Underwater Robot Positioning Method, Device, Underwater Robot and Computer Device

Abstract

The present application relates to an underwater robot positioning method, device, underwater robot, and computer device. The method includes: obtaining the underwater pressure value of the underwater robot, determining a positioning correction method according to the underwater pressure value, if the positioning correction method is the first positioning correction method, then determining the axial displacement of the underwater robot based on the underwater pressure value, obtaining inertial navigation positioning information, and correcting the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction, if the positioning correction method is the second positioning correction method, then obtaining the image of the preset landmark and the inertial navigation positioning information, and correcting the inertial navigation positioning information based on the position information indicated by the image of the preset landmark to update the inertial navigation positioning information. Using this method can achieve high-precision positioning of the underwater robot.

Description

Technical Field

[0001] The present application relates to the technical field of underwater navigation, and particularly to an underwater robot positioning method, device, underwater robot, computer device, storage medium, and computer program product. Background Art

[0002] At present, most of the robot navigation and positioning methods in the underwater large-diameter long-distance water intake tunnel in the water state are based on the combination of an inertial navigation system (hereinafter referred to as INS) and a Doppler velocity log (hereinafter referred to as DVL), the combination of INS and underwater acoustic positioning, or the combination of INS and road signs for navigation and positioning.

[0003] In large-scale engineering water intake tunnels, the navigation and positioning method of INS and DVL is prone to cumulative errors over time. The navigation and positioning method of INS and underwater acoustics can only solve the positioning of closed tunnels not exceeding 15 kilometers, and the positioning of this method in closed tunnels is easily interfered by other sonar sensors, affecting the positioning accuracy. The navigation and positioning method of INS and road signs is only applicable to scenarios with typical road signs or scenarios where typical road signs can be set in the tunnel, and the positioning accuracy of this method at non-road sign points cannot be guaranteed. For long-distance closed water intake tunnels, to achieve the navigation and positioning of underwater robots in the water state, since operations inside the tunnel cannot be carried out, the above three methods cannot achieve high-precision navigation and positioning.

[0004] Therefore, it is necessary to provide a solution that can achieve high-precision navigation and positioning of underwater robots. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide an underwater robot positioning method, device, underwater robot, computer device, computer-readable storage medium, and computer program product that can achieve high-precision navigation and positioning of underwater robots.

[0006] In a first aspect, the present application provides an underwater robot positioning method. The method includes:

[0007] Obtain the underwater pressure value of the underwater robot;

[0008] Determine the positioning correction method according to the underwater pressure value;

[0009] If the positioning correction method is the first positioning correction method, then determine the axial displacement of the underwater robot based on the underwater pressure value, obtain the inertial navigation positioning information, and correct the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction;

[0010] If the positioning correction method is the second positioning correction method, obtain the image of the preset road sign and the inertial navigation positioning information, and correct the inertial navigation positioning information based on the position information indicated by the image of the preset road sign to update the inertial navigation positioning information.

[0011] In one embodiment, determining the axial displacement of the underwater robot based on the underwater pressure value includes:

[0012] Based on the underwater pressure value, select the corresponding axial displacement conversion analytical formula from the preset piecewise function;

[0013] According to the selected axial displacement conversion analytical formula and the underwater pressure value, determine the axial displacement of the underwater robot, where the preset piecewise function is generated based on the topographic features of the tunnel, and different axial displacement conversion analytical formulas are set for different underwater pressure value intervals.

[0014] In one embodiment, the axial displacement conversion analytical formula includes the first type of axial displacement conversion analytical formula and the second type of axial displacement conversion analytical formula;

[0015] Based on the underwater pressure value, selecting the corresponding axial displacement conversion analytical formula from the preset piecewise function includes:

[0016] If the underwater pressure value interval to which the underwater pressure value belongs is found, then according to the underwater pressure value interval to which the underwater pressure value belongs, select the corresponding first type of axial displacement conversion analytical formula from the preset piecewise function;

[0017] If the underwater pressure value interval to which the underwater pressure value belongs is not found, then select the corresponding second type of axial displacement conversion analytical formula from the preset piecewise function according to the underwater pressure value;

[0018] Among them, the first type of axial displacement conversion analytical formula is determined based on different road section lengths and the conversion relationship between the change in underwater pressure value and the change in axial displacement, and the second type of axial displacement conversion analytical formula is determined based on different road section lengths and the change in the movement distance of the underwater robot on the horizontal road section.

[0019] In one embodiment, determining the positioning correction method according to the underwater pressure value includes:

[0020] If it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration point set at the first preset distance interval, then determine that the positioning correction method is the first positioning correction method;

[0021] If it is determined according to the underwater pressure value that the underwater robot moves to the road sign calibration point set at the second preset distance interval, then determine that the positioning correction method is the second positioning correction method.

[0022] In one embodiment, determining the positioning correction method according to the underwater pressure value includes:

[0023] If it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration points set at the first preset distance interval, then determine that the positioning correction method is the first positioning correction method;

[0024] If it is determined according to the underwater pressure value that the underwater robot moves to the landmark calibration points set at the second preset distance interval, then determine that the positioning correction method is the second positioning correction method;

[0025] Wherein, the first preset distance is less than the second preset distance. If it is determined according to the underwater pressure value that the current position of the underwater robot is both the pressure calibration point and the landmark calibration point, then determine that the current position of the underwater robot is the landmark calibration point.

[0026] In one embodiment, determining the positioning correction method according to the underwater pressure value includes:

[0027] If it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration points set at the first preset distance interval, then determine that the positioning correction method is the first positioning correction method;

[0028] After correcting the inertial navigation positioning information according to the axial displacement, it further includes:

[0029] Before determining that the underwater robot moves to the next pressure calibration point, the inertial navigation positioning information of the underwater robot is updated based on the following method:

[0030] Obtain the inertial navigation positioning information, the distance between the underwater robot and the previous pressure calibration point, and the axial displacement corresponding to the previous pressure calibration point;

[0031] According to the distance between the underwater robot and the previous pressure calibration point and the axial displacement corresponding to the previous pressure calibration point, determine the position information of the underwater robot, and correct the inertial navigation positioning information according to the position information to update the inertial navigation positioning information.

[0032] In one embodiment, determining the positioning correction method according to the underwater pressure value includes:

[0033] If it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration points set at the first preset distance interval, then determine that the positioning correction method is the first positioning correction method;

[0034] If it is determined according to the underwater pressure value that the underwater robot moves to the landmark calibration points set at the second preset distance interval, then determine that the positioning correction method is the second positioning correction method, wherein the first preset distance is less than the second preset distance;

[0035] After correcting the inertial navigation positioning information based on the position information indicated by the image of the preset road sign, it further includes:

[0036] Before determining that the underwater robot moves to the next pressure calibration point, the inertial navigation positioning information of the underwater robot is updated based on the following method:

[0037] Obtain the inertial navigation positioning information, the distance between the underwater robot and the previous mileage calibration point, and the position information corresponding to the previous mileage calibration point;

[0038] According to the distance between the underwater robot and the previous mileage calibration point and the position information corresponding to the previous mileage calibration point, determine the position information of the underwater robot, and correct the inertial navigation positioning information according to the position information to update the inertial navigation positioning information.

[0039] In a second aspect, the present application also provides an underwater robot positioning device. The device includes:

[0040] A data acquisition module for acquiring the underwater pressure value of the underwater robot;

[0041] A positioning correction method determination module for determining a positioning correction method according to the underwater pressure value;

[0042] A positioning correction module for, if the positioning correction method is the first positioning correction method, determining the axial displacement of the underwater robot based on the underwater pressure value, obtaining the inertial navigation positioning information, and correcting the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the movement direction, and if the positioning correction method is the second positioning correction method, obtaining the image of the preset road sign and the inertial navigation positioning information, and correcting the inertial navigation positioning information based on the position information indicated by the image of the preset road sign to update the inertial navigation positioning information.

[0043] In a third aspect, the present application also provides an underwater robot. The underwater robot includes an underwater pressure sensor and a processor;

[0044] The underwater pressure sensor acquires the underwater pressure value of the underwater robot and sends the underwater pressure value to the processor, and the processor executes the above-mentioned underwater robot positioning method.

[0045] In a fourth aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0046] Obtain the underwater pressure value of the underwater robot;

[0047] Determine a positioning correction method according to the underwater pressure value;

[0048] If the positioning correction method is the first positioning correction method, determine the axial displacement of the underwater robot based on the underwater pressure value, obtain inertial navigation positioning information, and correct the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction;

[0049] If the positioning correction method is the second positioning correction method, obtain the image of the preset landmark and the inertial navigation positioning information, and correct the inertial navigation positioning information based on the position information indicated by the image of the preset landmark to update the inertial navigation positioning information.

[0050] In a fifth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0051] Obtain the underwater pressure value of the underwater robot;

[0052] Determine the positioning correction method according to the underwater pressure value;

[0053] If the positioning correction method is the first positioning correction method, determine the axial displacement of the underwater robot based on the underwater pressure value, obtain inertial navigation positioning information, and correct the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction;

[0054] If the positioning correction method is the second positioning correction method, obtain the image of the preset landmark and the inertial navigation positioning information, and correct the inertial navigation positioning information based on the position information indicated by the image of the preset landmark to update the inertial navigation positioning information.

[0055] In a sixth aspect, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0056] Obtain the underwater pressure value of the underwater robot;

[0057] Determine the positioning correction method according to the underwater pressure value;

[0058] If the positioning correction method is the first positioning correction method, determine the axial displacement of the underwater robot based on the underwater pressure value, obtain inertial navigation positioning information, and correct the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction;

[0059] If the positioning correction method is the second positioning correction method, obtain the image of the preset road sign and the inertial navigation positioning information, and correct the inertial navigation positioning information based on the position information indicated by the image of the preset road sign to update the inertial navigation positioning information.

[0060] The above underwater robot positioning method, device, underwater robot, computer device, storage medium and computer program product are provided with a two-fold positioning correction method. By obtaining the underwater pressure value of the underwater robot, the corresponding positioning correction method is determined to correct the inertial navigation positioning information. On the one hand, based on the underwater pressure value, the axial displacement of the underwater robot is determined, and then the inertial navigation positioning information is corrected using the axial displacement to complete the first positioning information correction. On the other hand, relying on the accuracy of the position information indicated by the road sign image itself, the inertial navigation positioning information is corrected using the position information indicated by the image of the preset road sign, ensuring the accuracy of the second positioning information correction. In summary, this solution calibrates the inertial navigation positioning information with high precision, compensates for the defect that the inertial navigation device is prone to cumulative errors over time, resulting in inaccurate positioning, and realizes the high-precision positioning of the underwater robot. Description of the Drawings

[0061] Figure 1 It is an application environment diagram of the underwater robot positioning method in an embodiment;

[0062] Figure 2 It is a flowchart of the underwater robot positioning method in an embodiment;

[0063] Figure 3 It is a detailed flowchart of the underwater robot positioning method in another embodiment;

[0064] Figure 4 It is a simple schematic diagram of a partial section of a tunnel in an embodiment;

[0065] Figure 5 It is a structural schematic diagram of an underwater robot in an embodiment;

[0066] Figure 6 It is a structural block diagram of the underwater robot positioning device in an embodiment;

[0067] Figure 7 It is an internal structure diagram of a computer device in an embodiment. Detailed Embodiments

[0068] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0069] The underwater robot positioning method provided by the embodiment of the present application can be applied to, for example, Figure 1 the application environment shown in the figure. The underwater robot 102 is equipped with an inertial navigation positioning device, an underwater camera, and an underwater high-precision pressure sensor. The control system 104 sends a work instruction to the underwater robot 102, and the underwater robot 102 starts to work and travels in the tunnel along the preset movement direction. The underwater high-precision pressure sensor collects the underwater pressure value in real time, and the inertial navigation positioning device outputs the inertial navigation positioning information in real time. When the underwater camera receives an image acquisition instruction, it collects the road sign image. The underwater robot sends the underwater pressure value, the inertial navigation positioning information, and the road sign image to the control system 104. The control system 104 responds to the positioning instruction, obtains the inertial navigation positioning information and the underwater pressure value, and then determines the corresponding positioning correction method according to the underwater pressure value. Specifically, if the positioning correction method is the first positioning correction method, the axial displacement of the underwater robot is determined based on the underwater pressure value, the inertial navigation positioning information is obtained, and the inertial navigation positioning information is corrected according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction. If the positioning correction method is the second positioning correction method, the image of the preset road sign and the inertial navigation positioning information are obtained, and the inertial navigation positioning information is corrected based on the position information indicated by the image of the preset road sign to update the inertial navigation positioning information.

[0070] In one embodiment, as Figure 2 shown, a method for positioning an underwater robot is provided. Taking the control system in Figure 1 as an example for illustration. It can be understood that this method can also be applied to the central processing unit of the underwater robot. In this embodiment, the method includes the following steps:

[0071] Step 100: Obtain the underwater pressure value of the underwater robot.

[0072] The underwater pressure value refers to the pressure value borne by the underwater robot (hereinafter referred to as the robot) at the current moment at the position where it is located underwater collected by the underwater pressure sensor. In this embodiment, taking the robot traveling and working in a long-distance sloping tunnel as an example for illustration. And the robot is equipped with an inertial navigation device (which can be an inertial navigation system and DVL), and the inertial navigation device continuously outputs the inertial navigation positioning information of the robot.

[0073] Step 200: Determine the positioning correction method according to the underwater pressure value.

[0074] Generally, the navigation and positioning scheme of an underwater robot will adopt the combination of inertial navigation and DVL. However, due to the cumulative error that is prone to occur in inertial navigation devices over time, after the robot has traveled a certain distance, the positioning information output is prone to error. To make up for this defect, in this embodiment, two positioning correction methods can be preset in the program according to the vertical movement distance identified by the underwater pressure value. Specifically, since the distance of the tunnel is very long and the combination of inertial navigation and DVL is prone to the problem of cumulative error after traveling a certain distance. Therefore, to avoid excessive consumption of the robot's power and other resources, the inertial navigation positioning information of the robot can be corrected periodically. For example, since the pressure value borne by the robot at different positions in the tunnel will be different, the positioning can be corrected periodically according to the underwater pressure value borne by the robot at different positions. For example, when it is determined according to the underwater pressure value that the distance the robot travels along the tunnel increases by 2 kilometers each time, the first positioning correction method is determined as the positioning correction method, and when it is determined according to the underwater pressure value that the distance the robot travels along the tunnel increases by 6 kilometers each time, the second positioning correction method is determined as the positioning correction method. It can be determined according to the actual situation specifically and is not limited here.

[0075] Step 300, if the positioning correction method is the first positioning correction method, determine the axial displacement of the underwater robot based on the underwater pressure value, obtain the inertial navigation positioning information, and correct the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction.

[0076] Axial displacement, also known as axial position, refers to the displacement of the underwater robot along the preset motion direction, which can be the forward direction. The axial displacement can also be the distance traveled by the robot in the tunnel. The inertial navigation positioning information includes pose information and velocity. In this embodiment, the first positioning correction method can be set to correct the inertial navigation positioning information according to the underwater pressure value. The second positioning correction method can be set to correct the inertial navigation positioning information according to the road sign image. Specifically, when it is determined that the positioning correction method is the first positioning correction method according to the underwater pressure value, the axial displacement of the robot at the current moment can be determined according to the underwater pressure value at the current moment. Then, the inertial navigation positioning information at the current moment is obtained, and the inertial navigation positioning information at the current moment is corrected according to the axial displacement of the robot at the current moment. In this embodiment, it can be to replace the coordinate value on the X-axis in the pose information in the inertial navigation positioning information at the current moment with the axial displacement at the current moment to update the inertial navigation positioning information at the current moment. In other embodiments, it can also be to obtain the difference between the inertial navigation positioning information at the current moment and the axial displacement, and then correct the inertial navigation positioning information based on the difference and a preset coefficient. Therefore, it can be determined according to the actual situation and is not limited here. It can be understood that the data acquisition actions in this embodiment are all real-time actions, that is, the acquired data are all data at the current moment. Since the pressure sensor outputs the underwater pressure value continuously and the positioning correction is periodic, after the positioning correction is completed according to the first positioning correction method this time, it will return to step 100 again to determine whether positioning correction is required according to the underwater pressure value, and repeat the above steps until the robot reaches the end of the tunnel or completes the task.

[0077] Step 320, if the positioning correction method is the second positioning correction method, obtain the image of the preset road sign and the inertial navigation positioning information, and correct the inertial navigation positioning information based on the position information indicated by the image of the preset road sign to update the inertial navigation positioning information.

[0078] The preset road signs refer to artificial road signs, which can be mileage markers, mileage signs or other road signs. In this embodiment, the road signs are taken as mileage markers for example. The mileage marker is the unified numbering of the designed foundation piles before the project construction, which is beneficial to the construction, and its number is non-repetitive and unique. For example: the starting mileage marker is K200.500, and the ending mileage marker is K350.800 (K200.500~K350.800), where K represents kilometers, meaning: at 200 kilometers and another 500 meters on the road is the starting point, until 350 kilometers and another 800 meters. Calculate the road length: 350.800 - 200.500 = 150.300 km. In specific implementation, if it is determined according to the underwater pressure value that the positioning correction method is the second positioning correction method, it can be to move to the mileage marker closest to the current distance, then collect the image of the mileage marker, and then perform image recognition on the image of the mileage marker to identify the position information contained in the image of the mileage marker, and then determine the position information where the robot is currently located. Then, the inertial navigation positioning information is corrected according to the position information contained in the image of the mileage marker to update the inertial navigation positioning information at the current moment. It can be understood that the position information indicated by the image of the mileage marker is high-precision position information. In this embodiment, it can also be to replace the coordinate value on the X-axis in the pose information in the inertial navigation positioning information at the current moment with the position information contained in the image of the mileage marker. In other embodiments, other correction methods can also be adopted, which are not limited herein. Similarly, when the positioning correction is completed according to the second positioning correction method this time, it will return to step 100 again, and determine whether positioning correction is required again according to the underwater pressure value, and repeat the above steps until the robot reaches the end of the tunnel or completes the task.

[0079] For the above underwater robot positioning method, two positioning correction methods are set. By obtaining the underwater pressure value of the underwater robot, the corresponding positioning correction method is determined to correct the inertial navigation positioning information. On the one hand, based on the underwater pressure value, the axial displacement of the underwater robot is determined, and then the inertial navigation positioning information is corrected by using the axial displacement to complete the first positioning information correction. On the other hand, relying on the accuracy of the position information indicated by the road sign image itself, the inertial navigation positioning information is corrected by using the position information indicated by the image of the preset road sign, ensuring the accuracy of the second positioning information correction. In summary, this solution calibrates the inertial navigation positioning information with high precision, makes up for the defect that the inertial navigation device is prone to cumulative errors over time, resulting in inaccurate positioning, and realizes the high-precision positioning of the underwater robot over a long distance.

[0080] As Figure 3 shown, in one embodiment, step 200 includes:

[0081] Step 220: If it is determined based on the underwater pressure value that the underwater robot moves to the pressure calibration points set at the first preset distance interval, then determine that the positioning correction method is the first positioning correction method, enter Step 302, determine the axial displacement of the underwater robot based on the underwater pressure value, obtain inertial navigation positioning information, and correct the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction;

[0082] Step 240: If it is determined based on the underwater pressure value that the underwater robot moves to the landmark calibration points set at the second preset distance interval, then determine that the positioning correction method is the second positioning correction method, enter Step 322, obtain the image of the preset landmark and the inertial navigation positioning information, and correct the inertial navigation positioning information based on the position information indicated by the image of the preset landmark to update the inertial navigation positioning information.

[0083] The pressure calibration point refers to the point that needs to be positioned and calibrated according to the pressure value currently, and it can be set at equal intervals according to the first preset distance. The road sign calibration point refers to the point that needs to be positioned and calibrated according to the road sign image currently, and it can be set at equal intervals according to the second preset distance. The values of the first preset distance and the second preset distance can be determined according to the actual situation. In this embodiment, the road sign calibration point takes the mileage calibration point as an example. It can be judged whether the robot reaches the pressure calibration point or the mileage calibration point by the current underwater pressure value to determine the corresponding positioning correction method. Specifically, when implementing, a pressure calibration point can be set every first preset distance, such as every 2 kilometers. That is, at intervals of 2 kilometers underwater, the underwater pressure values borne by the underwater robot when moving to each pressure calibration point are determined in turn, and then the pressure values corresponding to each pressure calibration point are marked to obtain an array of underwater pressure values corresponding to the pressure calibration points (hereinafter referred to as the first underwater pressure value array). This array is used as prior data to judge whether the underwater robot moves to the pressure calibration point according to the pressure value. Specifically, the current underwater pressure value can be compared with the underwater pressure values in the first underwater pressure value array in turn. If the current underwater pressure value is equal to the underwater pressure value in a certain first underwater pressure value array, it is determined that the underwater robot moves to the pressure calibration point, and the positioning correction method is determined as the first positioning correction method. A mileage calibration point can be set every second preset distance, and the underwater pressure values borne by the underwater robot when moving to each mileage calibration point are determined in turn, and then the pressure values corresponding to each mileage calibration point are marked to obtain an array of underwater pressure values corresponding to the mileage calibration points (hereinafter referred to as the second underwater pressure value array), and the second underwater pressure value array is used as prior data to judge whether the underwater robot moves to the mileage calibration point according to the pressure value. Specifically, the current underwater pressure value can be compared with the underwater pressure values in the second underwater pressure value array in turn. If the current underwater pressure value is equal to the underwater pressure value in a certain second underwater pressure value array, it is determined that the underwater robot moves to the mileage calibration point, and the positioning correction method is determined as the second positioning correction method. In this embodiment, by setting the pressure calibration point and the mileage calibration point at equal distances, the inertial navigation information can be corrected in two correction methods, further eliminating the error of positioning correction by the pressure value and ensuring the accuracy of the positioning information. In another embodiment, the first preset distance is less than the second preset distance. If it is determined according to the underwater pressure value that the current position of the underwater robot is both the pressure calibration point and the road sign calibration point, it is determined that the current position of the underwater robot is the road sign calibration point. Since the mileage signs are set during the tunnel construction, and generally, the distance between each mileage sign is relatively long, the second preset distance can be greater than the first preset distance. For example, a pressure calibration point is set every 2 kilometers, and a mileage calibration point is set every 6 kilometers.Moreover, since the position information indicated by the stake number image is accurate, if the position where the robot is located is both a pressure calibration point and a stake number calibration point, then it is determined that the point where the robot is located is the stake number calibration point. In this way, the positioning information of the robot can be ensured to be more accurate and closer to the actual situation.

[0084] As Figure 3 shown, in one embodiment, determining the axial displacement of an underwater robot based on the underwater pressure value includes: based on the underwater pressure value, selecting a corresponding axial displacement conversion analytical formula from a preset piecewise function, and determining the axial displacement of the underwater robot according to the selected axial displacement conversion analytical formula and the underwater pressure value, where the preset piecewise function is generated based on the topographic features of the tunnel and different axial displacement conversion analytical formulas are set for different underwater pressure value intervals.

[0085] The axial displacement conversion analytical formula is used to convert the pressure value into the axial displacement of the robot in the tunnel. In practical applications, the staff designed a piecewise function according to the topographic features of the tunnel, including the slope change features. In this piecewise function, different axial displacement conversion analytical formulas are set for different underwater pressure value intervals. For example, referring to Figure 4 , Figure 4 the schematic diagram of a section of the tunnel shown, Figure 3 in which data such as 1714.875m, 8082.125m, and 78m refer to the length of a certain section of the path, not the distance from the starting point to a certain point. Taking the tunnel shown in Figure 3 as an example, the constructed piecewise function can be as follows.

[0086]

[0087] In the formula, ΔP0 is the pressure measurement value, the unit of pressure is Kpa, f(x) is the inertial navigation positioning data, and f(Δx) is the change in the inertial navigation positioning data recorded at the current time compared to the inertial navigation positioning data recorded last time. Characterizes a certain slope of the tunnel, Characterizes the change in the vertical movement distance (i.e., height) converted from the change in the underwater pressure value. The ratio of the change in the vertical movement distance to the slope is the change in the axial displacement, that is, the axial displacement change amount, of the robot along the movement direction. In the formula, values such as 1714.875, 9797, and 9875 are the distances of a certain point in the tunnel from the starting point. Compared with Figure 4In the figure, it is the distance from each inflection point in the figure to the starting point. As shown in the above piecewise function, in specific implementation, the corresponding axial displacement conversion analytical formula can be selected according to the current underwater pressure value, and then the underwater pressure value is substituted into the axial displacement conversion analytical formula to obtain the axial displacement converted from the underwater pressure value at the current moment. In this embodiment, by designing a piecewise function in combination with the topographic features of the tunnel, both the uphill distance and the downhill distance during the robot's movement are converted into the axial displacement along the movement direction, which can make the converted axial displacement more accurate.

[0088] In one embodiment, the axial displacement conversion analytical formula includes a first type of axial displacement conversion analytical formula and a second type of axial displacement conversion analytical formula;

[0089] Based on the underwater pressure value, selecting the corresponding axial displacement conversion analytical formula from the preset piecewise function includes: if the underwater pressure value interval to which the underwater pressure value belongs is found, then according to the underwater pressure value interval to which the underwater pressure value belongs, select the corresponding first type of axial displacement conversion analytical formula from the preset piecewise function; if the underwater pressure value interval to which the underwater pressure value belongs is not found, then select the corresponding second type of axial displacement conversion analytical formula from the preset piecewise function according to the underwater pressure value;

[0090] Among them, the first type of axial displacement conversion analytical formula is determined based on different section lengths and the conversion relationship between the change amount of the underwater pressure value and the change amount of the axial displacement, and the second type of axial displacement conversion analytical formula is determined based on different section lengths and the change amount of the movement distance of the underwater robot on the horizontal section.

[0091] In practical applications, when the robot is walking on a certain horizontal section, the amplitude of the change in the underwater pressure value is very small or even remains unchanged, while in the uphill or downhill stage, the underwater pressure value will continuously change. Considering this situation, in this embodiment, a first type of axial displacement conversion analytical formula and a second type of axial displacement conversion analytical formula are designed in the piecewise function. In this embodiment, the first type of axial displacement conversion analytical formula corresponds to the pressure value interval, and the second type of axial displacement conversion analytical formula corresponds to a certain underwater pressure value. After obtaining the underwater pressure value at the current moment, confirm whether the underwater pressure value belongs to a certain pressure value interval. If the underwater pressure value interval to which the underwater pressure value belongs is found, then select the corresponding first type of axial displacement conversion analytical formula for this pressure value interval. If the underwater pressure value is exactly equal to a certain pressure value in the piecewise function, then select the corresponding second type of axial displacement conversion analytical formula. In this embodiment, considering the actual situation of the machine moving underwater, two types of axial displacement conversion analytical formulas are designed, which can make the axial displacement determined based on the underwater pressure value more accurate.

[0092] In one embodiment, determining the positioning correction method according to the underwater pressure value includes: if it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration points set at the first preset distance interval, then determining the positioning correction method as the first positioning correction method;

[0093] After correcting the inertial navigation positioning information according to the axial displacement, it further includes: before determining that the underwater robot moves to the next pressure calibration point, the inertial navigation positioning information of the underwater robot is updated based on the following method: obtaining the inertial navigation positioning information, the distance between the underwater robot and the previous pressure calibration point, and the axial displacement corresponding to the previous pressure calibration point, determining the position information of the underwater robot at the current moment according to the distance between the underwater robot and the previous pressure calibration point and the axial displacement corresponding to the previous pressure calibration point, and correcting the inertial navigation positioning information according to the position information at the current moment to update the inertial navigation positioning information.

[0094] In specific implementation, when it is determined that the robot moves to a certain pressure calibration point, when the axial displacement of the robot at the current moment is obtained according to the first positioning correction method and the correction of the current inertial navigation positioning information is completed, the axial displacement X when the robot walks to the current pressure calibration point will be recorded. n水压 and the inertial navigation positioning information X n惯导 . The robot continues to move forward. When the next moment arrives, before the robot moves to the next pressure calibration point, the inertial navigation positioning information can be updated based on the axial displacement X of the previous pressure calibration point. n水压 Specifically, when the next moment arrives, it can be to obtain the inertial navigation positioning information X at the current moment. 惯导 , the axial displacement X corresponding to the previous pressure calibration point. 水压 and the distance between the underwater robot and the previous pressure calibration point, where the distance between the underwater robot and the previous pressure calibration point is X. 惯导 -X n惯导 . Then the position information X of the robot at the current moment. robot =X n水压 +(X 惯导 -X n惯导 ). Then, updating the current inertial navigation information according to the current position information can be to replace the coordinate value in the inertial navigation information along the X-axis direction with X. robot When the next moment arrives again, the robot continues to move forward. If the robot moves to the next pressure calibration point, positioning correction is performed according to the first positioning correction method. In this embodiment, after positioning correction is completed at a pressure calibration point, the subsequent positioning information is determined based on the axial displacement of the previous pressure calibration point with higher accuracy, which can continuously eliminate the error of the positioning information and further improve the accuracy of the positioning information.

[0095] In one embodiment, taking the case where pressure calibration points and station number calibration points are set at intervals as an example, the interval distance of the station number calibration points is greater than that of the pressure calibration points. After correcting the inertial navigation positioning information based on the position information indicated by the image of the preset road sign, it further includes: before determining that the underwater robot moves to the next pressure calibration point, the inertial navigation positioning information of the underwater robot is updated based on the following method: obtaining the inertial navigation positioning information, the distance between the underwater robot and the previous station number calibration point, and the position information corresponding to the previous station number calibration point, determining the position information of the underwater robot at the current moment according to the distance between the underwater robot and the previous station number calibration point and the position information corresponding to the previous station number calibration point, and correcting the inertial navigation positioning information according to the position information at the current moment to update the inertial navigation positioning information.

[0096] In this embodiment, similar to the above embodiment, when it is determined that the robot moves to a certain station number calibration point, when the position information of the robot at the current moment is obtained according to the second positioning correction method and the correction of the current inertial navigation positioning information is completed, the position information X recognized based on the station number image when the robot walks to the current station number calibration point will be recorded. 桩号 and the inertial navigation positioning information X n惯导 . The robot continues to move forward. When the next moment arrives, since the interval distance of the pressure calibration points is less than that of the station number calibration points, the pressure calibration points should arrive earlier than the station number calibration points. Therefore, before the robot moves to the next pressure calibration point, the inertial navigation positioning information can be updated based on the position information X 桩号 of the previous station number calibration point. Specifically, when the next moment arrives, it can be to obtain the inertial navigation positioning information X 惯导 at the current moment, the position information X 桩号 of the previous station number calibration point, and the distance between the underwater robot and the previous station number calibration point. Among them, the distance between the underwater robot and the previous station number calibration point is still X 惯导 -X n惯导 . Then the position information X robot of the robot at the current moment = X 桩号 +(X 惯导 -X n惯导 ). Then, the current inertial navigation information can be updated according to the current position information, which can be to replace the coordinate value along the X-axis direction in the inertial navigation information with X robot . When the next moment arrives again and the robot continues to move forward, if the robot moves to the next pressure calibration point, the positioning correction will be performed according to the first positioning correction method. In this embodiment, after the positioning correction is completed at a station number calibration point, the subsequent positioning information is determined based on the axial displacement of the previous station number calibration point with higher accuracy, and the error of the positioning information is continuously eliminated to further improve the accuracy of the positioning information.

[0097] To provide a clearer description of the underwater robot positioning information provided in this application, the following will be described in conjunction with a specific embodiment. In this embodiment, taking the underwater robot navigating and positioning in a long-distance tunnel with slope changes as an example, and a pressure calibration point is set every 2 kilometers, and a stake number calibration point is set every 6 kilometers. This embodiment can be as follows:

[0098] The underwater robot performs tasks in a long-distance tunnel with slope changes, and uses the combination of inertial navigation and DVL to output inertial navigation positioning information in real time. At the same time, the underwater pressure value at the current moment is obtained in real time. If it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration point set at the first preset distance interval, then the positioning correction method is determined as the first positioning correction method, and then it is checked whether the underwater pressure value belongs to a certain pressure value interval. If the underwater pressure value interval to which the underwater pressure value belongs is found, then according to the underwater pressure value interval to which the underwater pressure value belongs, the corresponding first type of axial displacement conversion analytical formula is selected from the preset piecewise function; if the underwater pressure value interval to which the underwater pressure value belongs is not found, then the corresponding second type of axial displacement conversion analytical formula is selected from the preset piecewise function according to the underwater pressure value. According to the selected axial displacement conversion analytical formula and the underwater pressure value, the axial displacement of the underwater robot is determined. Then, the coordinate value on the X-axis in the pose information in the inertial navigation positioning information at the current moment is replaced with the axial displacement at the current moment to update the inertial navigation positioning information at the current moment. At the same time, the axial displacement X when the robot walks to the current pressure calibration point is recorded n水压 and the inertial navigation positioning information X n惯导 . The robot continues to move forward. When the next moment arrives, before the robot moves to the next pressure calibration point, it can be to obtain the inertial navigation positioning information X at the current moment 惯导 , the axial displacement X corresponding to the previous pressure calibration point 水压 and the distance between the underwater robot and the previous pressure calibration point, where the distance between the underwater robot and the previous pressure calibration point is X 惯导 -X n惯导 . Then the position information X of the robot at the current moment robot =X n水压 +(X 惯导 -X n惯导 ). Then, the current inertial navigation information is updated according to the current position information, which can be to replace the coordinate value in the inertial navigation information along the X-axis direction with X robot . When the next moment arrives again, the robot continues to move forward. If the robot moves to the next pressure calibration point, the positioning correction is performed according to the first positioning correction method.

[0099] The robot continues to move forward. If it is determined, based on the underwater pressure value, that the underwater robot has moved to a calibration point of a road sign set at a second preset distance interval, then the positioning correction method is determined to be the second positioning correction method. It can be moving to the stake number with the closest current distance, then collecting an image of the stake number, and then performing image recognition on the image of the stake number to identify the position information contained in the image of the stake number, and further determining the position information of the robot at the current location. At the same time, replace the coordinate value on the X-axis in the pose information of the inertial navigation positioning information at the current moment with the position information contained in the image of the stake number to update the inertial navigation positioning information at the current moment. At this time, record the position information X recognized based on the image of the stake number when the robot walks to the current stake number calibration point. 桩号 and the inertial navigation positioning information X n惯导 . The robot continues to move forward. When the next moment arrives, since the interval distance of the pressure calibration points is less than that of the stake number calibration points, the pressure calibration points should arrive earlier than the stake number calibration points. Therefore, before the robot moves to the next pressure calibration point, the inertial navigation positioning information can be updated based on the position information X 桩号 of the previous stake number calibration point. Specifically, when the next moment arrives, it can be obtaining the inertial navigation positioning information X 惯导 at the current moment, the position information X 桩号 of the previous stake number calibration point, and the distance between the underwater robot and the previous stake number calibration point. Among them, the distance between the underwater robot and the previous stake number calibration point is still n 惯导 -X n惯导 . Then the position information X robot of the robot at the current moment 桩号 =X 惯导 +(X n惯导 -X robot ). Then, update the current inertial navigation information according to the current position information, which can be replacing the coordinate value in the inertial navigation information along the X-axis direction with X

[0100] . When the next moment arrives again, the robot continues to move forward. If the robot moves to the next pressure calibration point, perform positioning correction according to the first positioning correction method. Then, perform navigation positioning in the above manner until it is determined that the robot has moved to the end point, and end the positioning correction. Figure 5 As shown in

[0101] , in one embodiment, an underwater robot is provided, including an underwater pressure sensor 502 and a processor 504. Among them, the underwater pressure sensor 502 obtains the underwater pressure value of the underwater robot and sends the underwater pressure value to the processor 504. The processor 504 is used to execute the steps in the above underwater robot positioning method and output high-precision navigation positioning information.In another embodiment, one obstacle avoidance sensor, such as an obstacle avoidance sonar, is installed at each of the front and rear ends of the underwater robot's vehicle body. Two sensors and several underwater cameras are installed on each of the left and right sides of the vehicle body. An inertial navigation device (including an inertial navigation system and a DVL) for data fusion, an underwater high-precision pressure sensor, and a processor are installed on the vehicle body. Among them, the obstacle avoidance sonar is used to detect the distances of obstacles on the front, rear, left, and right sides of the robot. The obstacle monitoring of the robot is realized through the obstacle avoidance sensors installed on the front, rear, left, and right sides. The dynamic obstacle avoidance of the robot and the monitoring of the robot's position in the tunnel are carried out according to the data monitored by the obstacle avoidance sensors. The inertial navigation system is used to measure the pose information of the robot. Since there are cumulative errors in the inertial devices, a corresponding DVL needs to be configured for error compensation. The DVL is used to improve the accuracy of the inertial navigation. The DVL measures the speed of the robot in the inertial coordinate system during underwater movement by using the method of projecting four beams onto the top of the tunnel, and projects the measured speed onto the navigation system by applying the attitude transfer matrix output by the inertial navigation system, achieving the auxiliary purpose of the DVL for the inertial navigation, realizing the spatio-temporal synchronization of the measurement data, and making the measurement information more accurate. At the same time, the UKF algorithm is selected for the fusion of the navigation data of the inertial navigation and the Doppler log. The fusion of the inertial navigation and Doppler log data can greatly improve the positioning accuracy of the robot in a large-diameter long-distance tunnel. The underwater pressure sensor is used to measure the underwater pressure value of the robot underwater and send the pressure value of the position where the robot is located to the processor. The underwater camera is used to collect the stake number image, which can be a vision camera or other devices with image acquisition functions. When it is determined that the robot moves to a certain stake number calibration point, the robot controls the underwater camera to collect the stake number image of the stake number calibration point, and the underwater camera simultaneously sends the collected stake number image to the processor. The processor realizes high-precision navigation and positioning according to the steps in the above-mentioned underwater robot positioning method, which will not be elaborated here. In this embodiment, the underwater positioning accuracy of the robot's inertial sensor is relatively limited. By adding an underwater pressure sensor to measure the pressure of the position where the robot is located, the accuracy of the positioning information is further improved. Moreover, the underwater robot can realize high-precision navigation and positioning in a long-distance tunnel according to the above-mentioned underwater robot positioning method.

[0102] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0103] Based on the same inventive concept, an embodiment of the present application further provides an underwater robot positioning device for implementing the underwater robot positioning method involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the underwater robot positioning device provided below can refer to the limitations on the underwater robot positioning method in the above text, and will not be repeated here.

[0104] In one embodiment, as Figure 6 shown, an underwater robot positioning device is provided, including: a data acquisition module 610, a positioning correction method determination module 620, and a positioning correction module 630, where:

[0105] The data acquisition module 610 is configured to acquire the underwater pressure value of the underwater robot.

[0106] The positioning correction method determination module 620 is configured to determine the positioning correction method according to the underwater pressure value.

[0107] The positioning correction module 630 is configured to, if the positioning correction method is the first positioning correction method, determine the axial displacement of the underwater robot based on the underwater pressure value, acquire inertial navigation positioning information, and correct the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information. The axial displacement is the displacement of the underwater robot along the movement direction. If the positioning correction method is the second positioning correction method, acquire the image of the preset landmark and the inertial navigation positioning information, and correct the inertial navigation positioning information based on the position information indicated by the image of the preset landmark to update the inertial navigation positioning information.

[0108] The above-mentioned underwater robot positioning device is provided with two positioning correction methods. By obtaining the underwater pressure value of the underwater robot, the corresponding positioning correction method is determined to correct the inertial navigation positioning information. On the one hand, based on the underwater pressure value, the axial displacement of the underwater robot is determined, and then the inertial navigation positioning information is corrected by using the axial displacement to complete the first positioning information correction. On the other hand, relying on the accuracy of the position information marked by the road sign image itself, the position information marked by the image of the preset road sign is used to correct the inertial navigation positioning information, ensuring the accuracy of the second positioning information correction. In summary, this device calibrates the inertial navigation positioning information with high precision, makes up for the defect that the inertial navigation device is prone to cumulative errors over time, resulting in inaccurate positioning, and realizes the high-precision positioning of the underwater robot over a long distance.

[0109] In one embodiment, the positioning correction module 630 is further configured to select the corresponding axial displacement conversion analytical formula from the preset piecewise function based on the underwater pressure value, and determine the axial displacement of the underwater robot according to the selected axial displacement conversion analytical formula and the underwater pressure value, where the preset piecewise function is generated based on the terrain features of the tunnel, and different axial displacement conversion analytical formulas are set for different underwater pressure value intervals.

[0110] In one embodiment, the axial displacement conversion analytical formula includes a first type of axial displacement conversion analytical formula and a second type of axial displacement conversion analytical formula; the positioning correction module 630 is further configured to, if the underwater pressure value interval to which the underwater pressure value belongs is found, select the corresponding first type of axial displacement conversion analytical formula from the preset piecewise function according to the underwater pressure value interval to which the underwater pressure value belongs, and if the underwater pressure value interval to which the underwater pressure value belongs is not found, select the corresponding second type of axial displacement conversion analytical formula from the preset piecewise function according to the underwater pressure value, where the first type of axial displacement conversion analytical formula is determined based on the conversion relationship between the different road section lengths and the change amount of the underwater pressure value and the change amount of the axial displacement, and the second type of axial displacement conversion analytical formula is determined based on the different road section lengths and the change amount of the movement distance of the underwater robot on the horizontal road section.

[0111] In one embodiment, the positioning correction method determination module 630 is further configured to, if it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration point set at the first preset distance interval, determine the positioning correction method as the first positioning correction method, and if it is determined according to the underwater pressure value that the underwater robot moves to the road sign calibration point set at the second preset distance interval, determine the positioning correction method as the second positioning correction method.

[0112] In one embodiment, the positioning correction module 630 is further configured to update the inertial navigation positioning information of the underwater robot in the following manner before determining that the underwater robot moves to the next pressure calibration point: obtain the inertial navigation positioning information, the distance between the underwater robot and the previous pressure calibration point, and the axial displacement corresponding to the previous pressure calibration point, determine the position information of the underwater robot according to the distance between the underwater robot and the previous pressure calibration point and the axial displacement corresponding to the previous pressure calibration point, and correct the inertial navigation positioning information according to the position information to update the inertial navigation positioning information.

[0113] In one embodiment, the positioning correction module 630 is further configured to update the inertial navigation positioning information of the underwater robot in the following manner before determining that the underwater robot moves to the next mileage calibration point: obtain the inertial navigation positioning information, the distance between the underwater robot and the previous mileage calibration point, and the position information corresponding to the previous mileage calibration point, determine the position information of the underwater robot according to the distance between the underwater robot and the previous mileage calibration point and the position information corresponding to the previous mileage calibration point, and correct the inertial navigation positioning information according to the position information to update the inertial navigation positioning information.

[0114] Each module in the above underwater robot positioning device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0115] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 7 shown. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as inertial navigation positioning information, underwater pressure values, and piecewise functions. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements an underwater robot positioning method.

[0116] Those skilled in the art can understand, Figure 7The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0117] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above-mentioned underwater robot positioning method are implemented.

[0118] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned underwater robot positioning method are implemented.

[0119] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above-mentioned underwater robot positioning method are implemented.

[0120] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties.

[0121] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0122] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0123] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An underwater robot positioning method, characterized in that, The method includes: Obtaining the underwater pressure value of the underwater robot; If it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration points set at a first preset distance interval, then determine the positioning correction method as the first positioning correction method, determine the axial displacement of the underwater robot based on the underwater pressure value, obtain inertial navigation positioning information, and correct the inertial navigation positioning information according to the axial displacement to update the inertial navigation positioning information, where the axial displacement is the displacement of the underwater robot along the preset movement direction; If it is determined according to the underwater pressure value that the underwater robot moves to the landmark calibration points set at a second preset distance interval, then determine the positioning correction method as the second positioning correction method, obtain the image of the preset landmark and the inertial navigation positioning information, and correct the inertial navigation positioning information based on the position information indicated by the image of the preset landmark to update the inertial navigation positioning information, where the first preset distance is less than the second preset distance.

2. The underwater robot positioning method according to claim 1, characterized in that, Determining the axial displacement of the underwater robot based on the underwater pressure value includes: Based on the underwater pressure value, select the corresponding axial displacement conversion analytical formula from the preset piecewise function; According to the selected axial displacement conversion analytical formula and the underwater pressure value, determine the axial displacement of the underwater robot, where the preset piecewise function is generated based on the terrain features of the tunnel, and different axial displacement conversion analytical formulas are set for different underwater pressure value intervals, and the axial displacement conversion analytical formula is determined based on the conversion relationship between the underwater pressure value change amount and the axial displacement change amount for different section lengths, or based on different section lengths and the movement distance change amount of the underwater robot on the horizontal section.

3. The underwater robot positioning method according to claim 2, characterized in that, The axial displacement conversion analytical formula includes the first type of axial displacement conversion analytical formula and the second type of axial displacement conversion analytical formula; Selecting the corresponding axial displacement conversion analytical formula from the preset piecewise function based on the underwater pressure value includes: If the underwater pressure value interval to which the underwater pressure value belongs is found, then select the corresponding first type of axial displacement conversion analytical formula from the preset piecewise function according to the underwater pressure value interval to which the underwater pressure value belongs; If the underwater pressure value interval to which the underwater pressure value belongs is not found, then select the corresponding second type of axial displacement conversion analytical formula from the preset piecewise function according to the underwater pressure value; Wherein, the first type of axial displacement conversion analytical formula is determined based on the conversion relationship between the underwater pressure value change amount and the axial displacement change amount for different section lengths, and the second type of axial displacement conversion analytical formula is determined based on different section lengths and the movement distance change amount of the underwater robot on the horizontal section.

4. The underwater robot positioning method according to any one of claims 1 to 3, characterized in that, The method further includes: If it is determined according to the underwater pressure value that the current position of the underwater robot is both a pressure calibration point and a landmark calibration point, then determine that the current position of the underwater robot is a landmark calibration point.

5. The underwater robot positioning method according to claim 1, characterized in that, After correcting the inertial navigation positioning information according to the axial displacement, it further includes: Before determining that the underwater robot moves to the next pressure calibration point, the inertial navigation and positioning information of the underwater robot is updated based on the following method: Obtain the inertial navigation and positioning information, the distance between the underwater robot and the previous pressure calibration point, and the axial displacement corresponding to the previous pressure calibration point; Determine the position information of the underwater robot according to the distance between the underwater robot and the previous pressure calibration point and the axial displacement corresponding to the previous pressure calibration point, and correct the inertial navigation and positioning information according to the position information to update the inertial navigation and positioning information.

6. The underwater robot positioning method according to claim 1, characterized in that After correcting the inertial navigation and positioning information based on the position information indicated by the image of the preset road sign, it further includes: Before determining that the underwater robot moves to the next pressure calibration point, the inertial navigation and positioning information of the underwater robot is updated based on the following method: Obtain the inertial navigation and positioning information, the distance between the underwater robot and the previous mileage calibration point, and the position information corresponding to the previous mileage calibration point; Determine the position information of the underwater robot according to the distance between the underwater robot and the previous mileage calibration point and the position information corresponding to the previous mileage calibration point, and correct the inertial navigation and positioning information according to the position information to update the inertial navigation and positioning information.

7. An underwater robot positioning device, characterized in that, The device includes: A data acquisition module for acquiring the underwater pressure value of the underwater robot; A positioning correction method determination module for determining that the positioning correction method is the first positioning correction method if it is determined according to the underwater pressure value that the underwater robot moves to the pressure calibration points set at the first preset distance interval, and determining that the positioning correction method is the second positioning correction method if it is determined according to the underwater pressure value that the underwater robot moves to the road sign calibration points set at the second preset distance interval, where the first preset distance is less than the second preset distance; A positioning correction module for, if the positioning correction method is the first positioning correction method, determining the axial displacement of the underwater robot based on the underwater pressure value, obtaining the inertial navigation and positioning information, and correcting the inertial navigation and positioning information according to the axial displacement to update the inertial navigation and positioning information, where the axial displacement is the displacement of the underwater robot along the movement direction, and if the positioning correction method is the second positioning correction method, obtaining the image of the preset road sign and the inertial navigation and positioning information, and correcting the inertial navigation and positioning information based on the position information indicated by the image of the preset road sign to update the inertial navigation and positioning information.

8. An underwater robot, characterized in that, It includes an underwater pressure sensor and a processor; The underwater pressure sensor acquires the underwater pressure value and sends the underwater pressure value to the processor, and the processor executes the underwater robot positioning method according to any one of claims 1-6.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 6.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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