23) is provided with a movable pin (25) extending to the inside of the locking ring (24). The top of the movable frame (23) is provided with an L-shaped pressure plate (16) located below the connecting frame (15). One end of the L-shaped pressure plate (16) is provided with a first return spring (17) connected to the top of the water storage tank (12). The top of the water storage tank (12) is connected to a hose (21) located inside the connecting cylinder (2). The top of the hose (21) is connected to a drain pipe (11) extending to the top of the locking ring (5).

2. The underwater robot wireless charging device based on visual positioning according to claim 1, characterized in that: The space inside the water storage bin (12) is equal in size to the space inside the connecting tube (2), and a sealing gasket is provided at the position where the bottom of the pressing plate (4) contacts the connecting tube (2).

3. The underwater robot wireless charging device based on visual positioning according to claim 1, characterized in that: The locking ring (24) and the movable pin (25) have the same diameter, and the top of the movable pin (25) is rotatably connected to a ball via a rotating shaft.

4. The underwater robot wireless charging device based on visual positioning according to claim 1, characterized in that: The outer wall of the retaining ring (5) fits with the inner wall of the connecting tube (2), and the outer wall of the connecting tube (2) is provided with a guide hole that fits with the guide rod (3).

5. The underwater robot wireless charging device based on visual positioning according to claim 1, characterized in that: The air guide connector includes a transition bin (30) mounted on the top of the pressure plate (4), a transverse connecting pipe (14) connected to the connecting rod (10) is provided at the bottom of the transition bin (30), a jet pipe (9) located above the clamping ring (5) is provided on one side of the connecting rod (10), an air blocking block (35) extending to the outside of the transition bin (30) is plugged into the interior of the transition bin (30), a limiting tube (31) located on both sides of the transition bin (30) is installed on the top of the pressure plate (4), a T-shaped plug rod (34) extending to the top of the limiting tube (31) is plugged into the interior of the limiting tube (31), and the T-shaped plug rod (34) is plugged into the interior of the limiting tube (31). 4) is provided with a third return spring (32) connected to the inner wall of the limit tube (31), the top of the T-shaped plug rod (34) is provided with a connecting plate (29) located above the transition bin (30), the bottom of the connecting plate (29) is provided with a second oblique connecting rod (28) connected to the air blocking block (35), the two ends of the second oblique connecting rod (28) are respectively connected to the air blocking block (35) and the connecting plate (29) through a rotating shaft, a one-way valve (8) is provided on the pressure plate (4), side connecting plates (33) are installed on both sides of the connecting plate (29), and the top of the transition bin (30) is provided with a connecting air pipe (7) connected to an external air pump.

6. The underwater robot wireless charging device based on visual positioning according to claim 5, characterized in that: An air hole is provided on the inner side of 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).

7. The underwater robot wireless charging device based on visual positioning according to claim 5, characterized in that: The horizontal height of the bottom of the side connecting plate (33) is smaller than the horizontal height of the bottom of the pressing plate (4).

8. The underwater robot wireless charging device based on visual positioning according to claim 5, characterized in that: The air inlet of the one-way valve (8) is connected to the pressure plate (4).

9. A wireless charging method for underwater robots based on visual positioning, characterized in that: The underwater robot wireless charging device based on visual positioning according to any one of claims 1 to 8 comprises the following steps: S1: The underwater robot is caused to fall to the top of the charging tray (6) by the operation of the visual locator in the underwater robot. At this time, the top of the charging tray (6) moves downward relative to the connecting tube (2) due to the gravity of the underwater robot. At this time, the pressure plate (4) moves downward along with the charging tray (6); S2: The underwater robot is completely moved into the inner side of the connecting tube (2), and the bottom of the pressure plate (4) contacts the top of the connecting tube (2), thereby sealing the top of the connecting tube (2); S3: The aqueous solution between the pressing plate (4) and the charging disk (6) is discharged through the operation of the drainage displacement member, and air is injected into the space between the pressing plate (4) and the charging disk (6) through the air guide connector, thereby converting the medium between the pressing plate (4) and the retaining ring (5) into air; S4: After charging is completed, the pressure plate (4) is pushed by the upward movement of the underwater robot. When the underwater robot moves above the connecting tube (2), it can be separated from the charging plate (6) by the translation of the underwater robot.

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