Underwater robot system, control method, and storage medium

Abstract

The application discloses an underwater robot system, a control method and a storage medium, and relates to the technical field of underwater robots. The underwater robot system comprises a robot main body, a water storage bin, a locking component, a power supply module, a control component and a counterweight mounting structure; the counterweight mounting structure for placing the counterweight is arranged on the robot main body; the power supply module supplies power to the locking component through the robot main body, the locking component locks the gate of the water storage bin when the robot main body is powered on, and the locking component unlocks the gate of the water storage bin when the robot main body is powered off; the control component is used for determining the number of counterweights placed in the counterweight mounting structure as N and determining a first driving speed according to the driving speed value range at the test depth, and after the robot main body sinks to the first working depth, the control component controls the propelling device of the robot main body to perform thrust compensation at the first driving speed so that the robot main body is in a suspended state, thereby giving consideration to the safety and efficiency of work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to an underwater robot system, a control method and a storage medium. BACKGROUND

[0002] Generally, when the underwater remotely operated vehicle (ROV) works underwater, the gravity and the buoyancy are difficult to be in an absolute balance state, either the gravity is slightly greater than the buoyancy or the gravity is slightly less than the buoyancy. The ROV can maintain a constant height in the water by the thrust compensation of the set propulsion device. When in the first scenario, that is, in the scenario where the gravity of the ROV is greater than the buoyancy, although the ROV can sink to the seabed when the ROV is in an unexpected power failure (for example, the soft cable is scratched or broken) during normal operation on the seabed, the ROV is convenient for the ROV to be salvaged by the winch of the mother ship, thereby ensuring the safety of the ROV. However, in this scenario, the propulsion device needs to generate a continuous upward thrust on the ROV to balance the gravity, buoyancy and thrust of the ROV, so that the ROV is in a suspended state, at this time, it is necessary to continuously stir the water around the ROV below, which will produce a large amount of silt, resulting in unclear images (that is, a sharp decrease in visibility) of the ROV, thereby affecting the operation efficiency of the ROV; when in the second scenario, that is, the gravity of the ROV is less than the buoyancy of the ROV in the seawater, when the ROV is in an unexpected power failure, the ROV will slowly float to the sea surface, and when the ROV is about to emerge from the water, it may be stirred by the propeller of the mother ship, resulting in huge property losses. Even if the ROV is not stirred by the propeller of the mother ship and floats on the sea surface, it is also difficult to salvage, so in the second scenario, although the operation efficiency can be maintained, the safety of the ROV is difficult to ensure. Therefore, the safety and efficiency of the ROV operation in the related art are difficult to be considered. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, an underwater robot system, a control method and a storage medium are provided, which can consider the safety and efficiency of the operation.

[0004] In a first aspect, the present application provides an underwater robot system, comprising:

[0005] a robot body;

[0006] a counterweight mounting structure, the counterweight mounting structure being arranged on the robot body; the counterweight mounting structure is used for placing a counterweight;

[0007] a water storage assembly, the water storage assembly comprising a water storage bin and a locking component, the water storage assembly being arranged on the robot body;

[0008] A power supply module is electrically connected to the robot body; the robot body supplies power to the lock component, which locks the gate of the water storage compartment when the robot body is powered on, and unlocks the gate of the water storage compartment when the robot body is powered off to increase the total weight of the robot body by injecting water through the water storage compartment and sink.

[0009] A control component is configured to determine the number of counterweights placed in the counterweight mounting structure as N and determine a first driving speed according to the driving speed value range at a test depth, and control the propulsion device of the robot body to perform thrust compensation at the first driving speed so that the robot body is in a suspended state after the robot body sinks to a first working depth.

[0010] In a second aspect, the application also provides a control method of an underwater robot system, which comprises a robot body, a counterweight mounting structure, a water storage assembly, and a power supply module; the counterweight mounting structure is arranged on the robot body; the counterweight mounting structure is used to place counterweights; the water storage assembly comprises a water storage compartment and a lock component, and the water storage assembly is arranged on the robot body; the power supply module is electrically connected to the robot body; the robot body supplies power to the lock component, which locks the gate of the water storage compartment when the robot body is powered on, and unlocks the gate of the water storage compartment when the robot body is powered off to increase the total weight of the robot body by injecting water through the water storage compartment and sink; the control method comprises:

[0011] Obtaining the driving speed value range of the propulsion device of the robot body for thrust compensation after the robot body sinks to a first working depth;

[0012] Determining the number of counterweights placed in the counterweight mounting structure as N and determining a first driving speed according to the driving speed value range at a test depth;

[0013] Sinking the robot body after N counterweights are placed in the counterweight mounting structure;

[0014] Controlling the propulsion device of the robot body to perform thrust compensation at the first driving speed so that the robot body is in a suspended state after the robot body sinks to a first working depth.

[0015] In a third aspect, the application also provides a storage medium comprising computer executable instructions for executing the control method of the underwater robot system according to any one of the first aspect.

[0016] According to the above-mentioned embodiments of the present application, at least the following advantages are achieved: by simultaneously providing the weight mounting structure and the water storage assembly, and determining the number of weights according to the driving speed value range for which thrust compensation is performed, the total weight of the robot body can always be slightly less than the buoyancy in water. When the robot body is unexpectedly powered off, the gate of the water storage bin is opened, so that the total weight of the robot body is greater than the buoyancy in water and sinks, and the propulsion device only generates downward thrust when working normally, so that safety and working efficiency can be considered.

[0017] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0019] Figure 1 Structure diagram of the underwater robot system of the embodiments of the present application;

[0020] Figure 2 Flowchart of the control method of the underwater robot system of the embodiments of the present application.

[0021] REFERENCE NUMERALS

[0022] robot body 100,

[0023] weight mounting structure 200,

[0024] water storage assembly 300, water storage bin 310, lock component 320,

[0025] power supply module 400,

[0026] control component 500. DETAILED DESCRIPTION

[0027] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0028] In the description of the present application, greater than, less than, more than, etc. is understood as not including the number, above, below, within, etc. is understood as including the number. If there is a description to the first, the second is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features. It needs to be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0029] In the description of the present application, unless otherwise explicitly limited, the words such as setting, mounting, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0030] The following is an explanation of the terms involved in the present application:

[0031] ROV is the full name of underwater remote control robot, also known as tethered underwater robot, unmanned remote control submersible. It is a high-tech underwater working system that can navigate freely in three-dimensional space underwater by water surface control. Its basic working mode is that the staff on the mother ship provides power through the umbilical cord connected to the submersible, manipulates or controls the submersible, and observes underwater through special equipment such as underwater camera and imaging sonar, or carries out underwater operation through mechanical arm and other tools. A complete ROV system mainly consists of water control room, launch and recovery system (LARS), soft cable management system (TMS) and ROV body. The water control room is composed of control computer, control panel, display and other components, which is used to control the movement of ROV. The LARS system is composed of A crane, winch, hydraulic power unit, etc., which is used to lower the ROV into the sea and recover it to the deck. The LARS and TMS are connected by armored cable, which is used to bear the weight of the equipment and resist the stress and bending moment caused by water flow. The TMS and the ROV are connected by soft cable, which cannot bear the weight of the ROV and is in a suspended state in the water. In addition, the armored cable and the soft cable are also used to transmit power and optical signals. The ROV bottom plate usually arranges about 30 counterweights, each counterweight weighs 10 kg. The role of these counterweights is to adjust the gravity of the ROV, so that the ROV is in a state of approximately balanced gravity and buoyancy when working underwater. At the same time, it is due to the existence of counterweight that the ROV can carry tools (tools usually have a larger mass) for underwater operation, that is, carrying a certain mass of tools, the same mass of counterweight is removed, so that the ROV is in a state of approximately balanced gravity and buoyancy.

[0032] Generally, when the underwater remotely operated vehicle (ROV) works underwater, the gravity and the buoyancy are difficult to be in absolute balance, either the gravity is slightly greater than the buoyancy or the gravity is slightly less than the buoyancy. The ROV can maintain a constant height in the water by setting the propulsion device on the robot body to compensate for the thrust. When in the first scenario, that is, when the gravity of the ROV is greater than the buoyancy, although the ROV can sink to the seabed when the ROV is powered off due to an unexpected accident (for example, the soft cable is scratched or broken) during normal operation of the ROV on the seabed, the ROV is convenient for the ship crane to salvage, thereby ensuring the safety of the ROV. However, in this scenario, the propulsion device needs to generate a continuous upward thrust on the ROV to balance the gravity, buoyancy and thrust of the ROV, so that the ROV is in a suspended state, at this time, it is necessary to continuously stir the water around the ROV below, which will produce a large amount of silt, resulting in unclear images (that is, the visibility is sharply reduced) of the ROV, thereby affecting the operation efficiency of the ROV. Therefore, in the first scenario, although the safety of the ROV can be ensured, it is difficult to maintain the operation efficiency. When in the second scenario, that is, when the gravity of the ROV is less than the buoyancy of the ROV in the seawater, when the ROV is powered off unexpectedly, the ROV will slowly float to the sea surface, and when the ROV is about to emerge from the water, it may be stirred by the propeller of the mother ship, resulting in huge property losses. Even if the ROV is not stirred by the propeller of the mother ship and floats on the sea surface, it is also difficult to salvage. For the second scenario, the propulsion device will only generate a continuous downward thrust to keep the ROV in a suspended state, that is, the water around the ROV above must be continuously stirred, which hardly produces silt, and can keep the ROV in a high-visibility state, thereby improving the operation efficiency. Therefore, in the second scenario, although the operation efficiency can be maintained, it is difficult to ensure the safety of the ROV. Therefore, the safety and efficiency of the ROV operation in the related art are difficult to be considered. Based on this, the present application provides an underwater robot system, a control method and a storage medium, which can consider the safety and efficiency of the operation.

[0033] Reference Figure 1 According to the underwater robot system provided by the embodiment of the present application, the underwater robot system comprises:

[0034] a robot body 100;

[0035] a counterweight mounting structure 200, the counterweight mounting structure 200 is arranged on the robot body 100, and the counterweight mounting structure 200 is used for placing a counterweight;

[0036] a water storage assembly 300, the water storage assembly 300 comprises a water storage bin 310 and a locking component 320, and the water storage assembly 300 is arranged on the robot body 100;

[0037] The power supply module 400 is electrically connected with the robot body 100, and is configured to supply power to the robot body 100. The robot body 100 supplies power to the lock component 320, and the lock component 320 locks the gate of the water storage compartment 310 when the robot body 100 is powered on, and unlocks the gate of the water storage compartment 310 to fill the water storage compartment 310 to increase the total weight of the robot body 100 and sink when the robot body 100 is powered off.

[0038] The control component 500 is configured to determine the number N of weights placed in the weight mounting structure 200 and determine the first driving speed according to the driving speed value range at the test depth, and control the propulsion device of the robot body 100 to perform thrust compensation at the first driving speed so that the robot body 100 is in a suspended state after the robot body 100 sinks to the first working depth.

[0039] Therefore, by simultaneously providing the weight mounting structure 200 and the water storage assembly 300, and determining the number of weights according to the driving speed value range for thrust compensation, the total weight of the robot body 100 can always be slightly less than the buoyancy in water. When the robot body 100 is accidentally powered off, the gate of the water storage compartment 310 is opened because the power supply module 400 cannot supply power to the underwater robot body 100, so that the total weight of the robot body 100 is greater than the buoyancy in water and sinks, and the propulsion device only generates downward thrust when working normally, so that the ROV can always maintain a high visibility state, thus balancing safety and work efficiency.

[0040] It should be noted that the first working depth is the water depth of the robot body 100 in actual work.

[0041] It should be noted that the driving speed value range is used to represent the value range of the first driving speed allowed by the robot body 100 when efficiency and safety are considered at the first working depth. Among them, safety refers to the ability to sink when the water storage compartment is full of water when powered off, and efficiency refers to the resolution of the image captured by the robot body 100 meeting the analysis requirements.

[0042] It can be understood that the ROV bottom plate has a large space, which is convenient for engineers to enter these spaces to repair ROV failures. The water storage compartment 310 is installed at a proper position on the ROV bottom plate. The shape and structure of the water storage compartment 310 are not limited too much, such as a cuboid, a sphere, etc. In some embodiments, the gate is provided at the top of the water storage compartment 310, i.e. near the water surface. In other embodiments, the gate is provided at the side. Preferably, in this application, the gate is provided at the top of the water storage compartment 310.

[0043] It can be understood that the water storage compartment 310 has a water inflow greater than or equal to the weight of one weight.

[0044] It can be understood that the water storage bin 310 is one of a cuboid and a sphere.

[0045] It can be understood that the water storage bin 310 is bound to the robot body 100 by a ratchet strap.

[0046] In order to firmly connect the water storage bin 310 with the bottom plate of the robot body 100, the ratchet strap binding method is adopted. Compared with welding or slot fixing, this method also has high safety and firmness, and is more convenient to disassemble.

[0047] It can be understood that, as shown in Figure 1 and Figure 2 , the control method of the underwater robot system provided by the embodiment of the application, the underwater robot system comprises: a robot body 100, a counterweight mounting structure 200, a water storage assembly 300, and a power supply module 400, the robot body 100 is provided with a propelling device for providing driving force, the counterweight mounting structure 200 is arranged on the robot body 100; the counterweight mounting structure 200 is used for placing a counterweight; the water storage assembly 300 comprises a water storage bin 310 and a locking component 320, and the water storage assembly 300 is arranged on the robot body 100; the power supply module 400 is electrically connected with the robot body 100, and the power supply module 400 is used for supplying power to the robot body 100; the robot body 100 supplies power to the locking component 320, the locking component 320 locks the gate of the water storage bin 310 when the robot body 100 is powered on, and the locking component unlocks the gate of the water storage bin 310 when the robot body 100 is powered off to increase the total weight of the robot body 100 by filling water in the water storage bin 310 and sinking, and the locking component 320 is in an unlocked state when the robot body 100 is powered off to increase the total weight of the robot body 100 and sink; the control method comprises:

[0048] Step S100, obtaining a driving speed value range of the propelling device of the robot body 100 for thrust compensation after the robot body 100 sinks to a first working depth;

[0049] Step S200, determining the number N of counterweights placed in the counterweight mounting structure 200 and determining a first driving speed according to the driving speed value range at the test depth;

[0050] Step S300, sinking the robot body 100 after N counterweights are placed in the counterweight mounting structure 200;

[0051] Step S400, after the robot body 100 sinks to the first working depth, controlling the propelling device of the robot body 100 to perform thrust compensation at the first driving speed so that the robot body 100 is in a suspended state.

[0052] Therefore, by setting the counterweight installation structure 200 and the water storage assembly 300 at the same time, and determining the number of counterweights according to the driving speed value range for thrust compensation, the total weight of the robot body 100 can always be slightly less than the buoyancy in water. When the robot body 100 is accidentally powered off, the gate of the water storage bin 310 is opened because the power supply module 400 cannot power the underwater robot body 100, so that the total weight of the robot body 100 is greater than the buoyancy in water and sinks, and the propulsion device only generates downward thrust when working normally, which can keep the ROV in a high-visibility state at all times, so safety and work efficiency can be considered.

[0053] It can be understood that the number of counterweights is determined by the following steps:

[0054] Place an initial number of counterweights in the counterweight installation structure 200;

[0055] When the robot body 100 sinks to the test depth, obtain the second driving speed when the robot body 100 remains in a suspended state; the test depth is greater than or equal to the second working depth of the robot body 100 and less than the first working depth;

[0056] Increase or decrease the preset number of counterweights, and re-obtain the third driving speed when the robot body 100 remains in a suspended state at the test depth;

[0057] According to the second driving speed, the third driving speed and the driving speed value range, determine the counterweight change number.

[0058] It should be noted that the second working depth is the water depth when the robot body 100 is completely immersed in water and does not interfere with the mother ship, so as to ensure that the buoyancy during testing is the same as the actual working buoyancy while ensuring safety.

[0059] It can be understood that according to the second driving speed, the third driving speed and the first driving speed value range, the number of counterweights is N, including:

[0060] According to the second driving speed and the third driving speed, determine the movement change amount corresponding to one piece of counterweight;

[0061] According to the third driving speed and the movement change amount, calculate the counterweight change number, so that the third driving speed, the product of the movement change amount and the counterweight change number, and the sum are within the driving speed value range.

[0062] It can be understood that the driving speed value range is (-v, 0]; the value of v is equal to the value of the movement change amount.

[0063] For example, if the movement change amount is -0.2 m / s, then v = 0.2 m / s; if the movement change amount is 0.3 m / s, then v = 0.3 m / s.

[0064] For example, the second working depth is 50m from the water surface, the propulsion device is a vertical thruster, and the number of counterweights is determined as follows:

[0065] 1. When the ROV reaches the working area, it is first lowered to a position about 50m from the water surface. At this time, compared with normal operation, it can save time by directly lowering to 1000m. Assuming that the initial number of counterweights at this time is 20.

[0066] 2. Observe the ROV vertical thruster speed. The speed can be positive or negative. If the speed is positive, it indicates that the ROV gravity is greater than the buoyancy, and the vertical thruster needs to generate upward thrust to keep the ROV balanced. If the speed is negative, it indicates that the ROV gravity is less than the buoyancy, and the vertical thruster needs to generate downward thrust to keep the ROV balanced. Assuming that the speed reading at this time is +1m / s, i.e. the second driving speed is +1m / s.

[0067] 3. The ROV is recovered to the mother ship deck, one counterweight is removed, and the ROV is lowered to a position about 50m from the water surface. At this time, the vertical thruster speed reading is +0.7m / s, i.e. the third driving speed is +0.7m / s.

[0068] 4. From 2 and 3, it can be seen that removing one counterweight is equivalent to reducing the ROV vertical thruster speed by 0.3m / s, i.e. the motion change is -0.3m / s. The purpose of adjusting the counterweight is to control the vertical thruster speed reading to be -0.3-0m / s when the ROV is working normally underwater. That is, the gravity is slightly less than the buoyancy (i.e. the difference between the two is within one counterweight).

[0069] 5. The ROV is recovered to the mother ship deck, and 3 counterweights are removed. At this time, the vertical thruster speed reading is approximately 0.7-0.3*3=-0.2m / s, i.e. the number of counterweight changes is 3. In this way, the purpose of counterweight adjustment is achieved. The adjusted number of counterweights is 20-1-3=16, i.e. N is 16.

[0070] It can be understood that the water storage bin 310 is determined by the following steps:

[0071] Obtain the water inflow and shape of the water storage bin 310;

[0072] According to the water inflow and shape, the size of the water storage bin 310 is determined.

[0073] For example, taking the water storage tank 310 as a cuboid, its capacity should be at least 10 kg of seawater (i.e., one counterweight). Based on this consideration, the dimensions of the water storage tank 310 can be designed as follows: length, width, and height are 300 mm, 300 mm, and 200 mm, respectively. With these dimensions, the water storage tank 310 can hold approximately 18 kg of seawater. A gate is installed at the top of the water storage tank 310, and this gate is controlled by power supplied from the ROV electronic compartment.

[0074] This application also provides a storage medium, including computer-executable instructions stored thereon for performing any of the methods described above.

[0075] It should be noted that the term "storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Storage media includes, but is not limited to, RAm, ROm, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," and "can be understood" refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0077] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0078] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An underwater robot system, characterized in that, The underwater robot system includes: Robot body; Counterweight; A counterweight mounting structure is provided on the robot body; the counterweight mounting structure is used to place a counterweight. A water storage component, comprising a water tank and a locking component, is mounted on the robot body. A power supply module is electrically connected to the robot body; the robot body supplies power to the locking component, the locking component locks the gate of the water storage tank when the robot body is powered on, and the locking component unlocks the gate of the water storage tank when the robot body is powered off to allow water to be injected into the water storage tank to increase the total weight of the robot body and sink; The control component is used to determine the number of counterweights N based on the range of driving speed values ​​at the test depth, and to determine the first driving speed. After the robot body sinks to the first working depth, the control component controls the propulsion device of the robot body to perform thrust compensation at the first driving speed so that the robot body is in a suspended state. The quantity of counterweights is determined through the following steps: An initial number of counterweights are placed within the counterweight mounting structure; When the robot body sinks to the test depth, the second driving speed of the robot body while it remains suspended is obtained; the test depth is greater than or equal to the second working depth of the robot body and the test depth is less than the first working depth; Increase or decrease a preset number of counterweights, and reacquire the third drive speed at which the robot body remains suspended at the test depth; The amount of weight change of the counterweight is determined based on the second driving speed, the third driving speed, and the range of driving speed values; Based on the change in counterweight, the quantity of counterweight is determined to be N.

2. The underwater robot system according to claim 1, characterized in that, The water inlet volume of the water storage tank is greater than or equal to the weight of a counterweight.

3. The underwater robot system according to claim 2, characterized in that, The water storage tank is either a cuboid or a sphere.

4. The underwater robot system according to claim 1, characterized in that, The water storage tank is secured to the robot body via a ratchet strap.

5. A control method for an underwater robot system, characterized in that, The underwater robot system includes: a robot body, a counterweight mounting structure, a water storage component, and a power supply module. The counterweight mounting structure is mounted on the robot body and is used to place a counterweight. The water storage component includes a water tank and a locking mechanism, and is mounted on the robot body. The power supply module is electrically connected to the robot body. The robot body supplies power to the locking mechanism. When the robot body is powered on, the locking mechanism locks the gate of the water tank. When the robot body is powered off, the locking mechanism unlocks the gate of the water tank to allow water to be injected into the water tank, increasing the total weight of the robot body and causing it to sink. The control method includes: The range of drive speed values ​​for thrust compensation of the robot body's propulsion device after the robot body sinks to the first working depth is obtained; At the test depth, based on the range of the driving speed, the number of counterweights placed in the counterweight installation structure is determined to be N, and the first driving speed is determined. After placing N counterweights inside the counterweight mounting structure, the robot body is lowered. After the robot body sinks to the first working depth, the propulsion device of the robot body is controlled to perform thrust compensation at the first driving speed so that the robot body is in a suspended state; The quantity of counterweights is determined through the following steps: An initial number of counterweights are placed within the counterweight mounting structure; When the robot body sinks to the test depth, the second driving speed of the robot body while it remains suspended is obtained; the test depth is greater than or equal to the second working depth of the robot body and the test depth is less than the first working depth; Increase or decrease a preset number of counterweights, and reacquire the third drive speed at which the robot body remains suspended at the test depth; The amount of weight change of the counterweight is determined based on the second driving speed, the third driving speed, and the range of driving speed values; Based on the change in counterweight, the quantity of counterweight is determined to be N.

6. The control method for the underwater robot system according to claim 5, characterized in that, Determining the amount of weight change of the counterweight based on the second driving speed, the third driving speed, and the range of driving speed values ​​includes: The motion change of a counterweight is determined based on the second driving speed and the third driving speed. Based on the third driving speed and the amount of motion change, the amount of weight change of the counterweight is calculated, such that the sum of the third driving speed and the product of the amount of motion change and the amount of weight change is within the range of the driving speed value.

7. The control method for the underwater robot system according to claim 6, characterized in that, The driving speed range is (- v ,0];The v The value is equal to the value of the change in motion.

8. The control method for the underwater robot system according to claim 5, characterized in that, The water storage tank is determined through the following steps: Obtain the water inflow and shape of the water storage tank; The dimensions of the water storage tank are determined based on the water inflow and the shape.

9. A storage medium, characterized in that, It includes storing computer-executable instructions for performing the control method as described in any one of claims 5 to 8.

Images