Man-machine cooperative control system of underwater welding robot in limited water area

Abstract

The invention relates to the technical field of underwater welding robots, in particular to a man-machine cooperative control system of an underwater welding robot in a limited water area, comprising a lowering setting unit used for determining the number of lowering points according to a weld joint evaluation value and determining a lowering point setting mode according to an ocean current influence value; the route generation unit is used for determining a route generation mode according to the judgment condition; the processing judgment unit is used for determining a processing mode according to a judgment condition; the lowering optimization unit is used for determining a lowering point optimization mode according to the lowering influence value; the route optimization unit is used for optimizing the moving route when the conflict evaluation value is greater than or equal to a preset conflict evaluation value and determining a route optimization mode according to the range obstacle reference value; the information transmission unit is used for determining an information transmission mode according to the transmission condition; the use efficiency of the underwater welding robot can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater welding robots, and in particular to a human-machine collaborative control system of an underwater welding robot in limited waters. Background Art

[0002] When using a welding robot for underwater welding, there is no adaptive setting for the welding of the welding robot's lowering point, and the welding robot often only moves according to a pre-set route, and is unable to adaptively adjust the lowering point and the moving route according to the actual underwater conditions, resulting in poor efficiency of the welding robot. Therefore, how to improve the efficiency of underwater welding robots is a technical problem that needs to be urgently solved by technical personnel in this field.

[0003] Chinese patent publication number CN106557844B discloses a welding robot path planning method, including: establishing a DH parameter model of the welding robot; obtaining an obstacle avoidance path through a geometric obstacle avoidance strategy, and performing trajectory planning based on Cartesian space for the obstacle avoidance path; calculating the path length and motion energy consumption between the welding start point and the welding end point in the obstacle avoidance path; and using a clustering-guided multi-objective particle swarm optimization algorithm to perform dual-objective path planning on the path length and the motion energy consumption, and obtaining the optimization result of the path planning. It can be seen that the above technical solution has the following problems: the path generation method for the welding robot is single, and the path generation method cannot be adaptively adjusted according to the actual situation, and the influence of underwater environmental factors on the work of multiple robots is not considered, the robot use efficiency is poor, and it cannot meet the actual welding needs. Summary of the invention

[0004] To this end, the present invention provides a human-machine collaborative control system for an underwater welding robot in limited waters, so as to overcome the problems in the prior art that the path generation method for the welding robot is single, the path generation method cannot be adaptively adjusted according to actual conditions, and the influence of underwater environmental factors on the work of multiple robots is not considered, the robot utilization efficiency is poor, and it cannot meet actual welding needs.

[0005] To achieve the above object, the present invention provides a human-machine collaborative control system for an underwater welding robot in limited waters, comprising:

[0006] A lowering setting unit is used to determine the number of lowering points according to the weld evaluation value, and to determine the lowering point setting method according to the ocean current influence value. The lowering point setting method is to evenly set the lowering points or to determine the lowering points according to the ocean current flow direction;

[0007] A route generation unit, which is connected to the lowering setting unit, and is used to determine the route generation method according to the judgment condition, that is, to determine the moving route according to the obstacle conflict degree or the distance reference value;

[0008] A processing determination unit connected to the route generation unit, for determining a processing method according to a determination condition, wherein the processing method is to determine a method for optimizing a drop point according to a drop impact value or to determine whether to optimize a moving route according to a conflict evaluation value;

[0009] A decentralization optimization unit, which is respectively connected to the decentralization setting unit and the processing determination unit, and is used to determine a decentralization point optimization method according to the decentralization impact value. The decentralization point optimization method is to determine an adjustment method according to the decentralization conditions or to determine a priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots. The adjustment method is to increase the decentralization interval time according to the conflicting decentralization threshold or cancel each conflicting decentralization point;

[0010] a route optimization unit, which is connected to the route generation unit and the processing and determination unit respectively, and is used to optimize the moving route when the conflict evaluation value is greater than or equal to the preset conflict evaluation value, and determine the route optimization mode according to the range obstacle reference value, the route optimization mode is to set a secondary path according to the direction conflict degree and the obstacle conflict degree or to determine the waiting mode according to the restriction condition, and the waiting mode is moving waiting or adjacent waiting;

[0011] The information transmission unit is used to determine the information transmission mode as combined transmission or single robot transmission according to the transmission conditions.

[0012] Furthermore, the lowering setting unit determines the number of lowering points according to the weld evaluation value, and determines the lowering point setting method according to the ocean current influence value;

[0013] If the ocean current impact value is less than the preset ocean current impact value, the release point setting method is to set the release points evenly;

[0014] If the ocean current impact value is greater than or equal to the preset ocean current impact value, the release point setting method is to determine the release point according to the ocean current direction;

[0015] The number of lowering points is positively correlated with the weld reference value.

[0016] Further, the route generation unit responds to the judgment condition to determine the route generation method;

[0017] The judgment condition responded by the route generation unit is that the limit reference value is greater than or equal to the preset limit reference value and the obstacle distribution reference value is greater than or equal to the preset obstacle distribution reference value, and the route generation method is to determine the moving route according to the obstacle conflict degree, identify each moving path between a robot and the corresponding working point, and select the moving path with the smallest obstacle conflict degree as the moving route;

[0018] The judgment condition responded by the route generation unit is that the limit reference value is less than the preset limit reference value and the obstacle distribution reference value is less than the preset obstacle distribution reference value. The route generation method is to determine the moving route according to the distance reference value, identify the moving paths corresponding to the robot, and select the moving path with the smallest distance reference value as the moving route.

[0019] Further, the processing determination unit responds to the determination condition to determine the processing mode;

[0020] The determination condition for processing the response of the determination unit is that the number of conflict points is greater than or equal to the preset number of conflict points or the conflict point distribution coefficient is greater than or equal to the preset conflict point distribution coefficient, and the processing method is to determine the optimization method of the decentralized points according to the decentralized impact value;

[0021] The determination condition for processing the response of the determination unit is that the number of conflict points is less than the preset number of conflict points and the conflict point distribution coefficient is less than the preset conflict point distribution coefficient. The processing method is to determine whether to optimize the moving route according to the conflict evaluation value.

[0022] Further, the decentralization optimization unit determines a decentralization point optimization method according to the decentralization impact value;

[0023] If the decentralization impact value is greater than or equal to the preset decentralization impact value, the decentralization point optimization method is to determine the adjustment method according to the decentralization conditions;

[0024] If the decentralization impact value is less than the preset decentralization impact value, the decentralization point optimization method is to determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots.

[0025] Further, the decentralization optimization unit responds to the decentralization conditions to determine the adjustment mode;

[0026] The decentralization conditions for the decentralization optimization unit response are that the proportion of conflict decentralization points is greater than or equal to the preset proportion of conflict decentralization points and the conflict decentralization point distribution coefficient is greater than or equal to the preset conflict decentralization point distribution coefficient, and the adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold;

[0027] The decentralization condition for the decentralization optimization unit response is that the proportion of conflict decentralization points is less than the preset proportion of conflict decentralization points or the distribution coefficient of conflict decentralization points is less than the preset distribution coefficient of conflict decentralization points, and the adjustment method is to cancel each conflict decentralization point;

[0028] The increase value of the decentralization interval time is positively correlated with the conflict decentralization threshold.

[0029] Furthermore, the decentralization optimization unit determines the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots;

[0030] The priority coefficient corresponding to the decentralization point is positively correlated with the proportion of conflicting robots.

[0031] Further, the route optimization unit determines a route optimization mode according to the range obstacle reference value;

[0032] If the range obstacle reference value is greater than or equal to the preset range obstacle reference value, the route optimization method is to set a secondary path according to the direction conflict degree and the obstacle conflict degree;

[0033] When the route optimization method is to set the secondary path according to the direction conflict degree and the obstacle conflict degree, the secondary path is set for each conflicting robot. For a conflicting robot, the conflicting robot is recorded as the target conflicting robot, and the moving path corresponding to the target conflicting robot with a direction conflict degree less than the preset direction conflict degree is recorded as the reference path, and the reference path with the smallest obstacle conflict degree is used as the moving route of the target conflicting robot;

[0034] If the range obstacle reference value is less than the preset range obstacle reference value, the route optimization method is to determine the waiting method according to the restriction conditions.

[0035] Further, the route optimization unit responds to the constraint to determine the waiting mode;

[0036] The restriction condition for the route optimization unit to respond is that the path restriction coefficient is greater than or equal to the preset path restriction coefficient, and the waiting mode is mobile waiting;

[0037] The restriction condition for the route optimization unit to respond is that the path restriction coefficient is less than the preset path restriction coefficient, and the waiting mode is adjacent waiting.

[0038] Further, the information transmission unit responds to the transmission condition to determine the information transmission mode;

[0039] The transmission condition responded by the information transmission unit is that the ocean impact value is greater than or equal to the preset ocean impact value or the impact distance is less than the preset impact distance, and the information transmission mode is combined transmission;

[0040] The transmission condition responded by the information transmission unit is that the ocean impact value is less than the preset ocean impact value and the impact distance is greater than or equal to the preset impact distance, and the information transmission mode is single robot transmission.

[0041] Compared with the prior art, the beneficial effect of the present invention lies in that, in the technical scheme of the present invention, the number of welds and the distribution of welds are effectively reflected by the weld evaluation value, and then the number of release points is determined according to the weld evaluation value, so that the number of release points is more in line with the actual application scenario, so that the robot can quickly move to the location of the weld, reduce the movement and adjustment time of the robot during underwater welding operation, thereby improving the efficiency of the robot's underwater welding operation, and then determine the setting method of the release point according to the ocean current influence value, and effectively reflect the ocean current influence by the ocean current influence value, and then adaptively select different release point setting methods according to the ocean current influence value, so that the selection of the release point setting method is more in line with the actual application scenario, avoiding the problem of poor robot efficiency caused by the failure to set the release point in the prior art, and avoiding the defect of robot collision caused by unreasonable setting of the release point, and also enabling the robot's underwater welding operation to better cope with the complex and changeable marine environment, and improve the stability and reliability of the robot's underwater welding operation.

[0042] Furthermore, in the present invention, the route generation method is determined according to the judgment conditions, and the obstacle degree of the current environment is effectively reflected through the judgment conditions, and then different route generation methods are adaptively selected according to the judgment conditions, so that the selection of the route generation method is in line with the actual application scenario, avoiding the problem in the prior art that the path generation method for the welding robot is single and cannot be adaptively adjusted according to the actual scenario, thereby improving the use efficiency of the welding robot.

[0043] Furthermore, in the present invention, the processing method is determined according to the judgment conditions, and the judgment conditions are used to effectively reflect the number and distribution of collision conflict points during the movement of the robot, and then different processing methods are adaptively selected according to the judgment conditions, so that the selection of processing methods is more in line with the actual application scenario, reducing the conflict between the robot and other robots during the movement, improving the safety and adaptability of the underwater welding robot, and thus better adapting to the needs of the robot's underwater welding operations.

[0044] Furthermore, in the present invention, the optimization mode of the releasing point is determined according to the releasing influence value, and the density of the releasing point setting is effectively reflected by the releasing influence value, and then different releasing point optimization modes are adaptively selected according to the releasing influence value, so that the selection of the releasing point optimization mode is more in line with the actual application scenario, avoiding the problem of more conflicts between the robot and other robots during the movement due to unreasonable releasing point setting, thereby improving the movement efficiency of the welding robot.

[0045] Furthermore, in the present invention, the adjustment method is determined according to the lowering conditions, and the number and distribution of conflicting lowering points are effectively reflected through the lowering conditions, and then different adjustment methods are adaptively selected according to the lowering conditions, so that the selection of the adjustment method is more in line with the actual application scenario, and can reduce the risks brought by improper setting of the lowering points, thereby reducing the conflict between the robot and other robots during movement, and improving the stability and reliability of the robot's underwater welding operation.

[0046] Furthermore, in the present invention, a route optimization method is determined according to a range obstacle reference value, and the range obstacle reference value effectively reflects the degree of obstacle in the moving route. Different route optimization methods are adaptively selected according to the range obstacle reference value, so that the selection of route optimization method is more in line with the actual working environment. When facing larger obstacles, the path can be adjusted quickly, and delays caused by obstacles can be reduced, thereby improving the movement efficiency of the robot.

[0047] Furthermore, in the present invention, the information transmission mode is determined according to the transmission conditions, and the transmission conditions effectively reflect the impact of the marine environment and electromagnetic interference between robots on the robot information transmission, and then the appropriate information transmission mode is selected according to the actual environment. By optimizing the information transmission mode, the delay and error rate in the transmission process can be reduced, thereby improving the efficiency of the robot's underwater welding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a unit connection diagram of the human-machine collaborative control system of the limited water underwater welding robot of the present invention;

[0049] Figure 2 A flow chart showing a method of processing determined according to a determination condition in the present invention;

[0050] Figure 3 It is a flow chart of the present invention for determining the optimization method of the release point according to the release impact value;

[0051] Figure 4 The present invention is a flow chart of determining a route optimization method according to a range obstacle reference value. DETAILED DESCRIPTION

[0052] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0054] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0055] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] See also Figures 1 to 4 As shown, the present invention provides a human-machine collaborative control system for an underwater welding robot in a limited water area, comprising:

[0057] A lowering setting unit is used to determine the number of lowering points according to the weld evaluation value, and to determine the lowering point setting method according to the ocean current influence value. The lowering point setting method is to evenly set the lowering points or to determine the lowering points according to the ocean current flow direction;

[0058] A route generation unit, which is connected to the lowering setting unit, and is used to determine the route generation method according to the judgment condition, that is, to determine the moving route according to the obstacle conflict degree or the distance reference value;

[0059] A processing determination unit connected to the route generation unit, for determining a processing method according to a determination condition, wherein the processing method is to determine a method for optimizing a drop point according to a drop impact value or to determine whether to optimize a moving route according to a conflict evaluation value;

[0060] A decentralization optimization unit, which is respectively connected to the decentralization setting unit and the processing determination unit, and is used to determine a decentralization point optimization method according to the decentralization impact value. The decentralization point optimization method is to determine an adjustment method according to the decentralization conditions or to determine a priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots. The adjustment method is to increase the decentralization interval time according to the conflicting decentralization threshold or cancel each conflicting decentralization point;

[0061] a route optimization unit, which is connected to the route generation unit and the processing and determination unit respectively, and is used to optimize the moving route when the conflict evaluation value is greater than or equal to the preset conflict evaluation value, and determine the route optimization mode according to the range obstacle reference value, the route optimization mode is to set a secondary path according to the direction conflict degree and the obstacle conflict degree or to determine the waiting mode according to the restriction condition, and the waiting mode is moving waiting or adjacent waiting;

[0062] The information transmission unit is used to determine the information transmission mode as combined transmission or single robot transmission according to the transmission conditions.

[0063] The present invention includes several robots for welding cracks in pipelines in limited waters, wherein the limited waters are waters where obstacles exist and pipelines need to be welded; the present invention also includes a data monitoring unit for collecting underwater environmental information, the data monitoring unit is connected to the lowering setting unit and the information transmission unit respectively, the underwater environmental information includes but is not limited to the number of cracks, the location of the cracks, the position of the robot and the location of the obstacle, the robot position is the position of the robot in the water after being lowered into the water through the lowering point, and the lowering point is a point at sea level for lowering the robot into the water; the obstacles include but are not limited to sunken ships, reefs, marine life and corals, which are easily understood by those skilled in the art and will not be described in detail; the user can determine the number of lowering points and the location of the lowering points through the data monitoring unit, the lowering setting unit, the route generation unit, the processing and determination unit, the lowering optimization unit, the route optimization unit and the information transmission unit, and determine the processing method according to the determination conditions to achieve human-machine collaborative control, thereby improving the use efficiency of the robot.

[0064] In the present invention, the working point corresponding to each lowered robot is determined according to the reference distance, wherein:

[0065] The affected area is divided into several adjacent sub-areas of the same volume, and point analysis is performed for each robot. When performing point analysis on a single robot, the robot is recorded as the target robot, and the sub-area with the smallest reference distance to the target robot is used as the working point corresponding to the target robot. Point analysis is performed on robots whose working points have not been determined until the preset conditions are met, then the point analysis is stopped, and the point allocation method is determined according to the preset conditions;

[0066] Under the first preset condition, the point allocation method is to determine the working point corresponding to the unassigned robot according to the comprehensive evaluation value;

[0067] When determining the work points corresponding to the unassigned robots according to the comprehensive evaluation value, a point analysis is performed for each unassigned robot. When a point analysis is performed for a single unassigned robot, the unassigned robot is recorded as the target unassigned robot, and the sub-area with the largest welding reference value is used as the work point corresponding to the target unassigned robot, until each unassigned robot is set with a corresponding work point, then the point analysis is stopped;

[0068] Under the second preset condition, the point allocation method is to determine the secondary working point corresponding to the welding robot according to the comprehensive evaluation value;

[0069] When determining the secondary working point corresponding to the welded robot according to the comprehensive evaluation value, a secondary point analysis is performed for each welded robot. When performing a secondary point analysis for a single welded robot, the unassigned sub-area with the smallest comprehensive evaluation value is used as the secondary working point corresponding to the welded robot, until each unassigned sub-area is provided with a corresponding welded robot, then the secondary point analysis is stopped;

[0070] The preset conditions include a first preset condition that the number of allocated robots is equal to the number of sub-areas and the number of unallocated robots is greater than the standard number, and a second preset condition that the number of allocated robots is less than the number of sub-areas and the number of unallocated robots is equal to the standard number;

[0071] Unassigned robots are robots with undetermined working positions, assigned robots are robots with determined working positions, welded robots are robots that complete welding tasks corresponding to a single sub-area, the standard number is 0, the number of assigned robots is the total number of assigned robots, the number of sub-areas is the total number of sub-areas that affect area division, and the number of unassigned robots is the total number of unassigned robots;

[0072] The unassigned sub-area is a sub-area where no robot performs welding work; the affected area is the smallest cube that can contain all cracks; for a robot and each sub-area, the reference distance is the minimum value of the shortest distances from the robot to each sub-area; the comprehensive evaluation value = the number of welds + the first reference distance, the number of welds is the total number of welds corresponding to a single sub-area, and the first reference distance is the minimum value of the shortest distances from the welded robot to each unassigned sub-area;

[0073] Weld evaluation value = weld number + weld distribution coefficient, where the weld number is the total number of welds in the affected area, and the weld distribution coefficient is the average value of the reference minimum distances corresponding to each weld. For a single weld, the weld is recorded as the target weld, and the other welds other than the target weld are recorded as reference welds. The shortest distance from the target weld to each reference weld is detected, and the minimum value of each shortest distance is recorded as the reference minimum distance corresponding to the target weld.

[0074] The present invention is provided with a continuously cyclic monitoring cycle, and the data status is determined once at the end of each monitoring cycle. The duration of the monitoring cycle can be set according to the needs of the user. The greater the user's demand for monitoring accuracy, the shorter the duration of the monitoring cycle. A value of the monitoring cycle is provided, and the monitoring cycle is 10 minutes.

[0075] In the present invention, several historical records are correspondingly set up, and any historical record records the ocean current impact value, obstacle distribution reference value, number of conflict points, conflict point distribution coefficient and conflict evaluation value, etc. in the historical process of at least one robot moving to the working point, and each historical record corresponds to a qualified mark, which records whether the robot's use efficiency meets user requirements, and the qualified mark can be recorded manually.

[0076] Specifically, the lowering setting unit determines the number of lowering points according to the weld evaluation value, and determines the lowering point setting method according to the ocean current influence value;

[0077] If the ocean current impact value is less than the preset ocean current impact value, the release point setting method is to set the release points evenly;

[0078] If the ocean current impact value is greater than or equal to the preset ocean current impact value, the release point setting method is to determine the release point according to the ocean current direction;

[0079] The number of lowering points is positively correlated with the weld reference value.

[0080] The number of release points is an even number, the number of robots released is positively correlated with the weld assessment value, and the number of robots released by a single release point = the number of all robots released / the number of release points;

[0081] The ocean current impact value is confirmed by recording the shortest line from the center of the impact area to the sea level as the reference straight line, dividing the reference straight line into M equal parts, recording the maximum velocity of seawater detected at a single equal-division point in the current monitoring period as the reference velocity, and recording the average value of the reference velocity corresponding to each equal-division point as the ocean current impact value; the value of M can be determined by the user according to user needs, and one value of M is provided, M is 10. The velocity of each equal-division point is determined by an electromagnetic flow meter, which is easy for technicians in this field to understand and will not be described in detail; the center position of the impact area is the center of the circumscribed sphere of the impact area.

[0082] The value of the preset ocean current influence value can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of robot use, the smaller the value of the preset ocean current influence value is. A value of the preset ocean current influence value is provided, and the historical records of evenly setting the release points are detected. The average value of the ocean current influence values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset ocean current influence value.

[0083] The uniform setting of the release points includes: recording a point where the reference straight line intersects the sea level as a reference center point, recording a circle with the reference center point as the center and the reference length as the radius as a target circle, dividing the target circle into sectors equal to the number of the release points, recording the straight sides of each sector as reference sides, setting the release points at the intersections of each reference side and the contour of the target circle, and the reference length is positively correlated with the number of the release points;

[0084] Determining the release point according to the direction of the ocean current includes: recording a straight line passing through the reference center point and parallel to the direction of the ocean current as the first reference straight line, recording a straight line located at the end opposite to the direction of the ocean current and parallel to the first reference straight line and with a reference distance from the first reference straight line as the second reference straight line, the number of release points set on the first reference straight line and the second reference straight line are both reference numbers, reference number = total number of release points / 2, setting a release point at the reference center point, setting an equal number of release points on both sides of the reference center point on the first reference straight line, wherein the distance between two adjacent release points is a preset distance; and setting the release point at the intersection of the reference vertical line and the second reference straight line, the reference vertical line is a straight line passing through a single equally divided point on the first reference straight line and perpendicular to the first reference straight line, the reference distance is positively correlated with the ocean current impact value, the value of the preset distance can be determined by the user according to actual needs, and a preset distance value is provided, which is 10m.

[0085] Specifically, the route generation unit responds to the judgment condition to determine the route generation method;

[0086] The judgment condition responded by the route generation unit is that the limit reference value is greater than or equal to the preset limit reference value and the obstacle distribution reference value is greater than or equal to the preset obstacle distribution reference value, and the route generation method is to determine the moving route according to the obstacle conflict degree, identify each moving path between a robot and the corresponding working point, and select the moving path with the smallest obstacle conflict degree as the moving route;

[0087] The judgment condition responded by the route generation unit is that the limit reference value is less than the preset limit reference value and the obstacle distribution reference value is less than the preset obstacle distribution reference value. The route generation method is to determine the moving route according to the distance reference value, identify the moving paths corresponding to the robot, and select the moving path with the smallest distance reference value as the moving route.

[0088] The judgment condition includes a first judgment condition and a second judgment condition. The first judgment condition is that the limit reference value is greater than or equal to the preset limit reference value and the obstacle distribution reference value is greater than or equal to the preset obstacle distribution reference value. The second judgment condition is that the limit reference value is less than the preset limit reference value and the obstacle distribution reference value is less than the preset obstacle distribution reference value.

[0089] The lower bottom surface of the impact area is recorded as the first reference surface, the smallest rectangle that can contain all the release points is recorded as the second reference surface, and the smallest cube that can contain the first reference surface and the second reference surface is recorded as the target area;

[0090] Limit reference value = volume of obstacles in the target area / volume of the target area. The measurement methods of the volume of obstacles in the target area include but are not limited to lidar technology, water depth density measurement and sonar technology. Users can choose according to actual needs.

[0091] The obstacle distribution reference value is the average value of the minimum spacings corresponding to each obstacle in the target area. For a single obstacle, the obstacle is recorded as the target obstacle, and other obstacles other than the target obstacle are recorded as reference obstacles. The shortest distance from the target obstacle to each reference obstacle is detected, and the minimum value of each shortest distance is recorded as the minimum spacing corresponding to the target obstacle.

[0092] The values ​​of the preset limit reference value and the preset obstacle distribution reference value can be determined by the user according to the actual application scenario. The greater the user's demand for improving the use efficiency of the robot, the smaller the values ​​of the preset limit reference value and the preset obstacle distribution reference value are. A preset limit reference value and a preset obstacle distribution reference value are provided. The preset limit reference value is 20%. The historical records of determining the moving route according to the distance reference value are detected, and the average value of the obstacle distribution reference value corresponding to the historical records that can meet the user's needs is recorded as the preset obstacle distribution reference value;

[0093] The obstacle conflict degree is confirmed in the following way: for a moving path, the moving path is recorded as the target moving path. At the end of the current monitoring cycle, the obstacle conflict degree = obstacle volume of the target moving path / volume of the target moving path; the distance reference value is the length of a single moving path.

[0094] Specifically, the processing determination unit responds to the determination condition to determine the processing mode;

[0095] The determination condition for processing the response of the determination unit is that the number of conflict points is greater than or equal to the preset number of conflict points or the conflict point distribution coefficient is greater than or equal to the preset conflict point distribution coefficient, and the processing method is to determine the optimization method of the decentralized points according to the decentralized impact value;

[0096] The determination condition for processing the response of the determination unit is that the number of conflict points is less than the preset number of conflict points and the conflict point distribution coefficient is less than the preset conflict point distribution coefficient. The processing method is to determine whether to optimize the moving route according to the conflict evaluation value.

[0097] The determination condition includes a first determination condition and a second determination condition, the first determination condition is that the number of conflict points is greater than or equal to the preset number of conflict points or the conflict point distribution coefficient is greater than or equal to the preset conflict point distribution coefficient, and the second determination condition is that the number of conflict points is less than the preset number of conflict points and the conflict point distribution coefficient is less than the preset conflict point distribution coefficient;

[0098] The conflict point is the point where robots with different moving directions meet during their movement. It should be noted that if there are robots that meet at different times at a point, then the point corresponds to a target number of conflict points, and the target number is the same as the number corresponding to the number of encounters. The user can determine the conflict point through a dynamic model or a kinematic model, which is easy for technicians in this field to understand and will not be described in detail.

[0099] The number of conflict points is the total number of conflict points in the process of all robots moving to the corresponding working points; the conflict point distribution coefficient is the average value of the reference spacings corresponding to each conflict point in the process of all robots moving to the corresponding working points. For a single conflict point, the conflict point is recorded as the target conflict point, and other conflict points other than the target conflict point are recorded as reference conflict points. The shortest distance from the target conflict point to each reference conflict point is detected, and the minimum value of each shortest distance is recorded as the reference spacing corresponding to the target conflict point.

[0100] The values ​​of the preset number of conflict points and the preset conflict point distribution coefficient can be determined by the user according to the actual application scenario. It can be understood that the smaller the values ​​of the preset number of conflict points and the preset conflict point distribution coefficient are, the greater the user's need to determine the optimization method of the decentralization points according to the influencing conditions. A value of the preset number of conflict points and the preset conflict point distribution coefficient is provided, and the historical records of determining the optimization method of the decentralization points according to the influencing conditions are detected, and the average value of the number of conflict points corresponding to the historical records that can meet the user's needs is recorded as the preset number of conflict points, and the average value of the conflict point distribution coefficient corresponding to the historical records that can meet the user's needs is recorded as the preset conflict point distribution coefficient;

[0101] When determining whether to optimize the moving route according to the conflict evaluation value, if the conflict evaluation value is greater than or equal to the preset conflict evaluation value, the moving route is optimized; if the conflict evaluation value is less than the preset conflict evaluation value, there is no need to optimize the moving route; conflict evaluation value = number of conflict points + conflict point distribution coefficient;

[0102] The value of the preset conflict assessment value can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of robot use, the larger the value of the preset conflict assessment value is. A value of the preset conflict assessment value is provided, and the average value of the conflict assessment values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset conflict assessment value.

[0103] Specifically, the decentralization optimization unit determines the optimization mode of the decentralization point according to the decentralization impact value;

[0104] If the decentralization impact value is greater than or equal to the preset decentralization impact value, the decentralization point optimization method is to determine the adjustment method according to the decentralization conditions;

[0105] If the decentralization impact value is less than the preset decentralization impact value, the decentralization point optimization method is to determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots.

[0106] Among them, the decentralization influence value = the area of ​​the second reference surface / the total number of decentralization robots corresponding to each decentralization point; the value of the preset decentralization influence value can be determined by the user according to the actual application scenario. It can be understood that the larger the value of the preset decentralization influence value is, the greater the user's demand for adjusting the decentralization point distance according to the comprehensive evaluation value is. A preset decentralization influence value is provided, and the historical records of adjusting the decentralization point distance according to the comprehensive evaluation value are detected, and the average value of the decentralization influence values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset decentralization influence value.

[0107] Specifically, the decentralization optimization unit responds to the decentralization conditions to determine the adjustment mode;

[0108] The decentralization conditions for the decentralization optimization unit response are that the proportion of conflict decentralization points is greater than or equal to the preset proportion of conflict decentralization points and the conflict decentralization point distribution coefficient is greater than or equal to the preset conflict decentralization point distribution coefficient, and the adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold;

[0109] The decentralization condition for the decentralization optimization unit response is that the proportion of conflict decentralization points is less than the preset proportion of conflict decentralization points or the distribution coefficient of conflict decentralization points is less than the preset distribution coefficient of conflict decentralization points, and the adjustment method is to cancel each conflict decentralization point;

[0110] The increase value of the decentralization interval time is positively correlated with the conflict decentralization threshold.

[0111] The decentralization conditions include a first decentralization condition and a second decentralization condition. The first decentralization condition is that the proportion of conflict decentralization points is greater than or equal to the preset proportion of conflict decentralization points and the distribution coefficient of conflict decentralization points is greater than or equal to the preset distribution coefficient of conflict decentralization points. The second decentralization condition is that the proportion of conflict decentralization points is less than the preset proportion of conflict decentralization points or the distribution coefficient of conflict decentralization points is less than the preset distribution coefficient of conflict decentralization points.

[0112] A conflicting release point is a release point where the proportion of conflicting robots is greater than or equal to the preset proportion of conflicting robots. A non-conflicting release point is a release point where the proportion of conflicting robots is less than the preset proportion of conflicting robots. Conflicting robots are robots that meet at corresponding conflicting points. For a single release point, the release point is recorded as a target release point. The proportion of conflicting robots corresponding to the target release point = the number of conflicting robots at the target release point / the total number of robots at the target release point; the value of the preset proportion of conflicting robots can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of robot use, the smaller the value of the preset proportion of conflicting robots. A value of the preset proportion of conflicting robots is provided, and the preset proportion of conflicting robots is 40%; the proportion of conflicting release points = the number of conflicting release points / the number of all release points;

[0113] The conflict decentralization point distribution coefficient is the average value of the reference minimum spacings corresponding to each conflict decentralization point. For a single conflict decentralization point, the conflict decentralization point is recorded as the target conflict decentralization point, and other conflict decentralization points other than the target conflict decentralization point are recorded as reference conflict decentralization points. The shortest distance from the target conflict decentralization point to each reference conflict decentralization point is detected, and the minimum value of each shortest distance is recorded as the reference minimum spacing corresponding to the target conflict decentralization point.

[0114] The values ​​of the preset conflict decentralization point ratio and the preset conflict decentralization point distribution coefficient can be determined by the user according to the actual application scenario. It can be understood that the larger the values ​​of the preset conflict decentralization point ratio and the preset conflict decentralization point distribution coefficient are, the greater the user's demand for canceling each conflict decentralization point. Provided are values ​​of the preset conflict decentralization point ratio and the preset conflict decentralization point distribution coefficient. The preset conflict decentralization point ratio is 40%. The detection and adjustment method is to cancel each historical record corresponding to each conflict decentralization point, and the average value of the conflict decentralization point distribution coefficient corresponding to the historical record that can meet the user's needs is recorded as the preset conflict decentralization point distribution coefficient.

[0115] Conflict decentralization threshold = conflict decentralization point ratio + conflict decentralization point distribution coefficient;

[0116] The robots corresponding to each release point are released according to the preset order and release time interval. When releasing a single release point, all the robots corresponding to the release point are released into the water. The preset order is the order of release for each release point, which can be determined by the user. A method for setting the preset order is provided. The preset order is the order of each release point from near to far from the reference center point. The initial release time interval is 10 minutes, and the release interval time is the time interval between two adjacent releases.

[0117] Canceling each conflicting decentralization point includes: not decentralizing robots at the conflicting decentralization points, and evenly distributing the robots corresponding to each conflicting decentralization point to each non-conflicting decentralization point. If the conflicting decentralization points are A1, A2, and A3, and the non-conflicting decentralization points are B1 and B2, and the number of robots corresponding to each decentralization point is 2, then the robots corresponding to A1, A2, and A3 are distributed to B1 and B2, where the number of robots distributed to B1 and B2 is 3 each.

[0118] Specifically, the decentralization optimization unit determines the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots;

[0119] The priority coefficient corresponding to the decentralization point is positively correlated with the proportion of conflicting robots.

[0120] The order of decentralization corresponding to each decentralization point is determined according to the order of priority coefficients from large to small.

[0121] Specifically, the route optimization unit determines the route optimization mode according to the range obstacle reference value;

[0122] If the range obstacle reference value is greater than or equal to the preset range obstacle reference value, the route optimization method is to set a secondary path according to the direction conflict degree and the obstacle conflict degree;

[0123] When the route optimization method is to set the secondary path according to the direction conflict degree and the obstacle conflict degree, the secondary path is set for each conflicting robot. For a conflicting robot, the conflicting robot is recorded as the target conflicting robot, and the moving path corresponding to the target conflicting robot with a direction conflict degree less than the preset direction conflict degree is recorded as the reference path, and the reference path with the smallest obstacle conflict degree is used as the moving route of the target conflicting robot;

[0124] If the range obstacle reference value is less than the preset range obstacle reference value, the route optimization method is to determine the waiting method according to the restriction conditions.

[0125] Among them, the confirmation method of the range obstacle reference value is that, for a conflict robot, the conflict robot is recorded as the target conflict robot, and the maximum value of the reference obstacle ratio corresponding to each conflict point of the target conflict robot is recorded as the range obstacle reference value; for a single conflict point, the conflict point is recorded as the first target conflict point, and the reference obstacle ratio = the volume of the obstacle within the reference range / the volume of the reference range. The reference range is a sphere with the first target conflict point as the center and the preset radius as the radius. The value of the preset radius can be determined by the user according to actual needs. A preset radius value is provided, and the preset radius is 15m.

[0126] The direction conflict degree is confirmed in the following manner: for a conflicting robot, the conflicting robot is recorded as the target conflicting robot, a moving path corresponding to the target conflicting robot is recorded as the target moving path, and the number of non-conflicting robots on the target moving path whose moving difference with the target conflicting robot is greater than the preset moving difference is recorded as the direction conflict degree; the moving difference degree is confirmed in the following manner: for any two robots, the angle between the moving directions corresponding to the two robots is the moving difference degree;

[0127] The values ​​of the preset range obstacle reference value, the preset direction conflict degree and the preset movement difference degree can be determined by the user according to the actual application scenario. It can be understood that the smaller the value of the preset range obstacle reference value is, the greater the user's demand for secondary path setting based on the direction conflict degree and the obstacle conflict degree is. The greater the user's demand for improving the efficiency of robot use, the smaller the values ​​of the preset direction conflict degree and the preset movement difference degree are. A preset range obstacle reference value, a preset direction conflict degree and a preset movement difference degree are provided, and the historical records of secondary path setting based on the direction conflict degree and the obstacle conflict degree are detected. The average value of the range obstacle reference value corresponding to the historical records that can meet the user's needs is recorded as the preset range obstacle reference value, and the average value of the direction conflict degree corresponding to the historical records that can meet the user's needs is recorded as the preset direction conflict degree. The value of the preset movement difference degree is 45°.

[0128] Specifically, the route optimization unit responds to the constraint to determine the waiting mode;

[0129] The restriction condition for the route optimization unit to respond is that the path restriction coefficient is greater than or equal to the preset path restriction coefficient, and the waiting mode is mobile waiting;

[0130] The restriction condition for the route optimization unit to respond is that the path restriction coefficient is less than the preset path restriction coefficient, and the waiting mode is adjacent waiting.

[0131] The restriction condition includes a first restriction condition and a second restriction condition, the first restriction condition is that the path restriction coefficient is greater than or equal to a preset path restriction coefficient, and the second restriction condition is that the path restriction coefficient is less than a preset path restriction coefficient;

[0132] For a single conflict point, the path restriction coefficient is the length of the shortest line segment passing through the conflict point and connecting the two obstacles. The value of the preset path restriction coefficient can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of the robot, the greater the value of the preset path restriction coefficient. A value of the preset path restriction coefficient is provided. The detection waiting mode is the historical records corresponding to the adjacent waiting. The average value of the path restriction coefficient corresponding to the historical records that can meet the user's needs is recorded as the preset path restriction coefficient.

[0133] The moving waiting includes: for a conflict point, the robots corresponding to each of the second-class conflict ends corresponding to the conflict point are moved to the fork closest to the conflict point, and after the robots corresponding to the first-class conflict ends have passed, the second-class conflict ends are selected one by one, and the selected first-class conflict ends are recorded as target conflict ends, and the second-class conflict ends that the robots have not moved to the original positions are recorded as reference conflict ends, and all the robots corresponding to the target conflict ends are moved to the original positions, and after all the robots corresponding to the target conflict ends have passed, the robots corresponding to the reference conflict ends are moved to the original positions, until all the robots corresponding to the second-class conflict ends have passed;

[0134] The adjacent waiting includes: moving the robot corresponding to each second-class conflict end by a preset moving distance to a side perpendicular to the moving direction, and after the robot corresponding to the first-class conflict end passes, selecting the second-class conflict ends one by one, recording the selected first-class conflict ends as target conflict ends, recording the second-class conflict ends that have not been moved to the original position as reference conflict ends, moving all the robots corresponding to the target conflict ends to the original positions, and after all the robots corresponding to the target conflict ends pass, moving the robot corresponding to the first-class conflict end to the original position, until all the robots corresponding to the second-class conflict ends pass;

[0135] The value of the preset moving distance can be determined by the user. A value of the preset moving distance is provided. The preset moving distance is one third of the width of the corresponding moving path. The fork closest to the conflict point is an end of another moving path connected to the moving path where the conflict point is located.

[0136] The first type of conflict end is the conflict end with the largest number of robots, and the second type of conflict end is the conflict end with a number of robots less than the number of robots corresponding to the first type of conflict end. It can be understood that when the robots meet at the conflict point, the end corresponding to the robot with the same moving direction is recorded as a conflict end.

[0137] Specifically, the information transmission unit responds to the transmission condition to determine the information transmission mode;

[0138] The transmission condition responded by the information transmission unit is that the ocean impact value is greater than or equal to the preset ocean impact value or the impact distance is less than the preset impact distance, and the information transmission mode is combined transmission;

[0139] The transmission condition responded by the information transmission unit is that the ocean impact value is less than the preset ocean impact value and the impact distance is greater than or equal to the preset impact distance, and the information transmission mode is single robot transmission.

[0140] The transmission condition includes a first transmission condition and a second transmission condition, the first transmission condition is that the ocean impact value is greater than or equal to a preset ocean impact value or the impact distance is less than a preset impact distance, and the second transmission condition is that the ocean impact value is less than a preset ocean impact value and the impact distance is greater than or equal to the preset impact distance;

[0141] Ocean impact value = ocean current impact value + limit reference value; the impact distance is confirmed by recording a single robot as the target robot, recording other robots excluding the target robot as reference robots, detecting the shortest distance between the target robot and each reference robot, recording the average value of each shortest distance as the reference impact distance, and recording the average value of the reference impact distances corresponding to each robot as the impact distance;

[0142] The values ​​of the preset ocean impact value and the preset impact distance can be determined by the user according to the actual application scenario. The greater the user's demand for improving the monitoring accuracy, the smaller the values ​​of the preset ocean impact value and the preset impact distance. Provide a value of the preset ocean impact value and the preset impact distance, detect the historical records of single robot transmission, and record the average value of each ocean impact value that can meet the user's needs as the preset ocean impact value, and record the average value of each impact distance that can meet the user's needs as the preset impact distance;

[0143] The combination transmission includes: performing combination analysis on each robot, when performing combination analysis on a single robot, recording the robot as a target robot, recording other robots excluding the target robot as reference robots, recording each reference robot whose shortest distance to the target robot is less than a preset shortest distance and the set of target robots as a reference combination, and continuing to perform combination analysis on robots not recorded in the reference combination until all robots are recorded in the reference combination, and for a single reference combination, transmitting the information corresponding to each robot to any robot in the reference combination and then transmitting it to the data monitoring unit;

[0144] In single-robot transmission, a single robot only receives its own information and transmits it to the data monitoring unit.

[0145] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0146] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A human-machine collaborative control system for an underwater welding robot in limited waters, characterized in that: include: A lowering setting unit is used to determine the number of lowering points according to the weld evaluation value, and to determine the lowering point setting method according to the ocean current influence value. The lowering point setting method is to evenly set the lowering points or to determine the lowering points according to the ocean current flow direction; A route generation unit, which is connected to the lowering setting unit, and is used to determine the route generation method according to the judgment condition, that is, to determine the moving route according to the obstacle conflict degree or the distance reference value; A processing determination unit connected to the route generation unit, for determining a processing method according to a determination condition, wherein the processing method is to determine a method for optimizing a drop point according to a drop impact value or to determine whether to optimize a moving route according to a conflict evaluation value; A decentralization optimization unit, which is respectively connected to the decentralization setting unit and the processing determination unit, and is used to determine a decentralization point optimization method according to the decentralization impact value. The decentralization point optimization method is to determine an adjustment method according to the decentralization conditions or to determine a priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots. The adjustment method is to increase the decentralization interval time according to the conflicting decentralization threshold or cancel each conflicting decentralization point; a route optimization unit, which is connected to the route generation unit and the processing and determination unit respectively, and is used to optimize the moving route when the conflict evaluation value is greater than or equal to the preset conflict evaluation value, and determine the route optimization mode according to the range obstacle reference value, the route optimization mode is to set a secondary path according to the direction conflict degree and the obstacle conflict degree or to determine the waiting mode according to the restriction condition, and the waiting mode is moving waiting or adjacent waiting; The information transmission unit is used to determine the information transmission mode as combined transmission or single robot transmission according to the transmission conditions.

2. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 1 is characterized in that: The lowering setting unit determines the number of lowering points according to the weld evaluation value, and determines the lowering point setting method according to the ocean current influence value; If the ocean current impact value is less than the preset ocean current impact value, the release point setting method is to set the release points evenly; If the ocean current impact value is greater than or equal to the preset ocean current impact value, the release point setting method is to determine the release point according to the ocean current direction; The number of lowering points is positively correlated with the weld reference value.

3. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 1, characterized in that: The route generation unit responds to the judgment condition to determine the route generation method; The judgment condition responded by the route generation unit is that the limit reference value is greater than or equal to the preset limit reference value and the obstacle distribution reference value is greater than or equal to the preset obstacle distribution reference value, and the route generation method is to determine the moving route according to the obstacle conflict degree, identify each moving path between a robot and the corresponding working point, and select the moving path with the smallest obstacle conflict degree as the moving route; The judgment condition responded by the route generation unit is that the limit reference value is less than the preset limit reference value and the obstacle distribution reference value is less than the preset obstacle distribution reference value. The route generation method is to determine the moving route according to the distance reference value, identify the moving paths corresponding to the robot, and select the moving path with the smallest distance reference value as the moving route.

4. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 1, characterized in that: The processing determination unit determines the processing mode in response to the determination condition; The determination condition for processing the response of the determination unit is that the number of conflict points is greater than or equal to the preset number of conflict points or the conflict point distribution coefficient is greater than or equal to the preset conflict point distribution coefficient, and the processing method is to determine the optimization method of the decentralized points according to the decentralized impact value; The determination condition for processing the response of the determination unit is that the number of conflict points is less than the preset number of conflict points and the conflict point distribution coefficient is less than the preset conflict point distribution coefficient. The processing method is to determine whether to optimize the moving route according to the conflict evaluation value.

5. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 4, characterized in that: The decentralization optimization unit determines a decentralization point optimization method according to the decentralization impact value; If the decentralization impact value is greater than or equal to the preset decentralization impact value, the decentralization point optimization method is to determine the adjustment method according to the decentralization conditions; If the decentralization impact value is less than the preset decentralization impact value, the decentralization point optimization method is to determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots.

6. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 5, characterized in that: The decentralization optimization unit responds to the decentralization conditions to determine the adjustment method; The decentralization conditions for the decentralization optimization unit response are that the proportion of conflict decentralization points is greater than or equal to the preset proportion of conflict decentralization points and the conflict decentralization point distribution coefficient is greater than or equal to the preset conflict decentralization point distribution coefficient, and the adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold; The decentralization condition for the decentralization optimization unit response is that the proportion of conflict decentralization points is less than the preset proportion of conflict decentralization points or the distribution coefficient of conflict decentralization points is less than the preset distribution coefficient of conflict decentralization points, and the adjustment method is to cancel each conflict decentralization point; The increase value of the decentralization interval time is positively correlated with the conflict decentralization threshold.

7. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 5, characterized in that: The decentralization optimization unit determines the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots; The priority coefficient corresponding to the decentralization point is positively correlated with the proportion of conflicting robots.

8. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 5, characterized in that: The route optimization unit determines a route optimization mode according to a range obstacle reference value; If the range obstacle reference value is greater than or equal to the preset range obstacle reference value, the route optimization method is to set a secondary path according to the direction conflict degree and the obstacle conflict degree; When the route optimization method is to set the secondary path according to the direction conflict degree and the obstacle conflict degree, the secondary path is set for each conflicting robot. For a conflicting robot, the conflicting robot is recorded as the target conflicting robot, and the moving path corresponding to the target conflicting robot with a direction conflict degree less than the preset direction conflict degree is recorded as the reference path, and the reference path with the smallest obstacle conflict degree is used as the moving route of the target conflicting robot; If the range obstacle reference value is less than the preset range obstacle reference value, the route optimization method is to determine the waiting method according to the restriction conditions.

9. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 5, characterized in that: The route optimization unit determines the waiting mode in response to the constraint condition; The restriction condition for the route optimization unit to respond is that the path restriction coefficient is greater than or equal to the preset path restriction coefficient, and the waiting mode is mobile waiting; The restriction condition for the route optimization unit to respond is that the path restriction coefficient is less than the preset path restriction coefficient, and the waiting mode is adjacent waiting.

10. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 1, characterized in that: The information transmission unit responds to the transmission condition to determine the information transmission mode; The transmission condition responded by the information transmission unit is that the ocean impact value is greater than or equal to the preset ocean impact value or the impact distance is less than the preset impact distance, and the information transmission mode is combined transmission; The transmission condition responded by the information transmission unit is that the ocean impact value is less than the preset ocean impact value and the impact distance is greater than or equal to the preset impact distance, and the information transmission mode is single robot transmission.

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