A control method and system for underwater robot for bridge survey

Abstract

The present invention discloses a control method and system for an underwater robot for bridge survey, and the specific steps are as follows: (1) launching the underwater robot to the underwater survey area of ​​the bridge; acquiring image data, environmental information data, and underwater robot position data of the underwater survey area and transmitting them to a human-computer interaction module; (2) the human-computer interaction module plans an optimal survey route according to the acquired data information; (3) the underwater robot moves along the optimal survey route; during the movement, the human-computer interaction module determines whether the current survey area contains obstacles according to the environmental information data of the area where the underwater robot is currently located; if the ratio of the total area containing obstacles to the overall area of ​​the survey area is less than a preset value, no obstacle avoidance measures are taken; otherwise, obstacle avoidance measures are taken; (4) after the underwater robot reaches the target point to be measured, the underwater shooting device is started, the underwater bridge image information is acquired, the image information is transmitted to the human-computer interaction module, and then the robot returns.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a control method and system of a bridge survey underwater robot. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. Due to the complex underwater environment, especially the double disturbances of the rapid and unstable flow field around the bridge and the robot's posture, underwater robots will have problems such as positioning inaccuracy and collision with obstacles when performing exploration tasks. Therefore, it is urgent to develop a bridge underwater inspection robot and its control method that can adapt to uneven walls and complex flow fields, has high mobility, high stability, multi-mode motion planning and mechanism. Summary of the invention

[0003] Purpose of the invention: In view of the above shortcomings, the present invention discloses a control method for a bridge survey underwater robot, which can provide accurate positioning and inspection route planning for the underwater robot during surveying, and realize accurate obstacle avoidance of the underwater robot in multiple motion modes. The present invention provides a control system for a bridge survey underwater robot, which can execute the above control method for the underwater robot.

[0004] Technical solution: To solve the above problems, the present invention discloses a control method for a bridge survey underwater robot, comprising the following steps:

[0005] (1) placing an underwater robot into the underwater survey area of ​​the bridge; obtaining image data, environmental information data, and underwater robot position data of the underwater survey area through a sonar detection device, a stereoscopic vision device, an underwater shooting device, and a sensor installed on the underwater robot; the environmental information data includes pressure, humidity, and images and infrared data of obstacles in the current survey area; and transmitting the above-obtained data to a human-computer interaction module;

[0006] (2) The human-computer interaction module establishes a global space coordinate system based on the acquired data information, with the location of the human-computer interaction module as the origin, obtains the position coordinates of the target to be measured and the underwater robot, and plans the best survey route;

[0007] (3) The human-computer interaction module determines whether the current basin pressure and humidity are within the preset threshold range based on the acquired environmental information data. If they are within the preset threshold range, it indicates that the current situation is suitable for performing the exploration task. The human-computer interaction module sends an execution instruction to the underwater robot, and the underwater robot moves along the optimal survey route. During the movement of the underwater robot, the human-computer interaction module determines whether the current survey area contains obstacles based on the real-time environmental information data of the area where the underwater robot is currently located. If the ratio of the total area of ​​obstacles in the current survey area to the overall area of ​​the survey area is less than the preset value, no obstacle avoidance measures are taken and the robot continues to move along the current survey route. Otherwise, obstacle avoidance measures are taken and the survey route is adjusted in real time.

[0008] (4) After the underwater robot reaches the target point to be measured, it starts the underwater shooting device, obtains the image information of the underwater bridge, transmits it to the human-computer interaction module, and then returns.

[0009] Furthermore, the motion function of the optimal survey route described in step (2) is:

[0010]

[0011] Where H(t) is the motion function from the initial release point to the target point to be measured; f is the disturbance factor; is the underwater robot's own trajectory adjustment; q(x a ,x b ) is x a With x b The distance of x a is the position coordinate of the initial release point of the underwater robot; x b is the position coordinate of the target point to be measured.

[0012] Furthermore, the obstacle avoidance measures in step (3) are specifically as follows:

[0013] (3.1) Define the safe distance of the underwater robot in the forward direction as Safe d1 , the safe distance on both sides of the underwater robot is Safe d2 , the length of the underwater robot is L; Safe d1 、Safe d2 The relationship between and L is:

[0014] Safe d1 =2Safe d2 ;1.5L>Safe d2 >L;

[0015] (3.2) Obtain the shortest distance d between the underwater robot and obstacles in the current survey area using the sonar detection device, and determine:

[0016] (a) When d>Safe d1 When , it indicates that the obstacle has no effect on the movement of the underwater robot, and no obstacle avoidance measures are taken;

[0017] (b) When Safe d1 >d>Safe d2 When , it indicates that the obstacle is far away from the underwater robot and has a slight impact on the movement of the underwater robot; construct an obstacle avoidance function based on obstacles:

[0018]

[0019] Where V s is the volume of the underwater robot, s o is the area of ​​the obstacle facing the underwater robot, v s is the movement speed of the underwater robot;

[0020] like This indicates that no collision will occur and no obstacle avoidance measures will be taken; otherwise, the survey route of the underwater robot needs to be further adjusted:

[0021] First, the line connecting the initial release point of the underwater robot and the target point to be measured is used as the judgment line, and the angle between the line connecting the underwater robot and the target point to be measured and the vertical direction is defined as α, and the angle between the line connecting the obstacle encountered on the way and the underwater robot and the vertical direction is defined as β; the obstacle angle is defined as α-β. When , it is a front right obstacle; , it is a front left obstacle;

[0022] Secondly, define the barrier factor function as: Where x is the current position coordinate of the underwater robot, x i is the position coordinate of the ith obstacle; q 2 (x,x i ) is the square of the distance between the position coordinates of the underwater robot and the position coordinates of the ith obstacle, and n is the number of obstacles encountered on the way forward;

[0023] Define the obstacle closest to the current position of the underwater robot as j, determine the obstacles that belong to the front right obstacle among all the obstacles that have been passed before the jth obstacle, and calculate such obstacles using the obstacle factor function calculation formula Among all the obstacles that have been passed before the jth obstacle, the obstacles that belong to the front left obstacle are calculated using the obstacle factor function calculation formula. when When the current position of the underwater robot is taken as the reference point, the sub-target point is located at a distance of h and a direction of position; when When the current position of the underwater robot is taken as the reference point, the sub-target point is located at a distance of h and a direction of The underwater robot determines the position of the sub-target point, and the line connecting the current position of the underwater robot and the determined sub-target point is the obstacle avoidance motion trajectory after adjustment;

[0024] (c) When L <d<Safe d2 When , it indicates that the obstacle is close to the underwater robot and has a greater impact on the movement of the underwater robot; the above method of further adjusting the survey route of the underwater robot is used to avoid obstacles.

[0025] Furthermore, the underwater robot position data in step (1) is obtained by using an inertial navigation algorithm to solve the data obtained from the sensor to obtain real-time attitude angle, speed and position.

[0026] In addition, the present invention also provides a control system for a bridge survey underwater robot, including an underwater robot body control module, a wireless communication system, and a human-computer interaction module;

[0027] The underwater robot body control module includes a multi-cooperative platform and a controller installed on the underwater robot body. The multi-cooperative platform includes a sonar detection device, a stereoscopic vision device, an underwater shooting device, a sensor, an information acquisition system, and a signal integration system; the sonar detection device, the stereoscopic vision device, the underwater shooting device, and the sensor are used together to obtain images of the underwater survey area and to survey the position and environmental information of the underwater robot in real time; the information acquisition system is used to collect and record image information, position information, and environmental information; the signal integration system is used to integrate and control the information collected by the information acquisition system; the controller is used to control the underwater robot to move at a fixed depth and route according to the instructions of the human-computer interaction module;

[0028] The wireless communication system is used to realize two-way communication between the underwater robot body control module and the human-machine interaction module;

[0029] The human-computer interaction module is used to receive data transmitted by the underwater robot body control module; plan the best survey route based on the acquired data, determine whether to avoid obstacles and adjust the survey route when planning obstacle avoidance; and send control instructions to the underwater robot body control module according to the planned route.

[0030] Furthermore, the human-computer interaction module adopts a ROS device platform including a Linux platform and an Ubuntu system, and the controller adopts an ArduSub controller.

[0031] Beneficial effects: Compared with the prior art, the method of the present invention has the following significant advantages: by installing the inertial unit, camera and sonar device on the underwater robot, the global coordinate system of the underwater environment is established by fusing the sonar image and the color depth visual image, and the survey route is planned by the human-computer interaction module and obstacle avoidance measures are set according to the environmental conditions, and the survey route is adjusted accordingly. Compared with the prior art, the system of the present invention has the following significant advantages: it can execute the above method to realize the path planning and precise obstacle avoidance of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Shown is a structural diagram of the system of the present invention;

[0033] Figure 2 The figure is a control flow chart of the system of the present invention;

[0034] Figure 3 Shown is a flow chart of the method of the present invention;

[0035] Figure 4 The figure shows the principle diagram of the HDR algorithm for realizing accurate positioning of the underwater robot in the method of the present invention;

[0036] Figure 5 It is a flow chart of the method for accurate positioning of an underwater robot in the present invention;

[0037] Figure 6 The figure shows the principle diagram of the precise positioning of the underwater robot in the method of the present invention;

[0038] Figure 7 The figure shows a flow chart of a depth algorithm for realizing precise positioning of an underwater robot in the method of the present invention. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0040] like Figure 1 As shown, the present invention provides a control system for a bridge survey underwater robot, including an underwater robot body control module 1, a wireless communication system 2, and a human-computer interaction module 3;

[0041] like Figure 2As shown, the underwater robot body control module 1 includes a multi-cooperative platform 11 and a controller 12 installed on the underwater robot body. The underwater robot adopts various types of underwater robots used for underwater operations in the prior art. The multi-cooperative platform 11 includes a sonar detection device 111, a stereoscopic vision device 112, an underwater shooting device 113, a sensor 114, an information acquisition system 115, and a signal integration system 116. The sensor 114 includes various types of sensors such as an inertial navigation unit, a depth gauge, a temperature sensor, a pressure sensor, and a humidity sensor; the underwater shooting device 113 uses an underwater high-definition micro camera for shooting underwater bridge structures, with a shooting angle greater than or equal to 120°, and a shooting range of 360° in all directions. The sonar detection device 111 and the stereoscopic vision device 112 are both sonar detection devices and stereoscopic vision devices in the prior art.

[0042] The sonar detection device 111, stereoscopic vision device 112, underwater shooting device 113, and sensor 114 in the multi-element collaborative platform 11 jointly complete the acquisition of images of the underwater survey area, and survey the position and environmental information of the underwater robot in real time. The environmental information data includes images and infrared data of pressure, humidity, and obstacles in the current survey area. The information acquisition system 115 is used to collect and record the above-mentioned image information, position information, and environmental information. The signal integration system 116 adopts a pyramid-shaped layered control system. For the information collected by the information acquisition system 115, the Arduino expansion board is used for category-based primary control, and the Raspberry Pi control board is used for the Arduino expansion board and the pulse signal receiver to complete further control. The controller 12 is an ArduSub controller, which is used to control the underwater robot to move at a fixed depth and route according to the instructions of the human-computer interaction module 3.

[0043] The wireless communication system 2 is composed of peripheral communication equipment, and the main peripheral communication equipment adopts a carrier cable. The carrier cable includes a main cable, a mooring cable and a repeater, all of which are made of strong, waterproof, pressure-resistant and insulating materials to avoid damage or breakage that may lead to the loss of the underwater robot body. The wireless communication system 2 realizes signal transmission and two-way communication between the underwater robot body control module 1 and the human-machine interaction module 3.

[0044] The human-computer interaction module 3 is a ROS device platform including Linux platform and Ubuntu system. The ROS device platform is used to receive data transmitted by the underwater robot body control module 1 to realize the synthesis and three-dimensionalization of images, the digitization and integration of multi-directional underwater representation, and ensure the time difference between underwater survey and water control. The ROS device platform is also used to plan the best survey route based on the acquired data, determine whether to avoid obstacles and plan the survey route to be adjusted when avoiding obstacles; the ROS device platform sends control instructions to the underwater robot body control module according to the planned route.

[0045] like Figure 3 As shown, the present invention also discloses a control method for a bridge survey underwater robot, which specifically includes the following steps:

[0046] Step 1: Launch the underwater robot and obtain relevant image data, environmental information data, underwater robot position data, etc., and transmit the obtained data to the human-computer interaction module.

[0047] The bridge survey underwater robot is deployed to the bridge survey area, and debugging is carried out within a certain range to confirm that the underwater high-definition micro camera can ensure high-definition recording and fixed-point shooting; the image data, environmental information data, and underwater robot position data of the underwater survey area are obtained through the sonar detection device, stereo vision device, underwater shooting device, and sensor installed on the underwater robot; the environmental information data includes the image and infrared data of the pressure, humidity, and obstacles in the current survey area.

[0048] like Figures 4 to 6 As shown, the acquisition of underwater robot position data is solved in real time through inertial navigation algorithm. Specifically, it includes the following steps:

[0049] (1) The bridge survey underwater robot starts a three-axis acceleration gyroscope, uses an HDR algorithm to estimate and compensate for the random drift error of the three-axis acceleration gyroscope in real time, and obtains compensated inertial data.

[0050] (2) Use the quaternion algorithm to update the attitude of the inertial unit, define the quaternion, initialize the quaternion, and use the quaternion algorithm to calculate the complementary filter; update the quaternion to obtain the adaptive Kalman filter, obtain the quaternion again, and obtain the attitude matrix obtained in the first round of operation cycle; repeat the above steps, update and correct the value, reduce the memory index again and weight the adaptive Kalman filter to obtain the attitude matrix obtained in the second round of operation cycle; repeat and complete three rounds of operation cycles to obtain the accurate speed, attitude, and position of the underwater robot.

[0051] Step 2: The human-computer interaction module constructs a three-dimensional model of the near-underwater environment through the survey area fed back by the sonar detection device, the data sent back by the robot's own sensors, and the captured images. A global space coordinate system is established with the location of the human-computer interaction module as the origin. The constructed three-dimensional model of the underwater environment is rasterized, and the target to be measured is set. The underwater robot and the target to be measured are both regarded as a grid point on the rasterized three-dimensional model. The position coordinates of the target to be measured and the underwater robot are obtained, and the optimal survey route is planned. The motion function of the optimal survey route is:

[0052]

[0053] Where H(t) is the motion function from the initial release point to the target point to be measured; f is the disturbance factor; is the underwater robot's own trajectory adjustment; q(x a ,x b ) is x a With x b The distance of x a is the position coordinate of the initial release point of the underwater robot; x b is the position coordinate of the target point to be measured.

[0054] Step 3: The human-computer interaction module determines whether the current moment is suitable for performing the exploration task based on the acquired environmental information data. If the pressure and humidity of the current survey area are within the preset threshold range, if they are within the preset threshold range, it indicates that the current moment is suitable for performing the exploration task. The human-computer interaction module sends an execution command to the underwater robot, and the underwater robot moves according to the best survey route.

[0055] Step 4: During the movement of the underwater robot, the human-machine interaction module obtains the environmental information data of the current survey area of ​​the underwater robot in real time through the wireless communication system; based on the environmental information data of the current survey area, it is determined whether the current survey area contains obstacles; the specific determination is as follows: the sum of the areas of obstacles in the current survey area is:

[0056]

[0057] In the formula, S o (i) represents the area of ​​obstacle i, n ′ Indicates the number of obstacles in the robot's current area; the area of ​​the entire survey area is S q ,like No obstacle avoidance measures will be taken and the vehicle will continue to move along the current survey route. Take obstacle avoidance measures and adjust the survey route in real time;

[0058] Specific obstacle avoidance measures are:

[0059] (1) Define the safe distance in the underwater robot's forward direction as Safe d1 , the safe distance on both sides of the underwater robot is Safe d2 , the length of the underwater robot is L; Safe d1 、Safe d2 The relationship between and L is:

[0060] Safe d1 =2Safe d2 ;1.5L>Safe d2 >L;

[0061] (2) Obtain the shortest distance d between the underwater robot and obstacles in the current survey area using the sonar detection device, and determine:

[0062] (a) When d>Safe d1 When , it indicates that the obstacle has no effect on the movement of the underwater robot, and no obstacle avoidance measures are taken;

[0063] (b) When Safe d1 >d>Safe d2 When , it indicates that the obstacle is far away from the underwater robot and has a slight impact on the movement of the underwater robot; construct an obstacle avoidance function based on obstacles:

[0064]

[0065] Where V s is the volume of the underwater robot, s o is the area of ​​the obstacle facing the underwater robot, v s is the speed of the underwater robot, and f is the disturbance factor;

[0066] like This indicates that no collision will occur and no obstacle avoidance measures will be taken; otherwise, the survey route of the underwater robot needs to be further adjusted:

[0067] First, the line connecting the initial release point of the underwater robot and the target point to be measured is used as the judgment line, and the angle between the line connecting the underwater robot and the target point to be measured and the vertical direction is defined as α, and the angle between the line connecting the obstacle encountered on the way and the underwater robot and the vertical direction is defined as β; the obstacle angle is defined as α-β. When , it is a front right obstacle; , it is a front left obstacle;

[0068] Secondly, define the barrier factor function as: Where x is the current position coordinate of the underwater robot, x i is the position coordinate of the ith obstacle; q 2(x,x i ) is the square of the distance between the position coordinates of the underwater robot and the position coordinates of the ith obstacle; n is the number of obstacles encountered on the way forward;

[0069] Define the obstacle closest to the current position of the underwater robot as j, determine the obstacles that belong to the front right obstacle among all the obstacles that have been passed before the jth obstacle, and calculate such obstacles using the obstacle factor function formula Among all the obstacles that have been passed before the jth obstacle, the obstacles that belong to the front left obstacle are calculated using the obstacle factor function formula when When the current position of the underwater robot is taken as the reference point, the sub-target point is located at a distance of h and a direction of position; when When the current position of the underwater robot is taken as the reference point, the sub-target point is located at a distance of h and a direction of The underwater robot determines the position of the sub-target point through the obstacle factor function, and the line connecting the current position of the underwater robot and the determined sub-target point is the obstacle avoidance motion trajectory after adjustment;

[0070] (c) When L <d<Safe d2 When , it indicates that the obstacle is close to the underwater robot and has a greater impact on the movement of the underwater robot; the above method of further adjusting the survey route of the underwater robot is used to avoid obstacles.

[0071] In addition, while the underwater robot moves along the survey route, Figure 7 As shown, the bridge survey underwater robot transmits the pressure information measured by the pressure sensor to the Arduino expansion board and converts the pressure information into depth data, outputs the depth information obtained by the first round of operation; collects the pressure information measured for the second time, calculates and outputs the depth information obtained by the second round of operation; repeats and completes a total of three rounds of operation cycles to ensure the accuracy of the survey data and transmits the depth information to the human-computer interaction module in real time.

[0072] Step 5: After the underwater robot reaches the target point to be measured, it starts the underwater shooting device, obtains the image information of the underwater bridge, transmits it to the human-computer interaction module, and then returns.

Claims

1. A control method for an underwater robot for bridge surveying. It is characterized in that The following steps are involved: (1) placing an underwater robot into the underwater survey area of ​​the bridge; obtaining image data, environmental information data, and underwater robot position data of the underwater survey area through a sonar detection device, a stereoscopic vision device, an underwater shooting device, and a sensor installed on the underwater robot; the environmental information data includes pressure, humidity, and images and infrared data of obstacles in the current survey area; and transmitting the above-obtained data to a human-computer interaction module; (2) The human-computer interaction module establishes a global space coordinate system based on the acquired data information, with the location of the human-computer interaction module as the origin, obtains the position coordinates of the target to be measured and the underwater robot, and plans the best survey route; (3) The human-computer interaction module determines whether the current basin pressure and humidity are within the preset threshold range based on the acquired environmental information data. If they are within the preset threshold range, it indicates that the current situation is suitable for performing the exploration task. The human-computer interaction module sends an execution instruction to the underwater robot, and the underwater robot moves along the optimal survey route. During the movement of the underwater robot, the human-computer interaction module determines whether the current survey area contains obstacles based on the real-time environmental information data of the area where the underwater robot is currently located. If the ratio of the total area of ​​obstacles in the current survey area to the overall area of ​​the survey area is less than the preset value, no obstacle avoidance measures are taken and the robot continues to move along the current survey route. Otherwise, obstacle avoidance measures are taken and the survey route is adjusted in real time. The specific obstacle avoidance measures are: (3.1) Define the safe distance of the underwater robot in the forward direction as Safe d1 , the safe distance on both sides of the underwater robot is Safe d2 , the length of the underwater robot is L; Safe d1 、Safe d2 The relationship between and L is: Safe d1 =2Safe d2 ;1.5L>Safe d2 >L; (3.2) Obtain the shortest distance d between the underwater robot and obstacles in the current survey area using the sonar detection device, and determine: (a) When d>Safe d1 When , it indicates that the obstacle has no effect on the movement of the underwater robot, and no obstacle avoidance measures are taken; (b) When Safe d1 >d>Safe d2 When , it indicates that the obstacle is far away from the underwater robot and has a slight impact on the movement of the underwater robot; construct an obstacle avoidance function based on obstacles: Where V s is the volume of the underwater robot, s o is the area of ​​the obstacle facing the underwater robot, v s is the speed of the underwater robot, and f is the disturbance factor; like This indicates that no collision will occur and no obstacle avoidance measures will be taken; otherwise, the survey route of the underwater robot needs to be further adjusted: First, the line connecting the initial release point of the underwater robot and the target point to be measured is used as the judgment line, and the angle between the line connecting the underwater robot and the target point to be measured and the vertical direction is defined as α, and the angle between the line connecting the obstacle encountered on the way and the underwater robot and the vertical direction is defined as β; the obstacle angle is defined as α-β. When , it is a front right obstacle; , it is a front left obstacle; Secondly, define the barrier factor function as: Where x is the current position coordinate of the underwater robot, x i is the position coordinate of the ith obstacle; q 2 (x,x i ) is the square of the distance between the position coordinates of the underwater robot and the position coordinates of the ith obstacle, and n is the number of obstacles encountered on the way forward; Define the obstacle closest to the current position of the underwater robot as j, determine the obstacles that belong to the front right obstacle among all the obstacles that have been passed before the jth obstacle, and calculate such obstacles using the obstacle factor function calculation formula Among all the obstacles that have been passed before the jth obstacle, the obstacles that belong to the front left obstacle are calculated using the obstacle factor function calculation formula when When the current position of the underwater robot is taken as the reference point, the sub-target point is located at a distance of h and a direction of position; when When the current position of the underwater robot is taken as the reference point, the sub-target point is located at a distance of h and a direction of The underwater robot determines the position of the sub-target point, and the line connecting the current position of the underwater robot and the determined sub-target point is the adjusted obstacle avoidance motion trajectory; (c) When L <d<Safe d2 When , it indicates that the obstacle is close to the underwater robot and has a greater impact on the movement of the underwater robot; the above method of further adjusting the survey route of the underwater robot is used to avoid obstacles; (4) After the underwater robot reaches the target point to be measured, it starts the underwater shooting device, obtains the image information of the underwater bridge, transmits it to the human-computer interaction module, and then returns.

2. The control method of the bridge survey underwater robot according to claim 1, It is characterized in that The motion function of the optimal survey route described in step (2) is: Where H(t) is the motion function from the initial release point to the target point to be measured; f is the disturbance factor; is the underwater robot's own trajectory adjustment; q(x a ,x b ) is x a With x b The distance of x a is the position coordinate of the initial release point of the underwater robot; x b is the position coordinate of the target point to be measured.

3. The control method of the bridge survey underwater robot according to claim 1, It is characterized in that The underwater robot position data in step (1) is obtained by using an inertial navigation algorithm to solve the data obtained from the sensor to obtain real-time attitude angle, speed and position.

4. A control system for a bridge survey underwater robot implementing any one of the methods of claim 1 to claim 3, It is characterized in that It comprises an underwater robot body control module (1), a wireless communication system (2), and a human-machine interaction module (3); The underwater robot body control module (1) comprises a multi-element collaborative platform (11) and a controller (12) installed on the underwater robot body, wherein the multi-element collaborative platform (11) comprises a sonar detection device (111), a stereoscopic vision device (112), an underwater shooting device (113), a sensor (114), an information acquisition system (115), and a signal integration system (116); the sonar detection device (111), the stereoscopic vision device (112), the underwater shooting device (113), and the sensor (114) are used together to obtain images of an underwater survey area and to survey the position and environmental information of the underwater robot in real time; the information acquisition system (115) is used to collect and record image information, position information, and environmental information; the signal integration system (116) is used to perform integrated control on the information collected by the information acquisition system (115); the controller (12) is used to control the underwater robot to move at a fixed depth and a fixed route according to the instructions of the human-machine interaction module (3); The wireless communication system (2) is used to realize two-way communication between the underwater robot body control module (1) and the human-machine interaction module (3); The human-machine interaction module (3) is used to receive data transmitted by the underwater robot body control module (1); plan the best survey route based on the acquired data, determine whether to avoid obstacles and adjust the survey route when planning obstacle avoidance; and send control instructions to the underwater robot body control module (1) based on the planned route.

5. According to the control system of the bridge survey underwater robot according to claim 4, It is characterized in that The human-computer interaction module (3) adopts a ROS device platform including a Linux platform and an Ubuntu system, and the controller (12) adopts an ArduSub controller.

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