Optical ranging system and method applied to underwater robot

Abstract

The invention discloses an optical ranging system and method applied to an underwater robot, and the system comprises an underwater robot body, and also comprises at least two underwater ranging devices which are disposed on the surface of one side of the underwater robot body at intervals, and are used for obtaining the distance value data of an underwater to-be-measured object and the related inclination angle value data in real time; the main control module is arranged in the underwater robot body, is in communication connection with the at least two underwater distance measuring devices, and is used for calculating and outputting an optical distance measuring value according to the distance value data and the inclination angle value data; multi-laser-beam projection distance measurement is carried out through the infrared distance measuring device, the inclination angle of the infrared distance measuring device is detected in real time through the inclination angle detector, multiple sets of distance value and inclination angle value data are obtained within the detection time, the distance value and inclination angle value data are fused and analyzed through the main control module, and then a detection error value is obtained. And the distance value is automatically calibrated according to the error value, so that the accuracy of underwater measurement can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot distance measurement, and in particular to an optical distance measurement system and method applied to an underwater robot. Background Art

[0002] Autonomous Underwater Vehicle (AUV), as a key underwater operation equipment, has been widely used in marine research, seabed topography survey, and military fields in recent years. It is an important means of marine development and exploration and plays a very important role in water conservancy projects. However, due to the complexity of the underwater environment, underwater robots face many challenges in underwater precise ranging.

[0003] A Chinese patent with publication number CN213745700U discloses an underwater ranging device for an underwater robot. The underwater ranging device is installed on the underwater robot through a mounting frame. The underwater ranging device performs underwater ranging through four groups of infrared ranging sensors installed inside a waterproof housing and located in different directions. However, its measurement result is still limited by the hovering stability of the underwater robot, and accurate underwater ranging cannot be achieved. Therefore, when the existing underwater ranging device faces complex water flow conditions such as advection, turbulence, and internal waves in the underwater environment, the optical ranging system of the existing underwater robot does not have transient characteristics that fluctuate with the water flow, resulting in extremely complex angles between the projection directions of the point laser beams, which easily causes the problem of mixed rotation angles and pitch angles, and the accuracy of subsequent measurement data cannot be ensured.

[0004] Based on this, the present invention provides an optical ranging system and method applied to an underwater robot to solve the above-mentioned problems in the prior art. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides an optical ranging system and method applied to an underwater robot, so as to solve the problem that the optical ranging system of the existing underwater robot in the prior art has environmental limitations and cannot perform accurate ranging in a complex underwater environment.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme:

[0007] In a first aspect, the present invention provides an optical ranging system for an underwater robot, comprising an underwater robot body, and further comprising:

[0008] At least two underwater distance measuring devices are arranged at intervals on the surface of one side of the underwater robot body to obtain the distance value data and related inclination value data of the underwater object to be measured in real time;

[0009] A main control module is connected to at least two underwater distance measuring devices for calculating and outputting an optical distance measurement value according to the distance value data and the inclination value data;

[0010] The main control module comprises:

[0011] An inclination calculation unit is used to obtain inclination value data of at least two underwater ranging devices and respectively calculate the actual inclination values ​​of the corresponding underwater ranging devices;

[0012] A distance calculation unit, used to obtain distance value data of at least two underwater distance measuring devices, and respectively calculate the actual distance values ​​of the corresponding underwater distance measuring devices;

[0013] A coefficient calculation unit is electrically connected to the inclination calculation unit and the distance calculation unit, respectively, and is used to calculate and output the correlation coefficient of the inclination detector and the infrared range finder;

[0014] The error calculation unit is electrically connected to the coefficient calculation unit, and is used to perform error analysis on the relevant system output by the coefficient calculation unit, and output a value to be calibrated;

[0015] The calibration unit is electrically connected to the error calculation unit, and is used to perform calibration according to the value to be calibrated output by the error calculation unit and the current actual distance value, and output the optical distance measurement value after the calibration is completed.

[0016] Optionally, the underwater distance measuring device includes a tilt detector and an infrared distance measuring device;

[0017] The output end of the infrared rangefinder is communicatively connected to the input end of the distance calculation unit to perform real-time underwater distance measurement and send the acquired distance value data to the distance calculation unit;

[0018] The input end of the tilt detector is communicatively connected to the output end of the infrared rangefinder, and the output end of the tilt detector is communicatively connected to the input end of the tilt calculation unit, so as to detect the tilt value of the infrared rangefinder in real time and send the acquired tilt value data to the tilt calculation unit.

[0019] Optionally, the actual inclination angle value is calculated as follows:

[0020]

[0021] In the formula, a t is the inclination value at the current time t, t0 and tn are the start and end times of the selected time period t, respectively, and w at for a t The weight coefficient of i is the actual inclination value of the i-th measurement;

[0022] The actual distance value is calculated as follows:

[0023]

[0024] In the formula, l t is the distance value at the current time t in the i-th measurement, t0 and tn are the start and end times of the selected time period t, respectively, and w lt for l t The weight coefficient of i is the actual distance value of the i-th measurement.

[0025] Optionally, the calculation formula of the correlation coefficient is as follows:

[0026]

[0027] Where A and B are the actual inclination values ​​detected by different inclination detectors; are the average values ​​of the actual inclination detected by different inclination detectors; C and D are the actual distance values ​​detected by different infrared range finders; are the average values ​​of the actual distances detected by different infrared rangefinders; X and Y are the weight parameters for calculating the inclination value and the weight coefficients for calculating the distance value, respectively.

[0028] Optionally, the main control module also includes a judgment unit; the input end of the judgment unit is electrically connected to the output end of the coefficient calculation unit, and the output end of the judgment unit is electrically connected to the input end of the error calculation unit, so as to judge whether the correlation coefficient is abnormal according to a preset threshold value. If so, the inclination value data and / or distance value data are judged to be abnormal and are eliminated.

[0029] Optionally, the underwater distance measuring device further includes an inclination bogie;

[0030] The top end of the tilt bogie is movably connected to the bottom end of the infrared rangefinder, and the bottom end of the tilt bogie is movably mounted on the surface of the underwater robot body; the tilt detector is arranged on the upper surface of the infrared rangefinder;

[0031] The tilt bogie is communicatively connected with the tilt detector and is used for adjusting the tilt angle of the infrared range finder according to feedback information from the tilt detector.

[0032] Optionally, the main control module is arranged inside the underwater robot body;

[0033] The underwater robot body is provided with an underwater image acquisition device at the front end thereof, for acquiring image data of the underwater object to be measured;

[0034] The underwater robot body is provided with a control interface, and the control interface is electrically connected to the main control module and the underwater image acquisition device respectively.

[0035] Optionally, it also includes a floating monitoring device, which includes a floating platform, a radar transponder, a power supply, a GPS position receiver and an IP communication network port;

[0036] The floating platform is a hollow structure, the radar transponder, power supply, and GPS position receiver are all arranged inside the floating platform, and the IP communication network port is arranged on the outer surface of the floating platform; the radar transponder and GPS position receiver are both electrically connected to the power supply;

[0037] The IP communication network port is communicatively connected to the control interface for information exchange with the underwater robot through the control interface.

[0038] Optionally, an industrial control host is also included, and the industrial control host is communicatively connected to the IP communication network port for performing two-way communication with the underwater robot through the IP communication network port.

[0039] In a second aspect, the present invention provides an optical ranging method applied to an underwater robot, which is applied to an optical ranging system applied to an underwater robot as described above, and comprises the following steps:

[0040] The industrial control host sends a hovering command to the underwater robot through the IP communication network port and starts the underwater distance measuring device to make the infrared range finder and the inclination detector work synchronously;

[0041] Based on the infrared rangefinder and the inclination detector, the underwater object to be measured is repeatedly measured multiple times within a preset time period, and the measurement data are sent to the distance calculation unit and the inclination calculation unit respectively;

[0042] The measurement data includes the distance value data of the underwater object to be measured and the inclination value data of the infrared rangefinder;

[0043] The distance calculation unit calculates the actual distance values ​​corresponding to different infrared range finders according to the distance value data, and sends them to the coefficient calculation unit;

[0044] The inclination calculation unit calculates the actual inclination values ​​corresponding to different inclination detectors according to the inclination value data, and sends the values ​​to the coefficient calculation unit;

[0045] The coefficient calculation unit calculates the correlation coefficient between the actual inclination value and the actual distance value according to the coefficient data of the inclination calculation unit and the distance calculation unit, and sends it to the error calculation unit;

[0046] After error analysis is performed on the correlation coefficient output by the error calculation unit coefficient calculation unit, the value to be calibrated is output and sent to the calibration unit;

[0047] The calibration unit performs calibration according to the error value to be calibrated and the corresponding current actual distance value, and outputs the optical distance measurement value after the calibration is completed.

[0048] The beneficial effects brought by the embodiments provided by the present invention include:

[0049] The present invention uses an infrared rangefinder to perform multi-laser beam projection ranging, uses a tilt detector to detect the deflection angle of the infrared rangefinder in real time, obtains multiple groups of distance value and tilt value data within the detection time, and obtains the detection error value after fusing and analyzing the distance value and tilt value data through a main control module, and automatically calibrates the distance value according to the error value, which can improve the accuracy of underwater measurement and avoid the influence of complex water flow fluctuations; the present invention obtains the image data collected by the underwater image acquisition device through an industrial computer for visual display, improves the visualization function of the ranging system, has the effect of observing and analyzing from various perspectives, and can improve the efficiency and functionality of underwater detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0051] Figure 1 A schematic diagram of an application of an optical ranging system applied to an underwater robot according to an embodiment of the present specification is shown;

[0052] Figure 2 A schematic diagram of the structure of a main control module in an optical ranging system applied to an underwater robot according to an embodiment of the present specification is shown;

[0053] Figure 3 A schematic diagram of the structure of an underwater robot of an optical ranging system applied to an underwater robot according to an embodiment of the present specification is shown;

[0054] Figure 4 A schematic flow chart of an optical ranging system applied to an underwater robot according to an embodiment of the present specification is shown.

[0055] Reference numerals: underwater robot body 1; infrared rangefinder 10; tilt detector 11; tilt bogie 12; main control module 13; tilt calculation unit 131; distance calculation unit 132; coefficient calculation unit 133; judgment unit 134; error calculation unit 135; calibration unit 136; floating monitoring device 2; DETAILED DESCRIPTION

[0056] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0057] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "head end", "tail end", "bottom end", "inside" and "outside" etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0058] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] Example 1

[0060] Figure 1 A schematic diagram of an application of an optical ranging system applied to an underwater robot according to an embodiment of the present specification is shown;

[0061] In order to avoid the influence of fluctuations during detection, the underwater robot of this embodiment detects three sets of sample data within the detection time, and the projection points of the two infrared range finders are different each time, such as Figure 1 As shown in the E1, E2 and E3 detection points in the figure, the distance value measured each time is different. Therefore, it is necessary to perform error analysis on the distance value measured each time and perform calibration work to improve the accuracy of underwater measurement and avoid the influence of complex water flow fluctuations on underwater distance measurement.

[0062] like Figure 1 As shown, an embodiment of the present invention provides an optical ranging system applied to an underwater robot, including an underwater robot body, a main control module, at least two underwater ranging devices, and a floating monitoring device;

[0063] At least two underwater distance measuring devices are arranged at intervals on the surface of one side of the underwater robot body to obtain the distance value data and related inclination value data of the underwater object to be measured in real time;

[0064] A main control module is arranged inside the underwater robot body and is in communication connection with at least two underwater distance measuring devices, and is used to calculate and output an optical distance measurement value according to the distance value data and the inclination value data;

[0065] The floating monitoring device is connected to the main control module and serves as a communication bridge to realize real-time data exchange and command transmission between the underwater robot and external equipment.

[0066] Figure 2 A schematic diagram showing the principle of a main control module in an optical ranging system applied to an underwater robot according to an embodiment of the present specification is shown;

[0067] like Figure 2 As shown, exemplarily, the main control module includes a tilt angle calculation unit, a distance calculation unit, a coefficient calculation unit, a judgment unit, an error calculation unit and a calibration unit; wherein the underwater distance measuring device includes a tilt angle detector and an infrared range finder;

[0068] An infrared rangefinder, whose output end is communicatively connected to the input end of the distance calculation unit, is used for real-time underwater distance measurement and sends the acquired distance value data to the distance calculation unit;

[0069] An inclination detector, whose input end is communicatively connected to the output end of the infrared rangefinder, and whose output end is communicatively connected to the input end of the inclination calculation unit, is used to detect the inclination value of the infrared rangefinder in real time and send the acquired inclination value data to the inclination calculation unit;

[0070] The inclination calculation unit, whose output end is electrically connected to the input end of the coefficient calculation unit, is used to receive the inclination value data sent by the inclination detector and calculate the corresponding actual inclination value; wherein the calculation formula of the actual inclination value is as follows:

[0071]

[0072] In the formula, a t is the inclination value at the current time t, t0 and tn are the start and end times of the selected time period t, respectively, and w at for a t The weight coefficient of i is the actual inclination value of the i-th measurement;

[0073] The distance calculation unit, whose output end is electrically connected to the input end of the coefficient calculation unit, is used to receive the distance value data sent by the infrared rangefinder and calculate the corresponding actual distance value; wherein, the calculation formula of the actual distance value is as follows:

[0074]

[0075] In the formula, lt is the distance value at the current time t in the i-th measurement, t0 and tn are the start and end times of the selected time period t, respectively, and w lt for l t The weight coefficient of i is the actual distance value of the i-th measurement.

[0076] The coefficient calculation unit, whose output end is electrically connected to the input end of the error calculation unit, is used to calculate and output the correlation coefficient between the tilt detector and the infrared range finder; wherein the calculation formula of the correlation coefficient is as follows:

[0077]

[0078] Where A and B are the actual inclination values ​​detected by different inclination detectors; are the average values ​​of the actual inclination detected by different inclination detectors; C and D are the actual distance values ​​detected by different infrared range finders; are the average values ​​of the actual distances detected by different infrared rangefinders; X and Y are the weight parameters for calculating the inclination value and the weight coefficients for calculating the distance value, respectively.

[0079] A judgment unit, whose input end is electrically connected to the output end of the coefficient calculation unit, is used to judge whether the correlation coefficient output by the coefficient calculation unit is an abnormal correlation coefficient according to a preset abnormal correlation coefficient processing threshold. If it is an abnormal correlation coefficient, the inclination value data and / or the distance value data are judged to be abnormal values, and after the abnormal values ​​are eliminated, the non-abnormal correlation coefficient is sent to the error calculation unit.

[0080] An error calculation unit, whose output end is electrically connected to the input end of the judgment unit, is used to perform error analysis on the non-abnormal related system output by the judgment unit and output a value to be calibrated;

[0081] The calibration unit is used to perform calibration according to the value to be calibrated output by the error calculation unit and the current actual distance value, and output the optical distance measurement value after the calibration is completed.

[0082] In some embodiments, the underwater ranging device further comprises a tilt bogie;

[0083] Exemplarily, the top end of the tilt bogie is movably connected to the bottom end of the infrared rangefinder, and the bottom end of the tilt bogie is movably mounted on the surface of the underwater robot body; the tilt detector is arranged on the upper surface of the infrared rangefinder;

[0084] Specifically, the tilt bogie is communicatively connected with the tilt detector to adjust the tilt angle of the infrared rangefinder according to feedback information from the tilt detector;

[0085] Among them, in this embodiment, the tilt bogie adopts a 30mm coaxial rotating adjustment frame.

[0086] Figure 3 A schematic diagram of the structure of an underwater robot of an optical ranging system applied to an underwater robot according to an embodiment of the present specification is shown;

[0087] In this embodiment, the underwater robot is an AUV (Autonomous Underwater Vehicle).

[0088] Exemplarily, side thrusters are respectively provided on the left and right sides of the underwater robot body, and a tail thruster is provided at the tail end of the underwater robot body; a control interface is provided on the underwater robot body; an underwater image acquisition device and a searchlight are respectively provided at the head end of the underwater robot body to obtain image data of the underwater object to be measured; wherein, the underwater image acquisition device and the main control module are both electrically connected to the control interface.

[0089] In some embodiments, the control interface includes a serial communication unit, an I / O communication unit, a relay control unit, a MOS drive unit, a display unit and a crystal oscillator unit for communication; wherein the serial communication unit includes a filtering circuit, a signal amplification circuit, a photoelectric conversion circuit, a photoelectric isolation circuit, a serial communication circuit, a wireless data communication circuit and a data cache circuit.

[0090] In some embodiments, the floating monitoring device includes a floating platform, a radar transponder, a power supply, a GPS location receiver, and an IP communication network port;

[0091] Specifically, the floating platform is a hollow structure, the radar transponder, power supply, and GPS position receiver are all arranged inside the floating platform, and the IP communication network port is arranged on the outer surface of the floating platform; the radar transponder and GPS position receiver are both electrically connected to the power supply;

[0092] Among them, the IP communication network port supports large-stream data transmission, communicates with the control interface, and is used for video communication and digital signal transmission; it is also used for the transmission of control information between the underwater robot and external equipment, so as to realize remote control of the underwater robot by external equipment.

[0093] In some embodiments, the system further includes an industrial control host, which is connected to the IP communication network port through its own IP network port, and the IP network port of the industrial control host supports small code stream data transmission, and is used to form a two-way communication with the data of the IP communication network port of the floating platform; and is also used to send control information to the control interface of the underwater robot through the IP communication network port of the floating platform to control the movement of the underwater robot;

[0094] Exemplarily, the industrial control host includes an image visualization system for displaying the detection results in a visual image format, and can observe and analyze from various perspectives through operations such as zooming, moving, rotating, and ranging.

[0095] In some embodiments, the main control module uses one of a DSP chip, an FPGA chip or an MCU chip.

[0096] Example 2

[0097] Figure 4 A schematic flow chart of an optical ranging system applied to an underwater robot according to an embodiment of the present specification is shown.

[0098] like Figure 4 As shown, based on the optical ranging system applied to an underwater robot provided in the above embodiment, this embodiment provides an optical ranging method applied to an underwater robot, comprising the following steps:

[0099] S1. The industrial control host sends a hovering command to the underwater robot through the IP communication network port and starts the underwater distance measuring device to make the infrared rangefinder and the inclination detector work synchronously;

[0100] S2, based on the infrared range finder and the inclination detector, repeatedly measure the underwater object to be measured within a preset time period, and send the measurement data to the distance calculation unit and the inclination calculation unit respectively;

[0101] The measurement data includes the distance value data of the underwater object to be measured and the inclination value data of the infrared rangefinder;

[0102] S3, the distance calculation unit calculates the actual distance values ​​corresponding to different infrared range finders according to the distance value data, and sends them to the coefficient calculation unit;

[0103] S4, the inclination calculation unit calculates the actual inclination values ​​corresponding to different inclination detectors according to the inclination value data, and sends them to the coefficient calculation unit;

[0104] S5, the coefficient calculation unit calculates the correlation coefficient between the actual inclination value and the actual distance value according to the coefficient data of the inclination calculation unit and the distance calculation unit, and sends it to the judgment unit;

[0105] S6. The judgment unit determines whether the correlation coefficient output by the coefficient calculation unit is an abnormal correlation coefficient according to a preset abnormal correlation coefficient processing threshold. If it is an abnormal correlation coefficient, the inclination value data and / or distance value data are determined to be abnormal values, and after the abnormal values ​​are eliminated, the non-abnormal correlation coefficient is sent to the error calculation unit.

[0106] S7, the error calculation unit performs error analysis according to the non-abnormal correlation coefficient output by the judgment unit, outputs the value to be calibrated, and sends it to the calibration unit;

[0107] S8. The calibration unit performs calibration according to the error value to be calibrated and the corresponding current actual distance value, and outputs the optical distance measurement value after the calibration is completed.

[0108] In summary, the present invention uses an infrared rangefinder to perform multi-beam laser beam projection distance measurement, uses a tilt detector to detect the deflection angle of the infrared rangefinder in real time, obtains multiple sets of distance value and tilt value data within the detection time, and obtains the detection error value after fusing and analyzing the distance value and tilt value data through a main control module, and automatically calibrates the distance value according to the error value, which can improve the accuracy of underwater measurement and avoid the influence of complex water flow fluctuations;

[0109] The present invention obtains image data collected by an underwater image acquisition device through an industrial computer for visual display, improves the visualization function of the ranging system, has the effect of observation and analysis from various viewing angles, and can improve the efficiency and functionality of underwater detection.

[0110] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An optical ranging system for an underwater robot, comprising an underwater robot body, characterized in that: Also includes: At least two underwater distance measuring devices are arranged at intervals on the surface of one side of the underwater robot body to obtain the distance value data and related inclination value data of the underwater object to be measured in real time; A main control module is arranged inside the underwater robot body and is in communication connection with at least two underwater distance measuring devices, and is used to calculate and output an optical distance measurement value according to the distance value data and the inclination value data; The main control module comprises: An inclination calculation unit is used to obtain inclination value data of at least two underwater ranging devices and respectively calculate the actual inclination values ​​of the corresponding underwater ranging devices; A distance calculation unit, used to obtain distance value data of at least two underwater distance measuring devices, and respectively calculate the actual distance values ​​of the corresponding underwater distance measuring devices; A coefficient calculation unit, electrically connected to the inclination calculation unit and the distance calculation unit, for calculating and outputting a correlation coefficient corresponding to an actual inclination value and an actual distance value; An error calculation unit, electrically connected to the coefficient calculation unit, for performing error analysis according to the relevant system output by the coefficient calculation unit and outputting a value to be calibrated; The calibration unit is electrically connected to the error calculation unit, and is used to perform calibration according to the value to be calibrated and its corresponding current actual distance value, and output the optical distance measurement value after the calibration is completed.

2. The system according to claim 1, characterized in that The underwater distance measuring device includes a tilt detector and an infrared distance measuring device; The output end of the infrared rangefinder is communicatively connected to the input end of the distance calculation unit to perform real-time underwater distance measurement and send the acquired distance value data to the distance calculation unit; The input end of the tilt detector is communicatively connected to the output end of the infrared rangefinder, and the output end of the tilt detector is communicatively connected to the input end of the tilt calculation unit, so as to detect the tilt value of the infrared rangefinder in real time and send the acquired tilt value data to the tilt calculation unit.

3. The system according to claim 1, characterized in that The calculation formula of the actual inclination value is as follows: In the formula, a t is the inclination value at the current time t, t0 and tn are the start and end times of the selected time period t, respectively, and w at for a t The weight coefficient of i is the actual inclination value of the i-th measurement; The actual distance value is calculated as follows: In the formula, l t is the distance value at the current time t in the i-th measurement, t0 and tn are the start and end times of the selected time period t, respectively, and w lt for l t The weight coefficient of i is the actual distance value of the i-th measurement.

4. The system according to claim 1, characterized in that The calculation formula of the correlation coefficient is as follows: Where A and B are the actual inclination values ​​detected by different inclination detectors; are the average values ​​of the actual inclination detected by different inclination detectors; C and D are the actual distance values ​​detected by different infrared range finders; are the average values ​​of the actual distances detected by different infrared rangefinders; X and Y are the weight parameters for calculating the inclination value and the weight coefficients for calculating the distance value, respectively.

5. The system according to claim 1, characterized in that The main control module also includes a judgment unit; the input end of the judgment unit is electrically connected to the output end of the coefficient calculation unit, and the output end of the judgment unit is electrically connected to the input end of the error calculation unit, so as to judge whether the correlation coefficient is abnormal according to a preset threshold value. If so, the inclination value data and / or the distance value data are judged to be abnormal and are eliminated.

6. The system according to claim 2, characterized in that The underwater distance measuring device also includes an angle bogie; The top end of the tilt bogie is movably connected to the bottom end of the infrared rangefinder, and the bottom end of the tilt bogie is movably mounted on the surface of the underwater robot body; the tilt detector is arranged on the upper surface of the infrared rangefinder; The tilt bogie is communicatively connected with the tilt detector and is used for adjusting the tilt angle of the infrared range finder according to feedback information from the tilt detector.

7. The system according to claim 1, characterized in that The underwater robot body is provided with an underwater image acquisition device at the front end thereof, for acquiring image data of the underwater object to be measured; The underwater robot body is provided with a control interface, and the control interface is electrically connected to the main control module and the underwater image acquisition device respectively.

8. The system according to claim 7, characterized in that Also included is a floating monitoring device, which includes a floating platform, a radar transponder, a power supply, a GPS position receiver and an IP communication network port; The floating platform is a hollow structure, the radar transponder, power supply, and GPS position receiver are all arranged inside the floating platform, and the IP communication network port is arranged on the outer surface of the floating platform; the radar transponder and GPS position receiver are both electrically connected to the power supply; The IP communication network port is communicatively connected to the control interface for information exchange with the underwater robot through the control interface.

9. The system according to claim 8, characterized in that It also includes an industrial control host, which is communicatively connected to the IP communication network port and is used for bidirectional communication with the underwater robot through the IP communication network port.

10. An optical distance measurement method applied to an underwater robot, characterized in that: The optical distance measurement system according to claims 1 to 9 is implemented, comprising the following steps: The industrial control host sends a hovering command to the underwater robot through the IP communication network port and starts the underwater distance measuring device to make the infrared range finder and the inclination detector work synchronously; Based on the infrared rangefinder and the inclination detector, the underwater object to be measured is repeatedly measured multiple times within a preset time period, and the measurement data are sent to the distance calculation unit and the inclination calculation unit respectively; The measurement data includes the distance value data of the underwater object to be measured and the inclination value data of the infrared rangefinder; The distance calculation unit calculates the actual distance values ​​corresponding to different infrared range finders according to the distance value data, and sends them to the coefficient calculation unit; The inclination calculation unit calculates the actual inclination values ​​corresponding to different inclination detectors according to the inclination value data, and sends the values ​​to the coefficient calculation unit; The coefficient calculation unit calculates the correlation coefficient between the actual inclination value and the actual distance value according to the coefficient data of the inclination calculation unit and the distance calculation unit, and sends it to the error calculation unit; The error calculation unit performs error analysis according to the correlation coefficient output by the coefficient calculation unit, outputs the value to be calibrated, and sends it to the calibration unit; The calibration unit performs calibration according to the error value to be calibrated and the corresponding current actual distance value, and outputs the optical distance measurement value after the calibration is completed.

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