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Underwater robot control method and device, computer equipment and storage medium

A technology of underwater robots and computer equipment, applied in the field of robotics, can solve the problem that underwater robots cannot track target trajectories, etc.

Pending Publication Date: 2022-07-22
GUANGDONG OCEAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide a control method, device, computer equipment and storage medium for an underwater robot to solve the problem that the underwater robot cannot track the target trajectory for movement

Method used

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  • Underwater robot control method and device, computer equipment and storage medium
  • Underwater robot control method and device, computer equipment and storage medium
  • Underwater robot control method and device, computer equipment and storage medium

Examples

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Embodiment 1

[0049] see figure 1 , figure 1 A flowchart of the first method for controlling an underwater robot provided by an embodiment of the present invention is shown. figure 1 The medium underwater robot control method is applied to computer equipment, and the computer equipment is connected with an underwater robot including a Raspberry Pi main control board. In this embodiment, the underwater robot chooses the Raspberry Pi 4B main control board to replace the existing Pixhawk flight control board, which effectively improves the computing performance of the underwater robot. Hardware basis for automatic control. The Raspberry Pi main control board is used to process the acquired data and upload the data to the computer device. The computer equipment is used to calculate the data transmitted by the underwater robot, and send control signals to the underwater robot to realize the automatic control of the underwater robot, so that the robot moves along the target trajectory. In add...

Embodiment 2

[0093] see Figure 4 , Figure 4 A schematic structural diagram of an underwater robot control device provided by an embodiment of the present invention is shown. Figure 4 The underwater robot control device 400 in the above is applied to computer equipment, and the computer device is connected with an underwater robot including a Raspberry Pi main control board, and the underwater robot control device 400 includes:

[0094] The deviation module 410 is used for obtaining the position deviation of the underwater robot according to the obtained target pose information and actual pose information of the underwater robot;

[0095] A control quantity module 420, configured to obtain the required control quantity for each degree of freedom of the underwater robot according to the position and attitude deviation;

[0096] The operating thrust data module 430 is used to obtain the operating thrust data of the propeller of the underwater robot according to the control amount require...

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Abstract

The embodiment of the invention discloses an underwater robot control method and device, computer equipment and a storage medium, the underwater robot control method is applied to the computer equipment connected with an underwater robot comprising a Raspberry Pi main control board, and the method comprises the following steps: according to obtained target pose information and actual pose information of the underwater robot, determining the actual pose information of the underwater robot; the pose deviation value of the underwater robot is obtained; according to the pose deviation value, the control quantity required by each degree of freedom of the underwater robot is obtained; according to the control quantity required by each degree of freedom, obtaining operation thrust data of a propeller of the underwater robot; and sending the operation thrust data of the propeller to the underwater robot. And the motion of the underwater robot is controlled through the control operation thrust data obtained by the computer equipment. An operator does not need to manually control the movement of the underwater robot through a handle, and the automatic control function of trajectory tracking and pose dynamic positioning of the underwater robot is achieved.

Description

technical field [0001] The present invention relates to the field of robots, in particular to a control method, device, computer equipment and storage medium of an underwater robot. Background technique [0002] Underwater robot is a powerful tool for human beings to conduct research and development of deep-sea resources. At present, underwater robots are widely used in marine rescue and salvage, deep-sea resource exploration and collection, underwater engineering construction and many other fields. The current control systems of underwater robots are developed based on the control system framework of UAVs. Specifically, the control system framework of the UAV includes the computer software of the upper computer-QGroundControl and the flight control board of the lower computer-Pixhawk. [0003] The current QGroundControl software can only realize the function of controlling the underwater robot through the handle. In addition, when the Pixhawk flight control board is used...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 俞国燕李卓城
Owner GUANGDONG OCEAN UNIVERSITY
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