CN117691760B

CN117691760B - Primary and secondary underwater robot system and power supply method

Info

Publication number: CN117691760B
Application number: CN202410090826.5A
Authority: CN
Inventors: 喻俊志; 董会杰; 孔诗涵; 孟岩; 陈迪
Original assignee: Peking University
Current assignee: Peking University
Priority date: 2024-01-23
Filing date: 2024-01-23
Publication date: 2024-04-30
Anticipated expiration: 2044-01-23
Also published as: CN117691760A

Abstract

The application relates to the technical field of underwater operation equipment, and discloses a primary and secondary underwater robot system and a power supply method, wherein the primary and secondary underwater robot system comprises: a master machine and a plurality of child machines; the master machine is used for acquiring the respective position information of the plurality of sub machines in real time, determining the sub machine which successfully acquires the position information as a first sub machine, and supplying power to the first sub machine according to the position information; the master machine is also used for determining the child machine which does not successfully acquire the position information as a second child machine and sending a second child machine positioning power supply instruction to the first child machine; the first sub-machine is used for acquiring the relative position information of the second sub-machine according to the positioning power supply instruction of the second sub-machine and supplying power to the second sub-machine according to the relative position information. The application can realize multi-stage jumping energy charging and bypass the barrier, thereby ensuring the stable wireless power supply of each sub-machine under the complex operation conditions of shielding objects between the main machine and the sub-machine or long distance between the main machine and the sub-machine and the like.

Description

Primary and secondary underwater robot system and power supply method

Technical Field

The application relates to the technical field of underwater operation equipment, in particular to a primary and secondary underwater robot system and a power supply method.

Background

With the deep exploration and development of the ocean by human beings, the intellectualization, remodelling and diversification become main trends of the development of the underwater robots. For underwater robots, the maximum capacity of the energy system is closely related to the robot volume, and the underwater robots with long voyage, large load and strong computing power often need a large volume, so that tasks cannot be performed in a narrow special environment. And the small underwater robot cannot be equipped with enough energy, so that long-time stable operation tasks are difficult to realize.

The conventional son-mother type underwater robot system combines the large and small underwater robots, the large underwater robot (namely the mother machine) carries the small underwater robot (namely the son machine) to a target water area, the power consumption of the son machine in the process of executing underwater tasks is reduced, the son machine is continuously supplied with power through the mother machine, and the power is generally supplied through a cable or is supplied in a wireless mode, but when a shielding object exists between the mother machine and the son machine or the distance between the mother machine and the son machine is far, the cable can be wound by underwater sundries or limited by the length to cause the son machine to be unable to advance, and the wireless power supply mode can also cause the son machine to be shielded or exceed the power supply distance to be unable to continue supplying power.

In summary, how to ensure stable wireless power supply of a child phone under the complex operation condition that a shielding object exists between the parent phone and the child phone or the distance between the parent phone and the child phone is far away from the child phone is a problem that needs to be solved in the art.

Disclosure of Invention

The application mainly aims to provide a primary and secondary underwater robot system and a power supply method, aiming at ensuring the technical effect of stable wireless power supply of a secondary machine under the condition of complex operation that a shielding object exists between the primary machine and the secondary machine or the distance between the primary machine and the secondary machine is far.

To achieve the above object, the present application provides a mother-son type underwater robot system comprising: a master machine and a plurality of child machines;

The master machine is used for acquiring the respective position information of the plurality of sub machines in real time, determining the sub machine which successfully acquires the position information as a first sub machine, and supplying power to the first sub machine according to the position information;

the master machine is also used for determining a child machine which does not successfully acquire the position information as a second child machine and sending a second child machine positioning power supply instruction to the first child machine;

The first sub-machine is used for acquiring the relative position information of the second sub-machine according to the second sub-machine positioning power supply instruction and supplying power to the second sub-machine according to the relative position information.

Optionally, the master machine further comprises a visual detection module, a main control module and a wireless charging and transmitting module;

The visual detection module is used for acquiring the respective position information of the plurality of sub-machines in real time and feeding back the position information to the main control module;

the main control module is used for determining the sub-machine which successfully acquires the position information as a first sub-machine and controlling the wireless charging transmitting module to supply power to the first sub-machine according to the position information.

Optionally, the master machine further comprises a communication module, and the slave machine comprises a positioning module and a wireless charging relay module;

The main control module is used for determining the sub-machine which does not successfully acquire the position information as a second sub-machine and controlling the communication module to send a positioning power supply instruction of the second sub-machine to the first sub-machine;

The positioning module is used for acquiring the relative position information of the second sub-machine according to the positioning power supply instruction of the second sub-machine and feeding back the relative position information to the wireless charging relay module;

And the wireless charging relay module is used for supplying power to the second sub-machine according to the relative position information.

Optionally, the sub-machine further includes a wireless charging receiving module, where the wireless charging receiving module is configured to:

Receiving electric energy supplied by the wireless charging transmitting module;

And/or

And receiving the electric energy supplied by the wireless charging relay module.

Optionally, the parent machine further comprises a carrier cabin, an electromagnet is installed at the top of the carrier cabin, and the main control module is further used for:

when the sub-machine executes a cabin entering task, controlling the magnetization of the electromagnet to enable the sub-machine to be adsorbed and fixed in the carrying cabin;

and when the sub-machine executes the cabin-leaving task, controlling the electromagnet to demagnetize so as to separate the sub-machine from the carrying cabin.

Optionally, the communication module is further configured to:

positioning power supply instructions to the plurality of sub-machines;

and receiving cabin entering instructions sent by the plurality of sub-machines.

Optionally, the positioning module comprises at least one of a sonar device, a laser device, a magnetic device and a camera device.

Optionally, the wireless charging transmitting module is configured to:

And adjusting the electric energy transmitting direction and transmitting intensity under the control of the main control module.

Optionally, the master machine is further configured to:

predicting the movement tracks of each of the plurality of sub-machines according to a preset operation map and the position information of the plurality of sub-machines;

Marking the plurality of sub-machines as a third sub-machine and a fourth sub-machine according to the movement track, and sending a fourth sub-machine positioning power supply instruction to the third sub-machine, wherein the third sub-machine is a sub-machine which can be positioned continuously and is powered successfully according to the operation map and the movement track prediction, and the fourth sub-machine is a sub-machine which cannot be positioned successfully within a preset time range according to the operation map and the movement track prediction.

In addition, in order to achieve the above object, the present application also provides a power supply method applied to a primary-secondary underwater robot system, the primary-secondary underwater robot system comprising: a parent machine and a plurality of child machines, the method comprising:

Acquiring the respective position information of the plurality of sub-machines in real time, determining the sub-machine successfully acquiring the position information as a first sub-machine, and supplying power to the first sub-machine according to the position information;

And determining the sub-machine which does not successfully acquire the position information as a second sub-machine, and sending a second sub-machine positioning power supply instruction to the first sub-machine so that the first sub-machine acquires the relative position information of the second sub-machine according to the second sub-machine positioning power supply instruction, and supplying power to the second sub-machine according to the relative position information.

The application provides a primary and secondary underwater robot system and a power supply method, wherein the primary and secondary underwater robot system comprises: a master machine and a plurality of child machines; the master machine is used for acquiring the respective position information of the plurality of sub machines in real time, determining the sub machine which successfully acquires the position information as a first sub machine, and supplying power to the first sub machine according to the position information; the master machine is also used for determining a child machine which does not successfully acquire the position information as a second child machine and sending a second child machine positioning power supply instruction to the first child machine; the first sub-machine is used for acquiring the relative position information of the second sub-machine according to the second sub-machine positioning power supply instruction and supplying power to the second sub-machine according to the relative position information.

Compared with a traditional son-mother type underwater robot system, the son-mother type underwater robot system comprises a mother machine and a plurality of son machines, wherein the mother machine is used for acquiring respective position information of the plurality of son machines in real time, determining the son machines which successfully acquire the position information as first son machines, supplying power to the mother machine according to the respective position information of each first son machine, simultaneously determining the son machines which do not successfully acquire the position information as second son machines, transmitting a second son machine positioning power supply instruction to the first son machines, acquiring relative position information of the second son machines according to the instruction after the first son machines receive the second son machine positioning power supply instruction, and supplying power to the second son machines according to the relative position information of the second son machines.

Therefore, the application tracks the position of the sub-machine after the main machine leaves the cabin and continuously supplies power to the sub-machine so as to ensure that the sub-machine completes the underwater operation task; when a shielding object appears between the master machine and the slave machine or position information of the slave machine cannot be detected due to the fact that the distance between the master machine and the slave machine is far, the master machine can establish a power supply link together through a plurality of other slave machines which can be detected, namely, the master machine supplies power to the first slave machine, the first slave machine receives electric energy supplied by the master machine and supplies power to the second slave machine, multi-stage jumping energy charging is achieved, the obstacle is bypassed, and therefore stable wireless power supply of all the slave machines is still ensured under complex operation conditions that the shielding object exists between the master machine and the slave machines or the distance between the shielding object and the slave machines is far and the like.

Drawings

Fig. 1 is a schematic device structure diagram of a hardware operating environment of a terminal device according to an embodiment of the present application;

Fig. 2 is a schematic diagram of a mother machine structure of an embodiment of a mother-son type underwater robot system according to an embodiment of the present application;

fig. 3 is a schematic view of a sub-machine structure of an embodiment of a sub-and-mother type underwater robot system according to an embodiment of the present application;

Fig. 4 is a schematic view of a scenario of an embodiment of a primary-secondary underwater robot system according to an embodiment of the present application;

fig. 5 is a flowchart of an embodiment of a power supply method according to an embodiment of the present application.

Reference numerals illustrate:

The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment of a terminal device according to an embodiment of the present application.

The terminal device may specifically be a master in a master-slave type underwater robot system, and the master-slave type underwater robot system further includes a plurality of slaves.

As shown in fig. 1, the terminal device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, and a host designed with a fusion security module for processing data according to a plurality of communication security protocols. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.

It will be appreciated by those skilled in the art that the structure shown in fig. 1 is not limiting of the terminal device, and that the terminal device provided by the present application may include more or less components than those illustrated, or may combine certain components, or may be a different arrangement of components.

As shown in fig. 1, an operating system, a network communication module, a user interface module, and a computer program may be included in the memory 1005, which is a type of computer storage medium.

In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client and communicating data with the client; and the processor 1001 may be configured to call a computer program stored in the memory 1005 and perform the steps of:

Based on the hardware operation environment related to the embodiment of the application, the integral conception of the primary-secondary underwater robot system provided by the scheme of the embodiment of the application is provided.

Aiming at the problems, the application provides a primary-secondary underwater robot system. The primary and secondary underwater robot system provided by the application comprises: a master machine and a plurality of child machines; the master machine is used for acquiring the respective position information of the plurality of sub machines in real time, determining the sub machine which successfully acquires the position information as a first sub machine, and supplying power to the first sub machine according to the position information; the master machine is also used for determining a child machine which does not successfully acquire the position information as a second child machine and sending a second child machine positioning power supply instruction to the first child machine; the first sub-machine is used for acquiring the relative position information of the second sub-machine according to the second sub-machine positioning power supply instruction and supplying power to the second sub-machine according to the relative position information.

Based on the hardware operation environment related to the scheme of the embodiment of the application and the overall conception of the primary-secondary underwater robot system, various embodiments of the primary-secondary underwater robot system are further provided.

In this embodiment, the primary-secondary underwater robot system of the present application includes: a master machine and a plurality of child machines; specifically, as shown in fig. 2, the master machine is provided with a main control module, a communication module, a high-capacity battery, a carrying cabin, a visual detection module and a wireless charging and transmitting module, wherein the main control module is respectively in communication connection with other modules, the high-capacity battery is in circuit connection with the wireless charging and transmitting module, as shown in fig. 3, the slave machine is provided with a sub-communication module, a positioning module, a wireless charging and receiving module and a wireless charging relay module, wherein the positioning module is in communication connection with the wireless charging relay module, and the master machine and the slave machine can perform bidirectional communication based on the communication module and the sub-communication module.

in this embodiment, the master-slave type underwater robot system includes a master machine and a plurality of slave machines, the master machine carries the slave machines to a target water area to be subjected to underwater operation, after each slave machine is separated from the master machine, the master machine starts to acquire the position information of each slave machine in real time, determines the slave machine which successfully acquires the position information as a first slave machine, and the master machine can supply power to the slave machine according to the determined position information; when the master machine fails to acquire the position information of the child machine, the master machine determines the child machine which does not acquire the position information successfully as a second child machine, and because the master machine does not acquire the position information of the second child machine and cannot determine the radio supply direction, the master machine sends a second child machine positioning power supply instruction to the first child machine which has determined the position information so as to establish a power supply channel through the first child machine and the second child machine.

In this embodiment, the master determines the child machine that successfully obtains the position information as a first child machine, determines the child machine that does not successfully obtain the position information as a second child machine, and when the first child machine receives a second child machine positioning power supply instruction sent by the master, obtains the relative position information of the second child machine relative to the master according to the instruction, and supplies power to the second child machine according to the relative position information.

In addition, in a possible embodiment, when there are multiple second slaves, the master supplies power to the first slaves, the first slaves supply power to one of the second slaves, and after the second slaves receive the electric energy, the second slaves can acquire the relative position information of the other second slaves and supply power to the second slaves, that is, chain power supply can be performed among the multiple slaves.

Optionally, in a feasible embodiment, the master machine further includes a visual detection module, a main control module and a wireless charging and transmitting module;

In this embodiment, the master machine in the master-slave underwater robot system further includes a visual detection module, a main control module and a wireless charging module, where the visual detection module is preferably a high-definition camera device, and based on an actual operation scene, the master machine may be equipped with one or more visual detection modules, so as to obtain the position information of the slave machine of the outdoor operation in an omnibearing manner. The vision detection module can acquire underwater environment images, calculate the position information of each sub-machine based on a target detection algorithm, and then feed back the calculated position information to the main control module of the main machine.

It should be noted that, in this embodiment, the visual detection module may detect and calculate the position information of a single sub-machine outside the cabin, or may detect and calculate the position information of a plurality of sub-machines outside the cabin at the same time, where the position information of the sub-machine may be the real-time relative position of the sub-machine and the master machine, or may be the coordinate point position of the sub-machine in a preset operation map.

In this embodiment, the master control module of the master machine receives the position information of the child machine fed back by the visual detection module, determines the child machine that successfully obtains the position information as the first child machine, and controls the wireless charging transmitting module to supply power to the first child machine according to the position information of the first child machine.

It should be noted that, in this embodiment, the master machine includes a plurality of wireless charging and transmitting modules, after receiving the position information of a plurality of outdoor sub-machines, the master control module selects wireless charging and transmitting modules with the same number as the outdoor sub-machines, and calculates the transmitting angle by respectively aiming the transmitting direction at the corresponding outdoor sub-machine, and controls the selected wireless charging and transmitting module to adjust the transmitting direction according to the obtained transmitting angle, so as to realize the electric energy transmission between a plurality of pairs of wireless charging and transmitting modules and the wireless charging and receiving modules.

In addition, in a feasible embodiment, after receiving the position information of the child machine, the parent machine monitors the movement track of each child machine in real time according to the position information of the child machine, and sets a power supply plan according to the movement track of each child machine and the operation map.

Optionally, in a feasible embodiment, the master machine further includes a communication module, and the slave machine includes a positioning module and a wireless charging relay module;

In this embodiment, the master machine in the master-slave underwater robot system further includes a communication module, where the master control module of the master machine is configured to determine a slave machine that has not successfully acquired the position information as a second slave machine, and control the communication module to send a positioning power supply instruction of the second slave machine to the first slave machine that has successfully acquired the position information.

In this embodiment, when the number of first sub-machines is plural, the master machine may control the communication module to simultaneously send the second sub-machine positioning power supply instruction to the plural first sub-machines, or may determine, based on the visual detection module, one first sub-machine closest to the second sub-machine, and send the second sub-machine positioning power supply instruction to the first sub-machine.

In this embodiment, the secondary machine includes a positioning module and a wireless charging relay module, when the secondary machine receives a second secondary machine positioning power supply instruction sent by the primary machine, the secondary machine obtains the relative position information of the second secondary machine through the positioning module, and feeds back the relative position information to the wireless charging relay module when the relative position information is obtained, and the wireless charging relay module determines the direction and the intensity of the supplied electric energy according to the relative position information and supplies the electric energy to the second secondary machine.

In this embodiment, a parent-child underwater robot system includes a parent machine and three child machines, when the three child machines are taken out of the cabin to execute an underwater task, the parent machine acquires respective position information of the three child machines in real time through a visual detection module and feeds back the position information to a main control module of the parent machine, the main control module determines the three child machines as first child machines, when the child machines a in the three child machines are blocked by underwater sundries, the visual detection module of the parent machine does not successfully acquire the position information of the child machines a, information of failure in acquiring the position information of the child machines is fed back to the main control module, the main control module determines the child machines a as second child machines according to the position information acquired by the child machines a before being blocked, then the main control module determines a positioning power supply instruction of the child machines a to the child machines b, and after the child machines b receive the instruction, the relative position information of the child machines a relative to the child machines b is acquired through a positioning module, the relay position information of the child machines a relative to the parent machines b is fed back to the main control module, when the relay information of the child machines a relative to the parent machines a is continuously charged to the parent machines a, and a long-distance between the parent machines can not be established to the parent machines a through the wireless relay to the parent machines a, and the parent machines can be continuously established when the parent machines a is continuously long-distance between the parent machines a and the parent machines can be established.

Optionally, in a possible embodiment, the sub-machine further includes a wireless charging receiving module, where the wireless charging receiving module is configured to:

And/or

In this embodiment, the slave unit further includes a wireless charging receiving module, configured to receive the electrical energy supplied by the master unit through the wireless charging transmitting module, and/or receive the electrical energy supplied by other slave units through the wireless charging relay module.

Optionally, in a possible embodiment, the master machine further includes a carrier cabin, an electromagnet is mounted on top of the carrier cabin, and the main control module is further configured to:

In this embodiment, the mother machine in the mother-son type underwater robot system further includes a carrying cabin, a plurality of son machines can be accommodated in the carrying cabin, the mother machine carries the son machines to the target water area through the carrying cabin, after the son machines complete the underwater task, the son machines are recovered into the carrying cabin, the top of the carrying cabin is provided with an electromagnet, and the son machine shell contains ferromagnetic materials and can be attracted by the electromagnet at the top of the carrying cabin.

When the sub-machine executes the cabin-outlet task, the main control module of the main machine controls the electromagnet at the top of the carrying cabin to demagnetize so as to separate the sub-machine from the carrying cabin; when the child machine executes the cabin entering task, the child machine can send a cabin entering instruction to the communication module of the mother machine through the child communication module configured by the child machine, and the main control module of the mother machine controls the opening of the carrying cabin according to the instruction and controls the magnetization of the electromagnet at the top of the carrying cabin so that the child machine is adsorbed and fixed in the carrying cabin.

Specifically, in the embodiment, a master machine and a slave machine in a master-slave underwater robot system are in bidirectional communication, when the master machine opens a carrying cabin door according to needs, electromagnets in the carrying cabin are controlled to demagnetize, and a command is sent to the corresponding slave machine, after receiving information, the slave machine walks out of the carrying cabin through the cabin door, and after all the slave machines walk out of the carrying cabin, the master machine is informed of the master machine, closes the cabin door, and the slave machine cabin-taking task is completed; when the child machine needs to return to the mother machine carrying cabin, an instruction is sent to the mother machine to open the cabin door, the mother machine opens the cabin door, the electromagnet in the carrying cabin is controlled to magnetize, the child machine moves into the mother machine carrying cabin through the cabin door and is adsorbed and fixed in one-to-one correspondence with the electromagnet, and then the child machine sends the instruction to the mother machine, and the mother machine closes the cabin door to complete the task of entering the child machine into the cabin.

Optionally, in a possible embodiment, the communication module is further configured to:

positioning power supply instructions to the plurality of sub-machines;

In this embodiment, the communication module of the master machine and the sub communication modules of the sub machines may perform bidirectional communication, where the communication module is configured to send out operation instructions to the plurality of sub machines, and the sub machines receive the operation instructions to perform underwater operations under the command of the master machine; the communication module is also used for issuing a second sub-machine positioning power supply instruction to the plurality of sub-machines, and the sub-machines receive the second sub-machine positioning power supply instruction to determine the relative position information of the second sub-machine and supply power to the second sub-machine; the communication module is also used for receiving a cabin entering instruction sent by the plurality of sub-machines, and the main machine receives the cabin entering instruction to open a cabin door of the carrying cabin and control the magnetization of an electromagnet at the top of the carrying cabin.

Optionally, in a possible embodiment, the positioning module includes at least one of a sonar device, a laser device, a magnetic device, and a camera device.

In this embodiment, the positioning module of the sub-machine is configured to determine the relative position information of the second sub-machine that has not successfully acquired the position information, where the positioning module may include at least one of a sonar device, a laser device, a magnetic device, and a camera device, for example, where the positioning module includes the sonar device, the sub-machine may determine the position of the second sub-machine by transmitting an acoustic wave and receiving an echo; when the positioning module comprises a laser device, the sub-machine can penetrate through the water layer through the laser beam and irradiate the water layer on the second sub-machine, and the position of the second sub-machine is determined by measuring the reflection time and angle of the laser beam; when the positioning module comprises a magnetic force device, the sub-machine can also determine the position of the second sub-machine by measuring the magnetic field intensity around the second sub-machine; when the positioning module comprises a camera device, the sub-machine can also collect surrounding underwater environment information through a camera lens, and the position of the second sub-machine is calculated based on a target detection algorithm.

Optionally, in a possible embodiment, the wireless charging transmitting module is configured to:

In this embodiment, the wireless charging transmitting module of the master machine is configured to adjust an electric energy transmitting direction and an electric energy transmitting intensity under control of the master control module, where the transmitting direction is aligned to the wireless charging receiving module of the slave machine, the transmitting intensity is determined based on a distance between the slave machine and the master machine and whether the slave machine is used as a power supply party of another slave machine, specifically, if the slave machine does not supply power to the other slave machine, the master control module determines the transmitting intensity according to the distance between the slave machine and the master machine, and the longer the distance is, the greater the electric energy transmitting intensity is; if the child machine supplies power to the other child machine, the transmitting intensity is determined according to the distance between the child machine and the mother machine and the distance between the child machine and the other child machine, so that the transmitted electric energy can be ensured to be used for the two child machines to normally operate. After the main control module determines the emission intensity and aligns, the wireless charging emission module is controlled to transmit the electric energy in the large-capacity battery of the main machine to the wireless charging receiving module of the sub machine.

Optionally, in a possible embodiment, the master unit is further configured to:

In this embodiment, an operation map is preset in a master machine in a master-slave type underwater robot system, the master machine obtains position information of each slave machine in real time after each slave machine leaves a cabin, predicts a moving track of each slave machine in the operation map according to the obtained position information, and marks the moving slave machine as a third slave machine and a fourth slave machine according to the moving track of each slave machine, wherein the fourth slave machine is a slave machine which can not be positioned successfully in a preset time range according to the operation map and the moving track prediction, the third slave machine is a slave machine which can be positioned continuously and is powered successfully according to the operation map and the moving track prediction, and after the master machine determines the third slave machine and the fourth slave machine, a positioning power supply instruction of the fourth slave machine can be sent to the third slave machine so as to enable the third slave machine to obtain relative position information of the fourth slave machine and supply power to the fourth slave machine to avoid sudden power failure of the fourth slave machine.

It should be noted that, in this embodiment, the parent machine predicts, according to the operation map and the movement track, a child machine that cannot be positioned successfully within a preset time range to be marked as a fourth child machine, marks, after the child machine that is predicted to be positioned continuously within the preset time range and is powered successfully is marked as a third child machine, the fourth child machine is determined as a second child machine when the visual detection module fails to acquire the position information of the fourth child machine, and the third child machine is determined as a first child machine when the position information of the third child machine is acquired successfully, so that the first child machine can acquire the relative position information of the second child machine according to the second child machine positioning power supply instruction, that is, the original third child machine acquires the relative position information of the original fourth child machine, and supplies power to the second child machine according to the relative position information.

In addition, in a possible embodiment, the sub-machines may be provided with other module adding functions, and the functions of the sub-machines are the same or different. Based on different underwater operation scene demands, the sub-machine can be provided with other modules to increase functions, and the functions of the sub-machines can be the same or different, for example, the sub-machine for checking, measuring, salvaging and collecting samples of underwater structures and hardware can grasp, push, pull and the like the target object through being provided with a manipulator, so that the flexibility of underwater operation is improved.

In this embodiment, the primary-secondary underwater robot system of the present application includes: a master machine and a plurality of child machines; the master machine is used for acquiring the respective position information of the plurality of sub machines in real time, determining the sub machine which successfully acquires the position information as a first sub machine, and supplying power to the first sub machine according to the position information; the master machine is also used for determining a child machine which does not successfully acquire the position information as a second child machine and sending a second child machine positioning power supply instruction to the first child machine; the first sub-machine is used for acquiring the relative position information of the second sub-machine according to the second sub-machine positioning power supply instruction and supplying power to the second sub-machine according to the relative position information.

Therefore, the mother machine and the plurality of son machines form the son-mother type underwater robot system, the mother machine is large in size and high in cruising ability, and a plurality of son machines can be loaded; the sub-machine is small in size, a battery is not required to be installed, the sub-machine is separated from the main machine after being carried to a destination by the main machine, and tasks are executed under the belt of the main machine. The sub-machines can be mutually positioned and execute a power supply relay task, so that a remote power supply link is established, the main machine can continuously supply power to the sub-machines under the shielding condition or the remote condition, the energy required by the external activity of the sub-machine cabin is maintained, and the battery-free sub-machine has the cruising ability, so that the continuous power supply in the operation process of the sub-machine is ensured, the volume of the sub-machine is obviously reduced, and the operation range of the underwater robot is widened.

For easy understanding and explanation, in this embodiment, taking fig. 4 as an example, a primary-secondary underwater robot system in the embodiment of the present application is described, where the primary-secondary underwater robot system includes a primary machine 1, an intra-cabin secondary machine 9, an extra-cabin secondary machine 10, and an extra-cabin shielded secondary machine 18, where the primary machine has a large volume, a strong cruising ability, and no battery and a small volume; wherein,

The master machine 1 is provided with a main control module 5, a communication module 6, a high-capacity battery 2, a carrying cabin 4, a visual detection module 8 and a plurality of wireless charging and transmitting modules 7;

The carrying cabin 4 can contain a plurality of cabin internal sub-machines 9, the electromagnet 3 is arranged at the top of the carrying cabin and used for adsorbing and fixing the cabin internal sub-machines 9, the electromagnet 3 is controlled by the main control module 5 to be magnetized or demagnetized, and the separation of the cabin internal sub-machines 9 before the cabin is separated or the adsorption of the cabin external sub-machines 10 after the cabin is taken in are realized;

When the master machine 1 and the cabin interior child machines 9 can carry out bidirectional communication and execute a cabin discharging task, the master machine 1 controls the carrying cabin electromagnet 3 to demagnetize through the master control module 5, so that the cabin interior child machines 9 are separated, a command is sent to the corresponding cabin interior child machines 9, and the cabin interior child machines 9 discharge after receiving the information and execute a subsequent operation task;

the vision detection module 8 can acquire an environment image, calculate the real-time relative position of the outdoor sub-machine 10 and the main machine 1 based on a target detection algorithm, and transmit relative information to the main control module 5;

After receiving the real-time relative position, the main control module 5 selects a wireless charging transmitting module 7 closest to the outdoor sub-machine 10, calculates a transmitting angle by aiming the transmitting direction at the outdoor sub-machine 10, and controls the selected wireless charging transmitting module to adjust the transmitting direction according to the obtained transmitting angle, so as to realize electric energy transmission between the wireless charging transmitting module 7 and a wireless charging receiving module 13 of the outdoor sub-machine;

In particular, the visual detection module 8 can detect and calculate the real-time relative position of a single outdoor sub-machine, and can also detect and calculate the real-time relative positions of a plurality of outdoor sub-machines simultaneously;

Specifically, after receiving the real-time relative positions of a plurality of outdoor sub-machines, the main control module 5 selects wireless charging and transmitting modules 7 with the same number as the outdoor sub-machines 10, and the selected wireless charging and transmitting modules 7 are in one-to-one correspondence with the outdoor sub-machines 10, respectively calculates a transmitting angle by aiming at the transmitting direction at the corresponding outdoor sub-machines 10, and controls the selected wireless charging and transmitting modules to adjust the transmitting direction according to the obtained transmitting angle, so as to realize electric energy transmission between a plurality of pairs of wireless charging and transmitting modules 7 and wireless charging and receiving modules 13;

The electric energy in the large-capacity battery 2 can be transmitted to the wireless charging receiving module 13 of the outdoor sub-machine 10 through the wireless charging transmitting module 7 of the main machine 1, so that the continuous supply of the power supply of the outdoor sub-machine 10 is ensured;

the slave machine is provided with a slave communication module 15, a wireless charging receiving module 13, a wireless charging relay module 14 and a control module 12;

The sub-machine is encapsulated by a ferromagnetic material shell 11 and can be attracted with the electromagnet 3 under the attraction of the electromagnet 3 at the top of the carrying cabin 4;

the off-board sub-machine 10 can perform a given task under continuous power supply of wireless charging; when the cabin running task is executed, the cabin outer child machine 10 returns to the carrying cabin 3 and sends a command to the main machine 1, and the main machine 1 controls the carrying cabin electromagnet 3 to magnetize through the main control module 5, and the auxiliary machine is attracted, so that the cabin outer child machine 10 is fixed in the carrying cabin;

Particularly, under the conditions that the sub-machine needs to go deep detection, a shielding object appears between the main machine and the sub-machine, or the sub-machine is far away from the main machine and cannot be detected, the main machine cannot be directly positioned and supplies power to the sub-machine, and a plurality of other sub-machines are required to establish a power supply link together so as to ensure the stability of remote power supply. If the shielding object 17 exists, the vision detection module 8 cannot detect the shielded outdoor shielded sub-machine 18, so that the shielded wireless charging receiving module 19 cannot be directly powered through the wireless charging transmitting module 7. In this case, the off-board slave unit 10 performs a power supply relay task, identifies and determines the relative position of the blocked off-board slave unit 18 through the positioning module 16, and controls the wireless charging relay module 14 to align with the blocked wireless charging receiving module 19, thereby establishing a power supply link of the master unit 1, the off-board slave unit 10, and the blocked off-board slave unit 18, and realizing indirect remote power supply under the blocking condition;

in particular, the above power supply link may increase the number of sub-machines performing the power supply relay task according to the actual situation, or establish parallel power supply links, such as supplying power to the blocked off-board sub-machine 18 through two off-board sub-machines 10 at the same time.

Further, based on the above embodiments of the primary-secondary underwater robot system of the present application, embodiments of the power supply method of the present application are presented.

It should be noted that the power supply method of the present application is applied to the master machine in the master-slave type underwater robot system, and the master-slave type underwater robot system further includes a plurality of slave machines. It should be understood that, based on different design requirements of practical applications, the power supply method of the present application may of course be applied to other terminal devices in different possible embodiments, and for convenience of understanding and explanation of the technical solution, the power supply method of the present application will be explained below with respect to an execution subject implemented by a host machine as a solution.

Referring to fig. 5, fig. 5 is a flowchart illustrating steps of an embodiment of a power supply method according to the present application. It should be noted that although a logical order is depicted in the flowchart, the power method of the present application may, of course, in some cases, perform the steps depicted or described in a different order than presented herein.

As shown in fig. 5, the power supply method provided by the implementation of the present application may include the following steps:

Step S10: acquiring the respective position information of the plurality of sub-machines in real time, determining the sub-machine successfully acquiring the position information as a first sub-machine, and supplying power to the first sub-machine according to the position information;

In this embodiment, the master machine carries the child machines to the target water area to be subjected to underwater operation, after each child machine is separated from the master machine, the master machine starts to acquire the position information of each child machine in real time, determines the child machine which successfully acquires the position information as the first child machine, and can supply power to the child machine according to the determined position information.

Step S20: and determining the sub-machine which does not successfully acquire the position information as a second sub-machine, and sending a second sub-machine positioning power supply instruction to the first sub-machine so that the first sub-machine acquires the relative position information of the second sub-machine according to the second sub-machine positioning power supply instruction, and supplying power to the second sub-machine according to the relative position information.

In this embodiment, when the master machine fails to acquire the position information of the slave machine, the master machine determines the slave machine that fails to acquire the position information as the second slave machine, and because the master machine fails to acquire the position information of the second slave machine, the master machine cannot determine the radio supply direction, and then sends a second slave machine positioning power supply instruction to the first slave machine that has determined the position information, so that when the first slave machine receives the second slave machine positioning power supply instruction sent by the master machine, the first slave machine acquires the relative position information of the second slave machine relative to the master machine according to the instruction, and supplies power to the second slave machine according to the relative position information, thereby establishing a power supply channel through the first slave machine and the second slave machine.

In the embodiment, the power supply method provided by the embodiment of the application can track the position of the sub-machine after the main machine leaves the cabin and continuously supply power to the sub-machine so as to ensure that the sub-machine completes the underwater operation task; when a shielding object appears between the master machine and the slave machine or position information of the slave machine cannot be detected due to the fact that the distance between the master machine and the slave machine is far, the master machine can establish a power supply link together through a plurality of other slave machines which can be detected, namely, the master machine supplies power to the first slave machine, the first slave machine receives electric energy supplied by the master machine and supplies power to the second slave machine, multi-stage jumping energy charging is achieved, the obstacle is bypassed, and therefore stable wireless power supply of all the slave machines is still ensured under complex operation conditions that the shielding object exists between the master machine and the slave machines or the distance between the shielding object and the slave machines is far and the like.

The application also provides a terminal device, which comprises: a primary and secondary underwater robot system, a memory, a processor and a computer program stored on said memory and executable on said processor, which when executed by the processor, implements the steps of the power supply method as described in any of the above embodiments.

The application also provides a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the power supply method according to any of the embodiments above.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. A primary and secondary underwater robot system, characterized in that the primary and secondary underwater robot system comprises: a master machine and a plurality of child machines;

The first sub-machine is used for acquiring the relative position information of the second sub-machine according to the positioning power supply instruction of the second sub-machine and supplying power to the second sub-machine according to the relative position information;

the master is also used for:

2. The master-slave underwater robot system of claim 1, wherein said master further comprises a vision detection module, a master control module and a wireless charging transmission module;

3. The master-slave type underwater robot system according to claim 2, wherein the master machine further comprises a communication module, and the slave machine comprises a positioning module and a wireless charging relay module;

4. The sub-type underwater robot system as claimed in claim 3, wherein said sub-machine further comprises a wireless charging receiving module for:

And/or

5. The master-slave underwater robotic system of claim 4, wherein the master further comprises a carriage, an electromagnet is mounted on top of the carriage, and the master control module is further configured to:

6. The master-slave type underwater robot system of claim 5, wherein said communication module is further for:

positioning power supply instructions to the plurality of sub-machines;

7. The sub-type underwater robotic system of claim 6, wherein the positioning module comprises at least one of a sonar device, a laser device, a magnetic device, an imaging device.

8. The master-slave underwater robotic system of claim 7, wherein the wireless charging transmission module is to:

9. A power supply method, characterized by being applied to a mother-son type underwater robot system, the mother-son type underwater robot system comprising: a parent machine and a plurality of child machines, the method comprising:

determining a sub-machine which does not successfully acquire the position information as a second sub-machine, and sending a second sub-machine positioning power supply instruction to the first sub-machine so that the first sub-machine acquires the relative position information of the second sub-machine according to the second sub-machine positioning power supply instruction, and supplying power to the second sub-machine according to the relative position information;

The method further comprises the steps of: