Underwater robot system, balance control method and computer equipment

Abstract

The invention discloses an underwater robot system and a balance control method, the underwater robot system comprises: at least two docking robots, the at least two docking robots being used for docking and capturing a target device at the same time; when the target equipment is captured in a butt joint mode, the parent body is located underwater, and the parent body is located below the target equipment; the at least two cables are in one-to-one correspondence with the at least two butt joint robots, and each butt joint robot is connected with the parent body through one cable; the cable collecting device is located on the parent body and used for driving the cable to be collected and driving the target equipment captured by the docking robot to be collected; and the balance control device is connected with each cable, and is used for controlling the stress of each cable through a PID control algorithm, so that the at least two docking robots are kept in posture locking, and the posture balance of the target equipment is ensured.

Description

Technical Field

[0001] The present invention belongs to the field of underwater robots and control technologies, and in particular relates to an underwater robot system, a balance control method, and a computer device. Background Art

[0002] With the rise of marine engineering, more and more deep-sea underwater operations are taking place, and most of the existing underwater object grabbing work is done by manipulators. However, for smaller target devices, it is difficult for manipulators to achieve reliable grabbing, and manipulators are generally rigid contacts that can cause collisions and easily damage the target device. In order to overcome the defects of the manipulator, there are also flexible arm grabbing devices in the prior art, but their grabbing force is not enough, and the underwater environment is complex, the target device is unevenly stressed, and the posture of the target device cannot be guaranteed, and they cannot be used in complex environments with high grabbing requirements.

[0003] Therefore, it is necessary to improve the existing technology and provide a flexible docking robot and a balance control method for the complex underwater environment, so as to ensure the smooth and reliable recovery of the target equipment. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention proposes an underwater robot system, a balance control method, and a computer device. The docking robot can achieve flexible docking with the target device and ensure the posture balance and stability of the target device, and the target device can be recovered reliably without damaging the target device.

[0005] To achieve the above objectives, in some embodiments, an underwater robot system is proposed, the underwater robot system comprising:

[0006] At least two docking robots, wherein the at least two docking robots are used to simultaneously dock and capture a target device;

[0007] a mother body, when docking and capturing the target device, the mother body is located underwater and below the target device;

[0008] At least two cables, the at least two cables correspond to the at least two docking robots one by one, and each of the docking robots is connected to the mother body through one of the cables;

[0009] A collecting device, the collecting device is located on the mother body and is used to drive the cable to be retracted, so as to drive the target device captured by the docking robot to be recovered;

[0010] A balance control device is connected to each of the cables and is used to control the force applied to each of the cables so that the at least two docking robots maintain a locked posture, thereby ensuring a balanced posture of the target device.

[0011] In some embodiments, the balance control device includes: a PID controller, and the PID controller outputs control parameters of the force of the cable through a PID control algorithm according to changes in the posture angle parameters of the docking robot.

[0012] In some embodiments, the cable includes a buoyancy structure, the buoyancy structure includes an inflatable cavity, and the buoyancy structure is used to adjust the force applied to the cable.

[0013] In some embodiments, one end of the cable used to connect to the mother body has an inflation device, the inflation device is connected to the inflation cavity, and the balance control device is connected to the inflation device. The inflation cavity is inflated by controlling the inflation device to adjust the air pressure in the inflation cavity, thereby adjusting the buoyancy of the cable.

[0014] In some embodiments, each of the docking robots includes an inertial measurement unit, and each of the inertial measurement units is arranged parallel to a reference direction of posture balance of the docking robot. The inertial measurement unit is used to measure the posture angle of the docking robot, and the posture angle includes a pitch angle, a roll angle, and a heading angle.

[0015] In some embodiments, ensuring the posture balance of the target device includes ensuring that the posture of the target device is in a horizontal state. The balance control device is also connected to the collection device to control the pulling force of the collection device on the cable. When the absolute value of the pitch angle of the docking robot increases in a positive or negative direction, the corresponding collection device is controlled to exert a pulling force on the cable and / or the inflation device is controlled to adjust the buoyancy of the cable to restore the pitch angle to a balanced value.

[0016] In some embodiments, a balance control method for an underwater robot system is further provided. The underwater robot system is the underwater robot system as described above. The balance control method comprises:

[0017] Before the docking robot completes docking with the target device, the balance control device controls the inflation device to inflate the inflation cavity of the cable and adjusts the buoyancy of the cable so that the buoyancy of the cable is not less than the weight of the cable.

[0018] In some embodiments, the balance control method includes:

[0019] During the docking process between the docking robot and the target device, the balance control device controls the inflation device to adjust the air pressure of the inflation cavity of the cable so that the buoyancy of the cable is equal to the weight of the cable.

[0020] In some embodiments, the balance control method includes:

[0021] After the docking robot completes docking with the target device, the balance control device controls the pulling force of the collecting device on the cable and / or the inflation device adjusts the buoyancy of the cable to balance the posture of the target device.

[0022] In some embodiments, there are two cables, including a first cable and a second cable, there are two docking robots, including a first docking robot and a second docking robot, the first cable is connected to the first docking robot, the second cable is connected to the second docking robot, the first docking robot and the second docking robot are docked with the front and rear ends of the target device respectively, and the balance control method includes:

[0023] When the tension of any one of the first cable and the second cable is 0, and the tension of the other cable is not 0, the balance control device controls the inflation device to adjust the buoyancy of the other cable so that the buoyancy of the other cable is less than the gravity;

[0024] When the tensions of the first cable and the second cable are both 0, the balance control device controls the pulling force of the collection device on the first cable and the second cable to increase the pulling force on the first cable and the second cable.

[0025] In some embodiments, a computer device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the balance control method described in any of the above embodiments is implemented.

[0026] In general, the above embodiments conceived by the present invention have the following beneficial effects compared with the prior art: at least two docking robots are connected to the mother body through two cables, and the two docking robots simultaneously capture a target device, which can achieve flexible docking and stable control of the target device. On this basis, the balance control device and the PID control method are further used to achieve stable control of the posture of the target device, avoid cable entanglement, and achieve reliable recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The figure is a structural block diagram of an underwater robot system according to an embodiment of the present invention.

[0028] Figure 2 The figure is a schematic diagram of the structure of an underwater robot system according to an embodiment of the present invention.

[0029] Figure 3 It is a schematic diagram of the docking state of an underwater device and a docking robot according to an embodiment of the present invention.

[0030] Figure 4 The figure is a schematic structural diagram of a docking robot according to an embodiment of the present invention.

[0031] Figure 5 The figure is a schematic structural diagram of a docking device for underwater equipment according to an embodiment of the present invention.

[0032] Figure 6 This is a schematic diagram of an embodiment of the present invention when a docking pin completely enters a docking port to complete docking.

[0033] Figure 7 It is a partial cross-sectional schematic diagram of an embodiment of the present invention when the docking pin completely enters the docking port to complete the docking.

[0034] Figure 8 for Figure 7 A local enlarged schematic diagram of point A in the middle.

[0035] Fig. 9 FIG. 1 is a schematic diagram of the cross-sectional structure of a zero-gravity cable according to an embodiment of the present invention.

[0036] Fig.10 FIG. 1 is a schematic diagram of the cross-sectional structure of a control valve of a zero-gravity cable according to an embodiment of the present invention.

[0037] Fig.11 for Figure 4 Schematic diagram of the AA section.

[0038] Fig.12 A schematic diagram of a zero-gravity cable having three air-filled cavities according to an embodiment of the present invention.

[0039] Fig.13 Schematic diagram of the composite material layer structure of a zero-gravity cable according to an embodiment of the present invention.

[0040] Fig.14 FIG. 1 is a schematic cross-sectional view of a zero-gravity cable according to an embodiment of the present invention.

[0041] Fig.15 FIG. 1 is a schematic diagram of an inflatable support structure of a zero-gravity cable according to an embodiment of the present invention.

[0042] Fig.16 Schematic diagram of the force state of an underwater robot system during the target device recovery process of an embodiment of the present invention; (a) is a schematic diagram of the target device in a balanced state, and (b) is a schematic diagram of the target device in a tilted state.

[0043] Fig.17 A schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The embodiments of the present invention will be described below with reference to the accompanying drawings. It will be appreciated by those skilled in the art that the described embodiments may be modified in various ways or combinations thereof without departing from the spirit and scope of the present invention. Therefore, the drawings and descriptions are illustrative in nature and are not intended to limit the scope of the claims. In addition, in this specification, the drawings are not drawn to scale and the same reference numerals represent the same parts.

[0045] Figure 1 The figure is a structural block diagram of an underwater robot system according to an embodiment of the present invention. Figure 2 FIG. 1 is a schematic diagram of an underwater robot system according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, the underwater robot system includes:

[0046] At least two docking robots 3000, wherein the at least two docking robots are used to dock and capture a target device 2000 at the same time;

[0047] a mother body 4000, which is located underwater and below the target device when docking and capturing the target device;

[0048] At least two cables 1000, the at least two cables corresponding to the at least two docking robots one by one, each of the docking robots being connected to the mother body via one of the cables;

[0049] A collecting device 5000, which is located on the mother body and is used to drive the cable to be retracted, thereby driving the target device captured by the docking robot to be recovered;

[0050] A balance control device is connected to each of the cables and is used to control the force applied to each of the cables so that the at least two docking robots maintain a locked posture, thereby ensuring a balanced posture of the target device.

[0051] In an embodiment of the present application, the docking robot 3000 is used to dock and capture the target device 2000, and the target device 2000 may be an underwater device. In some embodiments, the target device may be an underwater robot. In some embodiments, the target device is an underwater device that has lost power. When capturing the target device 2000, the mother body 4000 is located underwater, the target device 2000 is located on the water surface or in the water, and the mother body 4000 is located below the target device 2000.

[0052] In some embodiments, the mother body 4000 has a collecting device 5000 and a buffer locking mechanism 6000, the collecting device 5000 is used to drive the cable 1000 to be retracted, thereby driving the captured target device 2000 to be recovered, and the buffer locking mechanism 6000 is used to buffer the collision when the target device 2000 approaches the mother body 4000 and lock the target device 2000 to the mother body 4000.

[0053] It is understandable that the target device 2000 is an underwater device, and the underwater device can be located on the water surface or in the water. Being located in the water means that the underwater device is completely located below the water surface. Being located on the water surface means that at least part of the underwater device is located above the water surface, but the bottom surface of the underwater device is at least in contact with the water surface or is located below the water surface. At least the bottom surface of the underwater device is located below the water surface, and the underwater device can be an underwater robot.

[0054] In some embodiments, the underwater device may have a driving source, and the driving source may drive the underwater device to move. In some embodiments, the underwater device has no driving source or the driving source loses its function. The target device 2000 may be a device that performs a target task. When the target task is completed or it needs to be recovered, it needs to be recovered to the mother body.

[0055] In some embodiments, the docking robot 3000 is a simple underwater robot and has a driving device that can drive the docking robot 3000 to move in water.

[0056] In some embodiments, the cable 1000 includes an electric cable. The electric cable is used to supply power to the docking robot 3000. In some embodiments, the cable 1000 also includes a signal line for transmitting control signals, etc. Specifically, when the underwater equipment is recovered, the docking robot is released from the mother body, the driving device of the docking robot serves as a power device, the cable can supply power to the power device, the power device includes a motor and a driving paddle, and the docking robot approaches the underwater equipment under the drive of the power device. Generally, the mother body is located below the underwater equipment. The bottom surface of the underwater equipment has a docking device, and the top of the docking robot has a docking structure matching the docking device. After the docking robot approaches the underwater equipment, the docking structure matches the docking device to complete the docking, and the mother body retracts the cable, thereby driving the underwater equipment and recovering the underwater equipment to the mother body. In some embodiments, the mother body is an underwater base station. In some embodiments, the mother body has a power source and can move in water. In some embodiments, the mother body is a fixed base station and can be located at the bottom of the water. It can be understood that the water can be in seawater or fresh water.

[0057] In some embodiments, there are two cables 1000, and the two cables 1000 are connected to the same mother body. There are two docking robots 3000, each of which is connected to the mother body 4000 through one cable 1000, and the two docking robots 3000 are docked with the underwater equipment 2000 at the same time. In some embodiments, the cable 1000 is released and collected by the collection device 5000. When collecting the cable, the cable 1000 can be wound on the collection device 5000. When the underwater equipment is retracted to the mother body, the underwater equipment contacts and locks with the buffer locking mechanism to prevent collision damage.

[0058] Figure 3 It is a schematic diagram of the docking state of an underwater device and a docking robot according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of a docking robot according to an embodiment of the present invention. In some embodiments, the bottom surface of the underwater device has a docking device 2100, and the top of the docking robot has a docking structure 3100 that matches the docking device. In some embodiments, the docking device includes a docking port, and the docking structure includes a docking pin. The target device has a docking port below, and the docking robot has a docking pin that matches the docking port, and the docking port has a locking function after matching with the docking pin.

[0059] Figure 5 FIG. 1 is a schematic diagram of a structure of a docking device for underwater equipment according to an embodiment of the present invention. Figure 5 The docking device 2100 includes a docking port 2101, which has a conical structure portion and a conical cavity. The docking port 2101 has a locking groove 2102 at the lower end close to the opening, and the locking groove 2102 can be a groove surrounding the docking port 2101. The top of the docking port 2101 away from the opening has a positioning protrusion 2103, which is located at the center of the docking port 2101, protruding downward from the top of the docking port 2101 and facing the inside of the docking port. In some embodiments, the positioning protrusion 2103 is a triangular cone with the tip facing downward.

[0060] Specifically, refer to Figure 4 The docking structure 3100 includes a docking pin 3101, and the docking pin 3101 has a tapered structure portion. The docking pin 3101 has a tapered pin structure. The tapered pin structure matches the tapered cavity of the docking port 2101. Specifically, when the docking is completed, the cross-sectional diameter of the tapered pin structure is less than or equal to the cross-sectional diameter of the tapered cavity. The cross-sectional diameter of the top of the tapered pin structure is less than the cross-sectional diameter at the lower end opening of the tapered cavity. Through the docking port and the docking pin of the tapered structure, the docking match is smoother and less prone to violent collision.

[0061] In some embodiments, the docking pin 3101 is a movable pin. Specifically, the center of the docking pin 3101 has a threaded hole 3108, the docking robot has a frame 3102 and a docking motor 3103, and the frame has a stud 3104, one end of the stud 3104 is connected to the output shaft of the docking motor 3103, and the other end extends into the threaded hole of the docking pin 3101, and is threadedly connected with the docking pin 3101. The docking motor 3103 is fixed to the frame 3102. When the output shaft of the docking motor rotates, the docking pin 3101 can be threadedly driven to rise or fall by forward and reverse rotation. Before docking, the upper end of the docking pin 3101, that is, the top, is located in the frame. When docking is required, the docking pin 3101 is driven to rise by the docking motor, extend out of the frame, and extend into the docking port 2101 to complete the docking. Through the provision of the movable pin, it is possible to avoid being disturbed by debris in the water during the movement of the docking robot, and to avoid the docking pin directly colliding with the underwater equipment in the extended state when it is not aligned. Only when the docking robot is aligned with the underwater equipment, that is, when the position of the docking pin is aligned with the docking port, the docking motor drives the docking pin 3101 to rise, so that the docking pin extends into the docking port 2101. In addition, by setting the docking pin to extend into the docking port, the upper end of the docking robot does not need to fit the underwater equipment, so that the driving paddle of the docking robot has sufficient driving space, and the control is more convenient. In some embodiments, the plane where the driving paddle is located is on the same plane as the top plane of the docking robot. The top plane of the docking robot is the top surface of the frame at the docking pin when the docking pin does not extend out of the frame.

[0062] In some embodiments, the threaded hole 3108 is a through hole that penetrates the docking pin 3101. The top of the threaded hole can dock with the positioning protrusion 2103. The inner diameter of the threaded hole is equal to or slightly smaller than the diameter of the uppermost end of the positioning protrusion.

[0063] Figure 6 This is a schematic diagram of the docking pin fully entering the docking port to complete the docking. Figure 6 The top cross-sectional diameter of the tapered pin structure is D1, and the cross-sectional diameter of the top of the tapered cavity is D2. The inner diameter of the threaded hole is d1, and the diameter of the top end of the positioning protrusion is d2. The taper angle of the tapered pin structure is equal to the taper angle of the tapered cavity, that is, the tapered pin structure and the tapered cavity have the same inclination angle, and the two can fit completely tightly.

[0064] In some embodiments, D1≥D2, d2≥d1. The cone angle of the conical pin structure is θ, the cone angle of the conical positioning protrusion 2103 is β, and the following conditions are satisfied:

[0065]

[0066] In some embodiments,

[0067]

[0068] When the docking pin is completely inserted into the docking port, complete center positioning is achieved through the top end of the threaded hole and the positioning protrusion.

[0069] Figure 7 It is a partial cross-sectional schematic diagram when the docking pin completely enters the docking interface to complete the docking. Figure 8 for Figure 7 A partial enlarged schematic diagram of the A in the middle. Figure 7 and Figure 8 In some embodiments, the lower part of the docking pin 3101 has a transverse hole 3105, and there are multiple transverse holes 3105. A latch 3106 is disposed in the transverse hole 3105, and the latch is disposed transversely and can move transversely. When extending outward, it can be inserted into the locking groove 2102 at the lower end of the docking port 2101 near the opening.

[0070] The locking groove 2102 is embedded with a magnet 2104, and the latch 3106 is made of a magnetic material. When the docking pin 3101 rises to a preset position and the position of the latch 3106 is in the same plane as the locking groove 2102, the latch 3106 is sucked out by the magnetic force under the action of the magnet and inserted into the locking groove 2102 to complete the locking in the vertical direction. Specifically, a plurality of latches are arranged on the docking pin 3101 in an umbrella shape. The latches are all located in the same plane.

[0071] Specifically, refer to Figure 8 The lower end surface of the locking groove 2102 has a rounded corner 2105. The lower end surface of the latch 3106 has a chamfer 3107. The height of the locking groove 2102 is greater than the height of the latch 3106. In the fully locked state, the lower end surface of the locking groove 2102 and the lower end surface of the latch 3106 are in the same plane. By setting the rounded corner 2105 and the chamfer 3107, the latch 3106 can be smoothly inserted into the locking groove 2102.

[0072] In some embodiments, reference Figure 4, the docking robot has a power device, which includes a motor and a driving paddle 3109. The driving paddle 3109 can be multiple, for example, four. The docking robot also has a positioning device, which is used to obtain the position of the target device, and the driving paddle is used to drive the docking robot to perform active movement. In some embodiments, the positioning device includes a long-distance positioning device and a short-distance positioning device, the long-distance positioning device is used to position the target device in the initial stage of the docking robot leaving the mother body, and the short-distance positioning device is used to accurately position the target device at a close distance when the docking robot approaches the target device. In some embodiments, the long-distance positioning device includes a sonar positioning device, and the short-distance positioning device includes a camera and an image processing module. The docking robot locates the position of the target device through the long-distance positioning device, and moves toward the target device under the action of the driving paddle. When the docking robot approaches the target device, the position of the target device is accurately located by the short-distance positioning device, and docking with the target device is achieved. Specifically, image recognition can be performed through a camera and an image processing module to complete accurate positioning, so that the position of the docking pin is aligned with the docking interface, and then the docking and locking of the docking pin and the docking interface are started.

[0073] In some embodiments, when the docking robot approaches the target device, the target device is accurately positioned at a close distance using the following method.

[0074] Specifically, the position of the target device is accurately located by a short-range positioning device; at the same time, the position of the target device is monitored in real time.

[0075] The camera includes a first camera and a second camera, and accurately locates the position of the target device through a short-range positioning device, including:

[0076] The first step is to obtain the rough position of the docking port. Specifically, the target device is continuously photographed in a panoramic manner by a first camera to obtain at least a first image and a second image including a panoramic image of the target device, and the first image and the second image are subjected to image recognition and / or segmentation by an image processing module to perform rough positioning, thereby obtaining the rough position of the docking port 2101 of the docking device 2100 on the target device, and obtaining the position difference between the first image and the second image, and obtaining the rough position change speed and direction of the target device according to the shooting time and position difference between the first image and the second image.

[0077] The second step is to obtain the precise position of the docking interface. Specifically, after obtaining the rough position of the docking interface and its changes, the docking robot is driven to move to the docking interface so that the docking pin 3101 of the docking structure 3100 is basically / roughly aligned with the docking interface. The docking interface is continuously photographed at close range and micro-focus by a second camera to obtain at least a third image and a fourth image including macro images of the docking interface and the positioning protrusion in the docking interface. The third image and the fourth image are subjected to image recognition and / or segmentation by an image processing module, and are precisely positioned to obtain the precise position of the docking interface 2101 and the positioning protrusion 2103 on the target device; at the same time, the position difference between the third image and the fourth image is obtained, and the precise position change speed and direction of the target device are obtained according to the shooting time and position difference of the third image and the fourth image.

[0078] The third step is to achieve real-time and accurate tracking of the position of the target device. Specifically, after obtaining the precise position of the docking interface and its changing speed and direction, the docking robot is driven to move so that the docking pin 3101 of the docking structure 3100 is accurately aligned with the docking interface. The docking interface is continuously photographed at close range and with a micro-focus by a second camera, and the photographed images are processed in real time by an image processing module. The docking robot is driven to track the movement in real time according to the image processing results, so as to achieve real-time and accurate tracking of the position of the target device.

[0079] In some embodiments, the buffer locking mechanism includes a buffer mechanism and a locking mechanism, the buffer mechanism includes an elastic device, and the locking mechanism includes a V-shaped structure and a fixing plate. When the underwater device is retracted to the mother body, the underwater device contacts and locks with the buffer locking mechanism to prevent collision damage. Specifically, the V-shaped structure matches the size of the underwater device, the underwater device can be embedded in the V-shaped structure, the fixing plate is rotationally connected or slidably connected to the V-shaped structure, and after the underwater device is embedded in the V-shaped structure, the fixing plate flips or slides and presses on the upper part of the underwater device. The locking is completed.

[0080] In some embodiments, the present application also provides an active underwater robot flexible docking and capture control method, the control method utilizes the underwater robot system described in any of the above embodiments to enable the docking robot to flexibly dock and capture the target device.

[0081] In some embodiments, the control method includes:

[0082] The docking robot leaves the mother body;

[0083] The docking robot locates the position of the target device through a remote positioning device, and moves toward the target device under the action of a driving paddle;

[0084] When the docking robot approaches the target device, the position of the target device is accurately located by a short-range positioning device, and docking with the target device is achieved;

[0085] The collecting device in the mother body drives the cable to be retracted, thereby driving the target device captured by the docking robot to be recovered;

[0086] When the target device approaches the mother body, the target device buffers the collision through the buffer locking mechanism, and the buffer locking mechanism locks the target device to the mother body.

[0087] The underwater robot system of the present application completes active capture by docking the docking robot with the target device, and the docking is accurate and reliable. The docking robot and the mother body are connected by cables, and then by docking the docking robots, flexible docking and controllable recovery are achieved to avoid damage to the target device. Two docking robots are connected by two cables, each docking robot is connected to the mother body by a cable, and two docking robots capture a target device at the same time, achieving stable control of the posture of the target device, avoiding cable entanglement, and achieving reliable recovery. Through the collection device and the buffer locking mechanism, the contact between the target device and the mother body is buffered to avoid collision, and the collection device and the locking mechanism cooperate to achieve fixed locking of the target device and complete underwater recovery.

[0088] In some embodiments, the balance control device includes: a PID controller, and the PID controller outputs control parameters of the force of the cable through a PID control algorithm according to changes in the posture angle parameters of the docking robot.

[0089] In some embodiments, each of the docking robots includes an inertial measurement unit, and each of the inertial measurement units is arranged parallel to a reference direction of posture balance of the docking robot. The inertial measurement unit is used to measure the posture angle of the docking robot, and the posture angle includes a pitch angle, a roll angle, and a heading angle.

[0090] In some embodiments, ensuring the posture balance of the target device includes ensuring that the posture of the target device is in a horizontal state. The balance control device is also connected to the collection device to control the pulling force of the collection device on the cable. When the absolute value of the pitch angle of the docking robot increases in a positive or negative direction, the corresponding collection device is controlled to exert a pulling force on the cable and / or the inflation device is controlled to adjust the buoyancy of the cable to restore the pitch angle to a balanced value.

[0091] In some embodiments, Fig. 9 FIG. 1 is a schematic diagram of a cross-sectional structure of a cable according to an embodiment of the present invention. The cable 1000 may be constructed as a zero-gravity cable. Figure 1 and Figure 2The zero-gravity cable is used in underwater robot systems. Each underwater robot system has two zero-gravity cables. During the recovery process, the buoyancy of the two zero-gravity cables can be controlled to reduce or even avoid the gravity effect of the zero-gravity cables, making it easier to control the force balance at both ends of the underwater device and ensure stable recovery of the underwater device. Fig. 9 The cable 1000 is used for underwater equipment recovery, including a cable 100, one end of the cable is used to connect to a docking robot, and the other end is used to connect to a mother body. The docking robot is used to capture underwater equipment, thereby recovering the underwater equipment; the cable is used to supply power to the docking robot. In some embodiments, the cable 1000 also includes a buoyancy structure 200, and the buoyancy structure includes an inflatable cavity 201. The buoyancy structure is used to make the buoyancy of the cable equal to the gravity when it is in the water, so that it is in a zero gravity state. It can be understood that the water can be seawater or fresh water. In addition, by providing an inflatable cavity, the cable can be in an expanded state when inflated, and is subjected to radial outward tension. The overall rigidity of the cable is large and it is not easy to bend, so that the cable is not easy to get entangled during the pulling and recovery process, and the motion control is easier.

[0092] In some embodiments, the cable comprises at least two air-filled cavities, the cable is arranged at the center of the cable, and at least two of the air-filled cavities extend along the cable. In some embodiments, the cable has two air-filled cavities, the cable is arranged at the center of the cable, the two air-filled cavities extend along the cable, and are symmetrically arranged on both sides of the cable.

[0093] Fig.10 It is a schematic diagram of the cross-sectional structure of a control valve of a cable according to an embodiment of the present invention. Fig.11 for Fig.10 AA section diagram. Fig.10 and Fig.11 In some embodiments, a control valve 300 is provided at one end of the cable used to connect to the docking robot. The control valve 300 is connected to the inflatable cavity and is used to control the connection or disconnection of the inflatable cavity. Fig. 9 and Fig.10 In the illustrated embodiment, the cable has two air-filled cavities, and the control valve 300 connects the two air-filled cavities to control the connection or disconnection of the two air-filled cavities.

[0094] In some embodiments, the end of the cable used to connect to the mother body has an inflatable device 400, and the inflatable device can be installed on the mother body. In some embodiments, the mother body is provided with an inflatable device, and each cable is provided with at least two independent inflatable devices, and each inflatable device can inflate at least one inflatable cavity. In some embodiments, the cable has two inflatable cavities, and each inflatable device inflates one inflatable cavity.

[0095] In an embodiment of the present application, two inflatable cavities and two independent inflatable devices are provided, each independent inflatable device corresponds to an inflatable cavity, and the two inflatable cavities are connected by a control valve to ensure the reliability of inflation and avoid failure of inflation due to failure of a certain inflatable cavity or a certain inflatable device, especially failure of inflation due to damage or blockage of the inflatable cavity. When the inflatable devices are working normally, the control valve is closed, and the two inflatable cavities are independently inflated and the air pressure is controlled to ensure inflation efficiency and stability. When a certain inflatable device fails, the control valve can be opened, so that another inflatable device can be used to directly inflate the two inflatable cavities. When a certain inflatable cavity is damaged and leaks, the control valve can be closed, and the air pressure of the other inflatable cavity can be increased to ensure buoyancy.

[0096] In some embodiments of the present application, a balance control method for an underwater robot system is further provided. The underwater robot system is the underwater robot system as described above. The balance control method comprises:

[0097] Before the docking robot completes docking with the target device, the balance control device controls the inflation device to inflate the inflation cavity of the cable and adjusts the buoyancy of the cable so that the buoyancy of the cable is not less than the weight of the cable.

[0098] In the embodiments of the present application, by independently inflating and controlling the air pressure of the two inflatable cavities, the air pressure of the inflatable cavity can be conveniently controlled and adjusted, thereby adjusting the buoyancy of the entire cable to adapt to the movement state of the cable, prevent entanglement, and improve efficiency. For example, during the cable release process, that is, during the cable rising process, the docking robot is in an ascending state, and the air pressure of the inflatable cavity can be appropriately increased to make the buoyancy of the cable greater than the gravity of the cable, so that the cable itself has an upward driving force under the action of buoyancy, reducing the driving force required for the docking robot, and the docking robot is easier and faster to approach the underwater equipment that needs to be docked. Of course, the buoyancy of the cable cannot be too greater than the gravity of the cable to prevent the cable from moving upward faster than the docking robot, pulling the docking robot, and preventing the docking robot from losing control.

[0099] In some embodiments, the balance control method includes: during the docking process between the docking robot and the target device, the balance control device controls the inflation device to adjust the air pressure of the inflation cavity of the cable so that the buoyancy of the cable is equal to the gravity of the cable.

[0100] In the embodiment of the present application, the docking process between the docking robot and the target device refers to the process of accurately positioning the target device at a close distance when the docking robot approaches the target device and completing the docking and locking process, that is, the docking pin and the docking port complete the docking and locking. In this process, the buoyancy of the cable is equal to the gravity of the cable, which can effectively prevent entanglement and facilitate the motion control of the docking robot, so that the docking pin and the docking port can accurately complete the docking and locking and reduce docking impact and collision.

[0101] In some embodiments, the balance control method includes: after the docking robot completes docking with the target device, the balance control device controls the pulling force of the collecting device on the cable and / or the inflation device adjusts the buoyancy of the cable to balance the posture of the target device.

[0102] During the cable descent or recovery process, the docking robot also descends with the underwater equipment. The air pressure in the inflated cavity can be appropriately reduced to make the buoyancy of the cable less than or equal to the weight of the cable. As a result, the cable itself has a downward driving force or floating state under the action of gravity. Under the action of the collection device on the mother body, the cable can easily recover the underwater equipment. Of course, the buoyancy of the cable cannot be too small. The cable should not move downward too fast under the action of gravity, pulling the docking robot and preventing the docking robot from losing control. It is also necessary to prevent the cable from moving downward at a speed greater than the cable collection speed of the collection device, so that the cables will be stacked and entangled, hindering recovery.

[0103] Fig.16 Schematic diagram of the force state of the underwater robot system during the target device recovery process. (a) is a schematic diagram of the target device in a balanced state, and (b) is a schematic diagram of the target device in a tilted state.

[0104] In some embodiments, there are two cables, including a first cable and a second cable, there are two docking robots, including a first docking robot and a second docking robot, the first cable is connected to the first docking robot, the second cable is connected to the second docking robot, the first docking robot and the second docking robot are docked with the front and rear ends of the target device respectively, and the balance control method includes:

[0105] When the tension of any one of the first cable and the second cable is 0, and the tension of the other cable is not 0, the balance control device controls the inflation device to adjust the buoyancy of the other cable so that the buoyancy of the other cable is less than the gravity;

[0106] When the tensions of the first cable and the second cable are both 0, the balance control device controls the pulling force of the collection device on the first cable and the second cable to increase the pulling force on the first cable and the second cable.

[0107] Specifically, Fig.16 As shown, after the docking robot completes docking with the target device, the docking robot stops self-driving, and the driving force of the docking robot on the target device comes from the tension of the cable. The force on the target device includes its own buoyancy F 浮 , gravity G and the driving force F of the first docking robot on the target device 1驱动 , the driving force F of the second docking robot on the target device 2驱动 The driving force F of the first docking robot on the target device 1驱动 The driving force F of the second docking robot on the target device is downward. 2驱动 Direction downward.

[0108] Among them, the driving force F of the first docking robot on the target device 1驱动 , the pulling force F of the collecting device on the first cable 1拉力 , the gravity of the first cable F 1g , the buoyancy of the first cable F 1f The relationship is:

[0109] F 1驱动 =F 1拉力 +F 1g -F 1f

[0110] The driving force F of the second docking robot on the target device 2驱动 , the pulling force F of the collecting device on the second cable 2拉力 , the gravity of the second cable F 2g 、Buoyancy of the second cable F 2f The relationship is:

[0111] F 2驱动 =F 2拉力 +F 2g -F 2f

[0112] In the balanced state, the target device is horizontal, and the pitch angle is 0 degrees. When disturbed by the underwater environment or other unbalanced forces, the target device is in a tilted state, and the pitch angle changes. It is necessary to control the buoyancy and tension of the cable, and adjust the driving force of the first docking robot on the target device to F 1驱动’ , the driving force of the second docking robot on the target device is F 2驱动’ , providing a restoring torque M for the target device 恢复 , so that the pitch angle returns to a balanced value.

[0113] In an embodiment of the present application, by jointly controlling the tension and buoyancy of the two cables, the target device can be set to always be kept in a tensioned state as much as possible during the recovery process, regardless of the gravity and buoyancy to which the target device itself is subjected, thereby controlling its horizontal posture.

[0114] In some embodiments, the cable has a plurality of inflatable cavities, and the plurality of inflatable cavities are more than three, for example, three, four, or five inflatable cavities. In some embodiments, the number of inflatable cavities is not more than 5. By providing two or more inflatable cavities, the reliability of inflation can be ensured, and the failure to inflate due to damage or blockage of a certain inflatable cavity can be avoided. In addition, the number of inflatable cavities is not more than 5, which can simplify the structure, reduce the difficulty of processing and manufacturing, and also avoid the easy blockage caused by the small cross-sectional size of a single inflatable cavity. In some embodiments, the number of inflatable cavities is 2-5, and an independent inflatable device is provided for each inflatable cavity, and the number of independent inflatable devices is 2-5. Providing multiple independent inflatable devices can ensure the inflation pressure and improve the inflation efficiency. In some embodiments, two or more inflatable cavities share an independent inflatable device. Of course, each cable has at least two independent inflatable devices. The inflatable cavities corresponding to the two independent inflatable devices are connected by a control valve. Under the action of the control valve, the two inflatable cavities are connected or disconnected. When the two inflatable cavities are connected, each independent inflatable device can inflate the two inflatable cavities, and the air pressure in the two inflatable cavities is the same. When the two inflatable cavities are disconnected, each independent inflatable device can only inflate the corresponding inflatable cavity, and the air pressure in the two inflatable cavities can be different.

[0115] In the embodiment of the present application, by providing multiple inflatable cavities and multiple independent inflatable devices, the reliability and efficiency of inflation are further guaranteed, and the anti-entanglement effect is better. In addition, the air pressure in the multiple inflatable cavities can be controlled so that the air pressure in different inflatable cavities is different, so as to adapt to the influence of the water flow direction.

[0116] refer to Fig.12The cable has three inflatable cavities, namely, the first inflatable cavity 2011, the second inflatable cavity 2012 and the third inflatable cavity 2013. An independent inflatable device is provided for each inflatable cavity, and three independent inflatable devices are provided. Every two adjacent inflatable cavities are connected by a control valve 300, that is, a first control valve 301 is provided between the first inflatable cavity 2011 and the second inflatable cavity 2012, a second control valve 302 is provided between the second inflatable cavity 2012 and the third inflatable cavity 2013, and a third control valve 303 is provided between the third inflatable cavity 2013 and the first inflatable cavity 2011.

[0117] Fig.13 FIG. 1 is a schematic diagram of a composite material layer structure of a cable according to an embodiment of the present invention. Fig. 9 and Fig.13 , the outer side of the cable is wrapped with a composite material layer 500, and the composite material layer is made of a high-strength material. The composite material layer is made of a flexible material that is resistant to bending. The setting of the composite material layer can ensure that the cable can be wound, but will not bend, thereby avoiding damage to the inflatable cavity and the cable, but it is convenient for recycling. In some embodiments, the composite material layer includes a tensile layer 501, a bending layer 502 and a protective layer 503, and the protective layer is arranged on the periphery of the tensile layer, and the tensile layer is arranged on the periphery of the bending layer. The tensile layer 501 has a large strength and is used to prevent the cable from being broken due to excessive tension. The tensile layer 501 can be composed of metal wires, and the metal wires form a mesh structure. The metal wires can be stainless steel. The bending layer 502 has a large rigidity and is used to prevent the cable from bending due to excessive bending moment. The bending layer 502 can be a flexible plastic. The protective layer 503 has good wear resistance and corrosion resistance, which is used to prevent the cable from being worn and corroded in the seawater environment and during the recovery process. The protective layer 503 can be made of rubber material. By arranging the anti-bending layer, the anti-tensile layer and the protective layer in sequence, with the anti-bending layer at the innermost side and the protective layer at the outermost side, wear, tear and bending can be effectively prevented.

[0118] refer to Fig. 9 In some embodiments, the outer periphery of the cable has an insulating layer 600, and the insulating layer is arranged between the cable and the air-filled cavity. The insulating layer 600 is arranged closely to the cable to insulate and protect the cable.

[0119] In some embodiments, the inflatable cavity has a cavity skin 202. The cavity skin 202 can be made of elastic material. The cavity skin has good flexibility and elasticity and can adapt to different inflation pressures. The cavity skin 202 also has good air tightness. In some embodiments, the cavity skin 202 can be a rubber material. In some embodiments, between the composite material layer 500 and the insulating layer 600, the space other than the inflatable cavity has a filling material 700, and the filling material 700 can be a porous flexible material, such as a foam material. The filling material 700 has shaping and protective effects, and can also increase buoyancy. Fig. 9 As shown, the filling material 700 has a certain shape, with an air-filled cavity in the middle. When the air-filled cavity is inflated, the cavity skin 202 is tightly attached to the filling material 700 and fills the space containing the filling material 700 .

[0120] Fig.14 FIG. 1 is a schematic cross-sectional view of a cable according to an embodiment of the present invention. Fig.14 As shown, the inflatable cavity 201 has an inflatable support structure. Fig.15 FIG. 1 is a schematic diagram of an inflatable support structure of a cable according to an embodiment of the present invention. Fig.14 and Fig.15In some embodiments, the inflatable support structure includes an inflatable column 203, an inflatable hole 204 and a connecting rod 205. Each inflatable cavity 201 has two inflatable columns 203, and the two inflatable columns 203 are connected by a connecting rod 205. There are multiple connecting rods 205. They are arranged at intervals between the two inflatable columns 203. The inflatable column 203 extends along the longitudinal direction of the inflatable cavity 201, that is, the length direction of the cable. The inflatable column 203 is annular, and the center of the inflatable column 203 is a hollow structure. There are multiple inflatable holes 204 on the inflatable column 203. Multiple inflatable holes 204 can be arranged at intervals on the inflatable column 203. Multiple inflatable holes 204 can be staggered to prevent blockage. The inflatable device is connected to the inflatable column 203. When inflating, the inflatable device transmits gas through the hollow structure in the center of the inflatable column 203, and enters the inflatable cavity through the inflatable hole 204. In some embodiments, the inflatable support structure can be wound together with the cable. In this embodiment, the composite material layer 500 can be a compressible and deformable structure. When the cable is recycled, the inflatable cavity 201 that has been recycled to the mother body can be completely flattened, and the entire cable can be flattened and then wound, thereby reducing the recycling space. In this embodiment, the inflatable cavity 201 is two symmetrically arranged, and after the inflatable cavity is flattened, the cable is flat as a whole. Specifically, the connecting rod 205 is tangentially connected to the outside of the inflatable column 203. After the inflatable cavity 201 is flattened, the cavity skin 202 can be close to the connecting rod 205 and the inflatable column 203. In this embodiment, no filling material may be provided or a softer filling material may be provided. The inflatable support structure as a whole can be used as a supporting structure, and the cavity skin 202 is wrapped outside the inflatable support structure, and will not be displaced. The shape and position of the inflated and flattened states are controllable.

[0121] In some embodiments of the present application, after the docking and locking of the docking pin and the docking port are completed, the posture lock of the docking robot is controlled, and the pulling force of the two cables is precisely controlled to ensure the posture balance of the target device (mainly to keep it horizontal in the embodiments of the present application). The posture balance control method of the present application takes into account the pulling force of the cable, the force of the docking robot, the movement change of the target device, the influence of water flow, etc., and also combines the coordinated balance of the two docking robots and the cable to keep the horizontal position of the target device. The entire control process is realized through PID algorithm control, and the cable entanglement can be avoided.

[0122] Fig.17 FIG. 1 is a schematic diagram of an electronic device according to an embodiment of the present invention. Fig.17 In some embodiments, an electronic device is also provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above methods when executing the program. In some embodiments, the electronic device is a computer device.

[0123] At the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above method. Of course, in addition to the software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices. It can be understood that it is only necessary to program the method flow slightly in a hardware description language and program it into an integrated circuit to obtain a hardware circuit that implements the logical method flow.

[0124] The above method can be implemented by a controller in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include but are not limited to microcontrollers. The memory controller can also be implemented as part of the control logic of the memory. It is understandable that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0125] The systems, devices, modules or units in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0126] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing this specification, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0127] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, this specification may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0128] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] In some embodiments, a computer-readable storage medium is further provided, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-described methods is implemented.

[0130] In some embodiments, these computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] In some embodiments, these computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] In some embodiments, the computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] In some embodiments, the memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0134] In some embodiments, computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0135] 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. An underwater robot system, characterized in that, The underwater robot system comprises: At least two docking robots, wherein the at least two docking robots are used to simultaneously dock and capture a target device; a mother body, when docking and capturing the target device, the mother body is located underwater and below the target device; At least two cables, the at least two cables correspond to the at least two docking robots one by one, and each of the docking robots is connected to the mother body through one of the cables; A collecting device, the collecting device is located on the mother body and is used to drive the cable to be retracted, so as to drive the target device captured by the docking robot to be recovered; A balance control device is connected to each of the cables and is used to control the force applied to each of the cables so that the at least two docking robots maintain a locked posture, thereby ensuring a balanced posture of the target device.

2. The underwater robot system according to claim 1, wherein The balance control device comprises: a PID controller, and the PID controller outputs control parameters of the force of the cable through a PID control algorithm according to changes in the posture angle parameters of the docking robot.

3. The underwater robot system according to claim 2, characterized in that, The cable includes a buoyancy structure, and the buoyancy structure includes an inflatable cavity, and the buoyancy structure is used to adjust the force applied to the cable; one end of the cable used for connecting to the mother body is provided with an inflatable device, and the inflatable device is connected to the inflatable cavity, and the balance control device is connected to the inflatable device, and the inflatable cavity is inflated by controlling the inflatable device to adjust the air pressure in the inflatable cavity, thereby adjusting the buoyancy of the cable.

4. The underwater robot system according to claim 3, characterized in that, Each of the docking robots includes an inertial measurement unit, and each of the inertial measurement units is arranged parallel to a reference direction of the docking robot's posture balance. The inertial measurement unit is used to measure the posture angle of the docking robot, and the posture angle includes a pitch angle, a roll angle, and a heading angle.

5. The underwater robot system according to claim 4, characterized in that: The method of ensuring the posture balance of the target device includes ensuring that the posture of the target device is in a horizontal state. The balance control device is also connected to the collecting device to control the pulling force of the collecting device on the cable. When the absolute value of the pitch angle of the docking robot increases in a positive or negative direction, the corresponding collecting device is controlled to exert a pulling force on the cable and / or the inflation device is controlled to adjust the buoyancy of the cable to restore the pitch angle to a balanced value.

6. A balance control method for an underwater robot system, characterized in that: The underwater robot system is the underwater robot system according to claim 5, and the balance control method comprises: Before the docking robot completes docking with the target device, the balance control device controls the inflation device to inflate the inflation cavity of the cable and adjusts the buoyancy of the cable so that the buoyancy of the cable is not less than the weight of the cable.

7. The balance control method of the underwater robot system according to claim 6, characterized in that: The balance control method comprises: During the docking process between the docking robot and the target device, the balance control device controls the inflation device to adjust the air pressure of the inflation cavity of the cable so that the buoyancy of the cable is equal to the weight of the cable.

8. The balance control method of the underwater robot system according to claim 6, characterized in that: The balance control method comprises: After the docking robot completes docking with the target device, the balance control device controls the pulling force of the collecting device on the cable and / or the inflation device adjusts the buoyancy of the cable to balance the posture of the target device.

9. The balance control method of the underwater robot system according to claim 8, characterized in that: There are two cables, including a first cable and a second cable; there are two docking robots, including a first docking robot and a second docking robot; the first cable is connected to the first docking robot, the second cable is connected to the second docking robot, the first docking robot and the second docking robot are docked with the front and rear ends of the target device respectively, and the balance control method includes: When the tension of any one of the first cable and the second cable is 0, and the tension of the other cable is not 0, the balance control device controls the inflation device to adjust the buoyancy of the other cable so that the buoyancy of the other cable is less than the gravity; When the tensions of the first cable and the second cable are both 0, the balance control device controls the pulling force of the collection device on the first cable and the second cable to increase the pulling force on the first cable and the second cable.

10. A computer device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the balancing control method described in any one of claims 6 to 9 when executing the program.

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