An underwater robot capable of autonomously replacing a working tool and a method thereof

Abstract

The application discloses an underwater robot capable of autonomously replacing a working tool and a method thereof, and belongs to the field of underwater robots. The robot main body is composed of a driving cabin, a battery cabin and a main control cabin stacked vertically from bottom to top, and can be spliced with a tool cabin through the top features of the main control cabin; the driving cabin is used for providing power, the battery cabin provides energy support, the control cabin makes decision control, and the visual perception system of multiple cameras can identify and pose estimate the optical signal beacon on the tool cabin. The application captures the beacon on the tool through the camera, realizes underwater positioning by combining a pose settlement method, identifies the tool type by reverse projection using the pose information, guides the magnetic attraction module to cooperate in the close-range docking stage, realizes the splicing and autonomous replacement of the tool cabin, and overcomes the single limitation of the traditional robot carrying tools by modular design, realizes the autonomous replacement of the working tool, and significantly improves the operation ability of the underwater robot in complex environments.

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