A robot system and control method for water diversion tunnel detection

Abstract

The present invention provides a robot system and a control method for water diversion tunnel detection, which relate to the field of heterogeneous robots and include a surface robot and an underwater robot. The underwater robot is connected to the surface robot via a cable, the underwater robot includes an underwater communication component, the surface robot includes a tracking component and a surface communication component, and the underwater communication component establishes hydroacoustic communication and network communication with the surface communication component. In view of the problems that it is difficult to achieve remote control and wired transmission is inconvenient to establish water diversion tunnel survey at present, a heterogeneous robot system in which the surface robot and the underwater robot work in coordination is established, the linear trajectory movement of the surface robot is used to cooperate to obtain the position in the tunnel, and relative position positioning and data transmission are achieved through hydroacoustic communication and network communication, thereby ensuring the correspondence between the detection data in the water diversion tunnel and the detection position, and effectively realizing the survey in the water diversion tunnel.

Description

Technical Field

[0001] The present invention relates to the field of heterogeneous robots, and in particular to a robot system and a control method for water diversion tunnel detection. Background Art

[0002] The current water diversion tunnel projects show the characteristics and trends of "long, large, group, and deep". Long-distance water diversion tunnels are not only located in complex geological conditions, but also as water conveyance structures, their reinforced concrete support structures are in a water flow environment for a long time. Under the combined effects of ground stress and water flow pressure, cracks will inevitably appear in the concrete lining, leading to "internal water seepage", which has a significant impact on the safety and stability of the lining and surrounding rock. Therefore, crack damage detection of long-distance water diversion tunnels is carried out to enable the tunnels to operate safely for a long time.

[0003] Traditional manual inspection is inefficient, and the need for water withdrawal may further aggravate the damage of the tunnel. In addition, the underwater environment of the deep-buried tunnel seriously threatens personal safety. The existing technology provides a method of replacing manual labor with large-scale engineering machinery such as crawler unmanned vehicles and propeller-type heavy underwater robots. Although it solves some problems, it is very expensive and can easily cause water turbidity during operation, thus affecting the inspection effect. Due to the weak wireless signal in the long-distance water diversion tunnel, it is difficult to control and obtain underwater data through wireless transmission. Underwater operating equipment mostly uses wired methods to realize data transmission. However, as the length of the lead-out cable increases, the difficulty and resistance of the underwater cable to be pulled and moved stably increase, which easily causes problems such as cable hooking and excessive cable resistance. The inspection position is not easy to be effectively located, which leads to the problem that the inspection data and the inspection position cannot be accurately matched, and it is difficult to achieve the long-range inspection requirements required for the water diversion tunnel. Summary of the invention

[0004] The purpose of the present invention is to address the defects of the prior art and provide a robot system and control method for water diversion tunnel detection, establish a heterogeneous robot system in which a surface robot and an underwater robot work together, utilize the linear trajectory movement of the surface robot to obtain the position in the tunnel, realize relative position positioning and data transmission through hydroacoustic communication and network communication, ensure the correspondence between the detection data and the detection position in the water diversion tunnel, and effectively realize the survey in the water diversion tunnel.

[0005] The first object of the present invention is to provide a robot system for water diversion tunnel inspection, which adopts the following scheme:

[0006] It includes a surface robot and an underwater robot, the underwater robot is connected to the surface robot via a cable, the underwater robot includes an underwater communication component, the surface robot includes a tracking component and a surface communication component, and the underwater communication component establishes hydroacoustic communication and network communication with the surface communication component;

[0007] The tracking component is used to control the surface robot to move along a straight path in the water diversion tunnel, and the underwater robot follows the surface robot and maintains a distance in the vertical direction.

[0008] Furthermore, the water surface robot is provided with a water surface positioning component for obtaining the relative position of the water surface robot and the water diversion tunnel according to the movement time and the preset movement path.

[0009] Furthermore, it also includes an acoustic positioning component, which includes a transceiver array and a transponder. The transponder is installed on the underwater robot and is used to obtain the acoustic pulses emitted by the transceiver and reply to the pulses. The transceiver array includes multiple transceivers and is installed on the surface robot. The transceiver is used to emit acoustic pulses and detect reply pulses through a receiver.

[0010] Furthermore, the transceiver array includes three receivers, the first receiver and the second receiver are arranged at intervals, and the connection line between the third receiver and the second receiver is orthogonal to the connection line between the first receiver and the second receiver.

[0011] Furthermore, the underwater robot includes a detection working component for acquiring detection data of the water diversion tunnel within the set range of the surface robot.

[0012] Furthermore, the cable is equipped with a deployment and recovery component, which adjusts the length of the cable according to the distance between the underwater robot and the surface robot, and the surface robot moves within a set range around the underwater robot.

[0013] A second object of the present invention is to provide a control method for a robot system for water diversion tunnel inspection as described in the first object, comprising:

[0014] Calculate the position of the surface robot in the water diversion tunnel based on the motion state and preset path of the surface robot;

[0015] Establish communication between the surface robot and the underwater robot, and the underwater robot follows the surface robot;

[0016] Acquire the relative positions of the surface robot and the underwater robot in real time, and obtain the position of the underwater robot in the water diversion tunnel by combining the position of the surface robot in the water diversion tunnel;

[0017] The water diversion tunnel detection data is obtained through an underwater robot, and the water diversion tunnel detection data and detection position data are associated.

[0018] Furthermore, the activity range of the surface robot relative to the underwater robot is defined, and the movements of the surface robot and the underwater robot are controlled separately.

[0019] Furthermore, implicit communication between the surface robot and the underwater robot is established, and the implicit communication, hydroacoustic communication and network communication operate independently of each other.

[0020] Furthermore, communication between the surface robot and the shore computer is established, and priority is given to communication between the shore computer and the surface robot to control the surface robot and the underwater robot.

[0021] Compared with the prior art, the present invention has the following advantages and positive effects:

[0022] (1) In view of the current problems of difficulty in remote control and inconvenience in establishing wired transmission in water diversion tunnel survey, a heterogeneous robot system with collaborative work of surface robots and underwater robots is established. The linear trajectory movement of the surface robot is used to obtain the position in the tunnel. Relative positioning and data transmission are achieved through underwater acoustic communication and network communication, which ensures the correspondence between the detection data and the detection position in the water diversion tunnel, and effectively realizes the survey in the water diversion tunnel.

[0023] (2) Compared with the traditional method of directly connecting a single underwater robot to a ground workstation, connecting the underwater robot to a surface robot first can ensure a longer range and less rope resistance, so that the robot system can navigate autonomously and perform longer-distance and more flexible water diversion tunnel inspection work.

[0024] (3) Establish redundant communication connections between the underwater robot and the surface robot to address the problem of poor communication conditions in the water diversion tunnel, and use underwater acoustic communication to provide short-term mission updates and positioning information; network communication, through the fiber optic umbilical cable connection, establish computer network communication, provide high-precision image data and three-dimensional imaging sonar data as well as some system navigation data; implicit communication can cope with the automatic return mission in emergency scenarios.

[0025] (4) In order to achieve coordinated navigation between the surface robot and the underwater robot, the dynamic system model is combined with the marker detection data. The movement of the surface robot follows a straight path, and the surface robot and the underwater robot maintain a fixed vertical spacing distance. The movement of the surface robot is combined with the state of the underwater robot to improve the stability of their coordinated operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 Schematic diagram of the operational model of the robot system in Embodiment 1 or 2 of the present invention.

[0028] Figure 2This is a control logic diagram of the underwater robot in Embodiment 1 or 2 of the present invention.

[0029] Figure 3 This is a ROS node diagram of the underwater robot in Example 1 or 2 of the present invention.

[0030] Figure 4 This is a structural diagram of the electric control system of the underwater robot in Example 1 or 2 of the present invention.

[0031] Figure 5 Schematic diagram of communication between the underwater robot and the surface robot in Embodiment 1 or 2 of the present invention.

[0032] Figure 6 Schematic diagram of the arrangement of receivers in the acoustic positioning assembly in Example 1 or 2 of the present invention.

[0033] Figure 7 Schematic diagram of the state estimation module in Embodiment 1 or 2 of the present invention. DETAILED DESCRIPTION

[0034] Example 1

[0035] In a typical embodiment of the present invention, Figure 1-Figure 7 As shown, a robot system for water diversion tunnel inspection is given.

[0036] Based on the operating environment characteristics of long-distance water diversion tunnels, a research and analysis was conducted, and a heterogeneous multi-robot system for water diversion tunnel inspection was proposed. A lightweight design was adopted, and multiple heterogeneous robots were used to collaborate. By establishing communication between the surface robot and the underwater robot, the precise positioning of the underwater robot, as well as the mileage measurement and inspection operations, were achieved.

[0037] On the water surface, electromagnetic signals are used due to their superior speed relative to sound waves, but in water, electromagnetic signals decay rapidly due to its higher conductivity and dielectric constant than air. Compared with the traditional single underwater robot directly connected to the ground workstation, in this embodiment, the underwater robot is first connected to the surface robot, which can ensure a longer range and less rope resistance, and enable the surface robot to enable the robot system to navigate autonomously, and perform longer-distance and more flexible water diversion tunnel inspection work.

[0038] Specifically, the robot system for water diversion tunnel inspection includes: a surface robot, an underwater robot, an umbilical cable connecting the surface robot and the underwater robot, a shore computer, a vehicle-mounted cable, and a deployment and recovery component. The underwater robot is connected to the surface robot through a cable, the underwater robot includes an underwater communication component, the surface robot includes a tracking component and a surface communication component, and the underwater communication component establishes hydroacoustic communication and network communication with the surface communication component; the tracking component is used to control the surface robot to move along a straight path in the water diversion tunnel, and the underwater robot follows the surface robot and maintains a distance in the vertical direction.

[0039] The underwater robot includes a detection working component, which is used to obtain detection data of the water diversion tunnel within the set range of the surface robot; the cable is equipped with a deployment and recovery component, which adjusts the length of the cable according to the distance between the underwater robot and the surface robot, and the surface robot moves within the set range around the underwater robot.

[0040] The surface robot uses an autonomous surface robot, and the underwater robot uses an autonomous underwater vehicle. The autonomous surface robot (ASV) is combined with the autonomous underwater vehicle (ROV) to establish an integrated collaborative navigation system. The long endurance of the ASV is utilized to power the underwater ROV through the umbilical cable, thereby greatly increasing the detectable distance of the entire robot detection system. At the same time, the ASV has more accurate positioning in the lower-dimensional motion space on the water surface, providing assistance for the position calibration of the ROV. The system architecture enables the ASV to provide regular position updates to the ROV system without the need for the ROV to surface from the depths to update its internally calculated position. The cooperative positioning solution will improve the efficiency and accuracy of ROV measurements.

[0041] Define the range of the surface robot relative to the underwater robot, and control the movement of the surface robot and the underwater robot respectively. For the movement of the underwater robot, the underwater ROV is equipped with 8 thrusters to achieve six degrees of freedom, such as Figure 1 As shown, three are used for positioning and three are used for orientation. Each degree of freedom is defined as an independent variable required to determine the movement of the ROV. The first three degrees of freedom, wave, sway and heave, are defined as translational motion along the x, y and z axes respectively, and the other three degrees of freedom represent angular motion around the x, y and z axes respectively. Compared with ASV, it has a larger range of activities and stronger measurement capabilities and accuracy.

[0042] The vector representation of motion makes it easier to control each degree of freedom and vary it for different control modes. The control system uses this representation to calculate the forces for the thrusters. The tradeoff between stability and maneuverability determines the outcome of the motion control system. Since this is decoupled motion control, it assumes that each degree of freedom is affected only by its corresponding value.

[0043] The water surface robot is provided with a water surface positioning component, which is used to obtain the relative position of the water surface robot and the water diversion tunnel according to the movement time and the preset movement path. In this embodiment, the water surface positioning component includes a Doppler current meter, which obtains the movement distance of the water surface robot through the integration of the Doppler current meter, and obtains the relative position of the water surface robot and the water diversion tunnel in combination with its preset straight line movement path.

[0044] The relative position between the surface robot and the underwater robot is determined by an acoustic positioning component, which includes a transceiver array and a transponder. The transponder is installed on the underwater robot and is used to obtain the acoustic pulses emitted by the transceiver and reply to the pulses. The transceiver array includes multiple transceivers and is installed on the surface robot. The transceiver is used to emit acoustic pulses and detect reply pulses through a receiver.

[0045] like Figure 6 As shown, the transceiver array includes three receivers, the first receiver and the second receiver are arranged at intervals, and the connection line between the third receiver and the second receiver is orthogonal to the connection line between the first receiver and the second receiver.

[0046] like Figure 5 As shown in the figure, ASV establishes redundant communication connections with ROV in three ways: ① Hydroacoustic communication, which transmits data through the hydroacoustic communicator M64, mainly providing short mission updates and positioning information. ② Network communication, which is connected through an optical fiber umbilical cable to establish computer network communication and run the TCP / IP protocol, mainly providing high-precision image data and three-dimensional imaging sonar data as well as some system navigation data. ③ Implicit communication, ROV uses visual intelligence to identify the optical signal at the bottom of the ASV to respond to the self-return mission in sudden scenarios.

[0047] In addition to these three methods, the onshore host system establishes communication connections with ASV and ROV through the ultra-short baseline USBL X150.

[0048] Communication between the shore computer and the ROV is of the highest priority. To be able to control the ROV with as little interruption and delay as possible, to minimize troubleshooting time if problems arise.

[0049] Local positioning between the ASV and the ROV uses an ultra-short baseline (USBL) acoustic positioning system, which uses an array of transceivers (three or more) fixed on the ASV. The transponder is installed on the ROV to be positioned. The acoustic pulse is emitted by the transceiver and detected by the ROV transponder, which replies with its own acoustic pulse. The returned pulse is detected by the ASV transceiver array. The time from the transmission of the initial acoustic pulse to the time when the reply is detected, measured and converted into a range. The distance and angle from the underwater robot to the transceiver array are measured to calculate the underwater position. In order to avoid ambiguity in phase angle measurements, the transceivers in the array are separated by only half the wavelength of the acoustic signal (10cm or less).

[0050] To determine the azimuth, the phase difference of the signal between two receivers in the array relative to the array baseline is measured. The angle is defined as the angle between the positive X axis and the target position vector projected onto the horizontal XY plane. If a third receiver is used that is orthogonal to the first two receivers, the elevation angle y can be determined. The distance from the transceiver to the target r is the amplitude of the target vector, obtained by measuring the arrival time. The USBL acoustic positioning system is arranged as follows Figure 6 shown.

[0051] Example 2

[0052] In another typical embodiment of the present invention, Figure 1-Figure 7 As shown, a control method of a robot system for water diversion tunnel inspection is given.

[0053] In combination with the robot system for water diversion tunnel detection in Example 1, the following steps are included:

[0054] Calculate the position of the surface robot in the water diversion tunnel based on the motion state and preset path of the surface robot;

[0055] Establish communication between the surface robot and the underwater robot, and the underwater robot follows the surface robot;

[0056] Acquire the relative positions of the surface robot and the underwater robot in real time, and obtain the position of the underwater robot in the water diversion tunnel by combining the position of the surface robot in the water diversion tunnel;

[0057] The water diversion tunnel detection data is obtained through an underwater robot, and the water diversion tunnel detection data and detection position data are associated.

[0058] At the same time, the activity range of the surface robot relative to the underwater robot is defined, and the movements of the surface robot and the underwater robot are controlled separately.

[0059] The robot kinematic model is established. The ROV is a rigid object that runs independently of the tunnel coordinate system and the ASV reference system. In order to reference the position and direction of the ROV, a geodetic coordinate system is required. Since the position of the ASV can be calculated using the Doppler current meter integral, the ROV can be positioned indirectly through the ASV. To obtain more accurate results. The origin of the coordinate system is in the middle of the ROV, and there are reference points for the center of gravity, center of buoyancy, and center of buoyancy.

[0060] like Figure 1 Symbols shown:

[0061] Degrees of Freedom Force and torque Linear velocity and angular velocity Position and Euler Angles Surge X u x Sway Y v y Heave Z w z Roll K p φ Pitch M q θ Yaw N r ψ

[0062] Vectorized description of 6-DOF ROV motion:

[0063]

[0064] The control system uses Euler angles to manipulate the robot frame and setpoints, as well as all data transformations in the controller. Euler angles are defined as the angular motion of roll, pitch, and yaw around the axes in the traditional three-dimensional coordinate system (x, y, z):

[0065]

[0066]

[0067]

[0068]

[0069] The transformation matrix is ​​used to express the Euler angle transformation between ROV and ASV in vector form to obtain the motion equation

[0070]

[0071] The matrix of linear velocity and angular velocity transformation is:

[0072]

[0073] Use vector notation to calculate thruster forces.

[0074] Stability is defined as the ability of a system to restore itself to a state of equilibrium after being disturbed. Maneuverability refers to the ability of a system to perform a specific maneuver. The trade-off between stability and maneuverability determines the outcome of the motion control system. In order to increase the robustness of the underwater heterogeneous multi-robot control system, a compromise must be found between the desired stability and the optimal maneuverability.

[0075] Since this is a decoupled motion control, it is assumed that each degree of freedom is affected only by its corresponding value. The ROV has eight thrusters fixed to the robot body. When distributing the forces required to adjust the setpoint, it must be taken into account that the thrust configuration matrix used to adjust the setpoint is taken from the rotational thrusters, i.e. the azimuth thrusters, where the rotational variables are set to constants. In 6 degrees of freedom, this is defined as:

[0076]

[0077] Where, f = [F x ,F y ,F z ] T is force, r = [l x ,l y ,l z ] T are the moments. These forces are relative to the ROV since they are fixed to the ROV's frame:

[0078]

[0079] The controller uses a PD controller with gravity compensation, which can be used for position and attitude setpoint adjustment of a six-DOF ROV. The PD controller of this vector system is defined as:

[0080] τ=-K d v p (q)z+g(q)

[0081] in,

[0082] V=[v T ,ω T ] T

[0083]

[0084] Compared with the traditional single-input single-output system (SISO), the controller is designed for nonlinear systems. This multi-input multi-output control strategy has great advantages in systems that handle the interactions between roll, pitch and yaw modes.

[0085] The control system of ROV is designed based on ROS. The logical architecture is as follows: Figure 2 As shown, the ROS node diagram is as follows Figure 3 shown.

[0086] In addition to manual control, the control system also has different modes to choose from.

[0087]

[0088]

[0089] The structure of ROV's electrical control system is as follows: Figure 4 shown.

[0090] For the surface robot to communicate with the underwater robot, there are three independent systems that need to communicate: the shore-based host computer and the joystick-controlled ROV, the ASV network, and the underwater positioning system on the ASV. In order to control the underwater drone via the joystick in an open loop, everything needs to be running properly except the underwater positioning system.

[0091] Communication between robots uses Ethernet, which has 8 copper wires divided into twisted pairs and transmits about 1GB of data per second. The waterproof umbilical cable connected to the ASV is a specially made Ethernet cable with thicker isolation and waterproof materials inside to protect the switch or computer connected to it from being damaged underwater. The controller on the ASV is directly connected to the computer on shore.

[0092] In order to avoid collisions between the surface robot and the underwater robot, it is necessary for the collaborative system to have a controller to track the motion plan and drive the ASV to the ROV to perform the docking. External disturbances such as water flow fluctuations should be fully considered in order to build a robust and safe controller. In the final stage of docking, external disturbances may drive the LAUV or ASV away from the motion plan and increase the risk of collision in performing the maneuver. In this case, the controller must be able to stop the docking maneuver and drive the ASV away.

[0093] In order to achieve coordinated navigation between ASV and ROV, the dynamic system model is combined with the marker detection data. The motion of ASV follows a straight path, and ROV maintains a fixed z distance of 4 meters from ASV. The motion of ASV is combined with the state of ROV. The velocity component of ASV is considered as part of the state. The state estimation module is as follows Figure 7 shown.

[0094] Figure 7 In , V refers to the visual pose observations obtained from the fiducial markers and S refers to the dynamic system model represented as a Kalman filter evolving over time t.

[0095] The typical sequence of events to determine the ROV's position is as follows:

[0096] (1) The USBL system sends out specific sound pulses to query nearby transponders.

[0097] (2) The pulse is transmitted through the water to the transponder.

[0098] (3) The transponder detects the USBL signal and responds with a unique transponder acoustic pulse.

[0099] (4) The transponder pulse returns to the USBL array through the water.

[0100] (5) The USBL array detects the transponder signal and determines the round-trip acoustic wave propagation time and phase delay of the signal to each transducer in the USBL array.

[0101] (6) The speed of sound on the USBL array is used to calculate the receiving azimuth and distance of the transponder signal.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot system for water diversion tunnel inspection, characterized in that: It includes a surface robot and an underwater robot, the underwater robot is connected to the surface robot via a cable, the underwater robot includes an underwater communication component, the surface robot includes a tracking component and a surface communication component, and the underwater communication component establishes hydroacoustic communication and network communication with the surface communication component; Based on the motion state and preset path of the surface robot, the position of the surface robot in the water diversion tunnel is calculated; the communication between the surface robot and the underwater robot is established, and the underwater robot follows the movement of the surface robot; Acquire the relative positions of the surface robot and the underwater robot in real time, and obtain the position of the underwater robot in the water diversion tunnel by combining the position of the surface robot in the water diversion tunnel; The tracking component is used to control the surface robot to move along a straight path in the water diversion tunnel, and the underwater robot follows the surface robot and maintains a distance in the vertical direction; The water surface robot is provided with a water surface positioning component for obtaining the relative position of the water surface robot and the water diversion tunnel according to the movement time and the preset movement path; It also includes an acoustic positioning component, which includes a transceiver array and a transponder. The transponder is installed on the underwater robot and is used to obtain the acoustic pulse transmitted by the transceiver and reply the pulse. The transceiver array includes a plurality of transceivers and is installed on the surface robot. The transceiver is used to transmit the acoustic pulse and detect the reply pulse through the receiver. The surface robot uses an autonomous surface robot, and the underwater robot uses an autonomous underwater vehicle. The autonomous surface robot and the autonomous underwater vehicle are combined to establish an integrated collaborative navigation system. The long endurance of the autonomous surface robot is utilized, and the autonomous underwater vehicle is powered through the umbilical cable, thereby greatly increasing the detectable distance of the entire robot detection system. At the same time, the ASV can more accurately position itself in the lower-dimensional motion space on the water surface, providing assistance to the ROV’s position calibration. The system architecture enables the ASV to provide regular position updates to the ROV system without the need for the ROV to surface from the depths to update its internally calculated position. Define the range of motion of the surface robot relative to the underwater robot, and control the movement of the surface robot and the underwater robot respectively; for the movement of the underwater robot, the underwater ROV is equipped with 8 thrusters to achieve six degrees of freedom, three for positioning and three for orientation; each degree of freedom is defined as the independent variable required to determine the movement of the ROV; the first three degrees of freedom, fluctuation, sway and heave, are defined as translational motion along the x, y and z axes respectively, and the other three degrees of freedom represent angular motion around the x, y and z axes respectively; The autonomous surface robot establishes redundant communication connections with the autonomous underwater vehicle in three ways: ① hydroacoustic communication, which transmits data through the hydroacoustic communicator M64, mainly providing short-term mission updates and positioning information; ② network communication, which is connected through an optical fiber umbilical cable to establish computer network communication and run the TCP / IP protocol, mainly providing high-precision image data and three-dimensional imaging sonar data as well as some system navigation data; ③ implicit communication, the autonomous underwater vehicle uses visual intelligence to identify the optical signal at the bottom of the autonomous surface robot to cope with the self-return mission in sudden scenarios; In addition to these three methods, the onshore host system establishes communication connections with ASV and ROV through the ultra-short baseline USBL X150.

2. The robot system for water diversion tunnel inspection according to claim 1, characterized in that: The transceiver array includes three receivers, a first receiver and a second receiver are arranged at intervals, and a connection line between the third receiver and the second receiver is orthogonal to a connection line between the first receiver and the second receiver.

3. The robot system for water diversion tunnel inspection according to claim 1, characterized in that: The underwater robot comprises a detection working component for acquiring detection data of a water diversion tunnel within a set range of the surface robot.

4. The robot system for water diversion tunnel inspection according to claim 1, characterized in that: The cable is equipped with a deployment and recovery component, which adjusts the length of the cable according to the distance between the underwater robot and the surface robot, and the surface robot moves within a set range around the underwater robot.

5. A control method for a robot system for water diversion tunnel inspection according to any one of claims 1 to 4, characterized in that: include: Based on the motion state and preset path of the surface robot, the position of the surface robot in the water diversion tunnel is calculated; the communication between the surface robot and the underwater robot is established, and the underwater robot follows the movement of the surface robot; Acquire the relative positions of the surface robot and the underwater robot in real time, and obtain the position of the underwater robot in the water diversion tunnel by combining the position of the surface robot in the water diversion tunnel; The water diversion tunnel detection data is obtained through an underwater robot, and the water diversion tunnel detection data and detection position data are associated.

6. The control method according to claim 5, characterized in that: Define the activity range of the surface robot relative to the underwater robot, and control the movements of the surface robot and the underwater robot separately.

7. The control method according to claim 5, characterized in that: Implicit communication between the surface robot and the underwater robot is established, and the implicit communication, hydroacoustic communication and network communication operate independently of each other.

8. The control method according to claim 5, characterized in that: Establish communication between the surface robot and the shore computer, and give priority to communication between the shore computer and the surface robot to control the surface robot and the underwater robot.

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