A Multi-Point Docking Control Method for a Tidal Robot

Abstract

The present invention discloses a multi-point docking control method for a tidal robot, which relates to the technical field of tidal robot docking control. The multi-point docking control method for the tidal robot obtains the initial and target position coordinates of each tidal robot, generates a path and moves the first tidal robot to the target position, analyzes the optimal path of the second robot, and moves it to the target position, conducts collision analysis and docking preparation, calculates a comprehensive evaluation index through image segmentation, three-dimensional coordinate acquisition, deviation analysis and contact force feedback, and adjusts the position until the docking is completed. Repeat path screening, movement and docking analysis to complete the multi-point docking tasks of all tidal robots. The present invention greatly improves the rationality of docking path planning and the efficiency of robot movement by introducing trajectory screening and multi-dimensional comprehensive analysis, including path length, time, curvature, energy consumption, etc., to select the optimal path and dynamically adjust the movement trajectory.

Description

Technical Field

[0001] The present invention relates to the technical field of docking control of tidal robots, and specifically to a multi-point docking control method for tidal robots. Background Art

[0002] With the acceleration of the urbanization process and the rapid growth of the motor vehicle ownership, the traffic pressure on roads has increased significantly. Especially during the morning and evening rush hours, due to the drastic changes in the traffic flow, the fixed lane settings and traditional traffic management means often fail to meet the needs of the dynamic traffic flow, resulting in low utilization efficiency of road resources and the aggravation of traffic congestion problems. To solve this difficult problem, tidal robots have emerged as the times require. As a new type of intelligent device, they have become an important tool for optimizing traffic resource allocation with their flexible mobility and autonomous control technology.

[0003] Tidal robots can autonomously adjust their positions and functional configurations according to the real-time changes in traffic flow, and realize the allocation and management of dynamic lanes. For example, during the morning rush hour, the number of lanes in the inbound direction can be increased, and during the evening rush hour, the number of lanes in the outbound direction can be increased accordingly, thus effectively alleviating the traffic pressure. Compared with traditional fixed facilities (such as variable lane signs, time-limited traffic lights, etc.), tidal robots have higher flexibility and adaptability, and can quickly respond to emergencies, such as traffic accidents or emergency rescue needs.

[0004] The limitations of the existing technology at least include the following problems. First, in the existing docking control methods for tidal robots, usually only the analysis of a single robot or simple multi-robot path planning is carried out, while ignoring the complex interactions and dynamic path adjustment requirements involved in the multi-robot docking process, which easily leads to problems such as path conflicts, collisions, and inaccurate docking during the docking process. In addition, the existing technology lacks a dynamic real-time evaluation mechanism for path planning and adjustment of docking positions, and it is easy to have unreasonable path selection or failure during the docking process due to interference or errors, thus increasing the control complexity and operation risk of the system. Second, the existing control processes for multi-point docking usually lack an all-round docking position evaluation mechanism. Especially when multiple docking points need to meet the docking requirements simultaneously, there is a lack of a comprehensive analysis method that combines multi-dimensional data such as image recognition and force sensor feedback, which easily leads to the docking points not meeting the safety docking standards, increasing the docking adjustment time and system debugging cost, and reducing the system efficiency. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a multi-point docking control method for a tidal robot, which solves the problems in the existing tidal robot docking control method that usually only analyzes a single robot or simple multi-robot path planning, while ignoring the complex interactions and dynamic path adjustment requirements involved in the multi-robot docking process, thus easily leading to path conflicts, collisions, and inaccurate docking during the docking process of the robot. In addition, the prior art lacks a dynamic real-time evaluation mechanism for path planning and docking position adjustment, which easily results in unreasonable path selection or failure during the docking process due to interference or errors, thus increasing the control complexity and operation risk of the system. Secondly, the control process for multi-point docking in the prior art usually lacks an all-round docking position evaluation mechanism. Especially when multiple docking points need to meet the docking requirements simultaneously, there is a lack of a comprehensive analysis method that combines multi-dimensional data such as image recognition and force sensor feedback, thus easily leading to the docking points not meeting the safety docking standards, increasing the docking adjustment time and system debugging cost, and reducing the system efficiency.

[0006] To achieve the above object, the present invention is realized by the following technical solutions: A multi-point docking control method for a tidal robot, comprising the following steps: obtaining the initial position coordinates and target position coordinates of each tidal robot to be moved; performing trajectory analysis on the initial position coordinates and target position coordinates of the first tidal robot to be moved to obtain the moving path of the first tidal robot to be moved; sending a moving instruction to the first tidal robot to be moved based on the moving path; after the first tidal robot to be moved reaches the target position coordinates, performing trajectory analysis on the initial position coordinates and target position coordinates of the first tidal robot to be moved to obtain several docking moving paths of the second tidal robot to be moved, and performing path screening analysis to obtain the optimal docking moving path of the second robot; sending a first moving instruction to the second tidal robot to be moved based on the optimal docking moving path; after the second tidal robot to be moved reaches the target position coordinates, performing collision analysis and adjustment on the target position coordinates of the second tidal robot to be moved, and obtaining the initial position coordinates to be docked of the second tidal robot to be moved; after performing collision analysis and adjustment on the target position coordinates of the second tidal robot to be moved, sending a second moving instruction to the second tidal robot to be moved based on the initial position coordinates to be docked; after the second tidal robot to be moved reaches the initial position coordinates to be docked, performing docking analysis and adjustment on the initial position coordinates to be docked of the second tidal robot to be moved, and sending a docking moving instruction to the second tidal robot to be moved after the docking analysis and adjustment; after the docking of the second tidal robot to be moved and the first tidal robot to be moved is completed, repeating the steps of path screening analysis, sending the first moving instruction, collision analysis and adjustment, sending the second moving instruction, docking analysis and adjustment, and sending the docking moving instruction for the remaining tidal robots to be moved until all the remaining tidal robots to be moved are docked.

[0007] Further, the specific steps to obtain the moving path of the first tidal robot to be moved are as follows: Based on the initial position coordinates and target position coordinates of the first tidal robot to be moved, establish the initial moving straight path of the first tidal robot to be moved, and divide it into several initial moving straight line sections and the straight driving trajectories of each initial moving straight line section; Obtain the road surface image data of each initial moving straight line section of the first tidal robot to be moved, and perform obstacle detection respectively to obtain several initial moving straight line obstacle sections with obstacles for the first tidal robot to be moved, where the road surface image data includes the pixel values of each pixel point in the road surface image; Based on the obstacle avoidance trajectory algorithm, perform obstacle avoidance analysis and adjustment on the straight driving trajectories of each initial moving straight line obstacle section of the first tidal robot to be moved to obtain the obstacle avoidance driving trajectories of each initial moving straight line obstacle section of the first tidal robot to be moved; splice the obstacle avoidance driving trajectories of each initial moving straight line obstacle section of the first tidal robot to be moved and the straight driving trajectories of the remaining each initial moving straight line section to obtain the moving path of the first tidal robot to be moved.

[0008] Further, the specific steps to obtain the optimal docking moving path of the second robot are as follows: Based on several docking moving paths of the second tidal robot to be moved, analyze the driving path length values of each docking moving path of the second tidal robot to be moved respectively; Obtain the moving speed value and the unit moving energy consumption value of the second tidal robot to be moved; Perform comprehensive analysis on the moving speed value, the unit moving energy consumption value, and the driving path length value of each docking moving path of the second tidal robot to be moved respectively to obtain the driving time value and the total moving energy consumption of each docking moving path of the second tidal robot to be moved; Perform curvature analysis on each docking moving path of the second tidal robot to be moved respectively to obtain the path curvature value of each docking moving path of the second tidal robot to be moved; Perform comprehensive analysis on the driving path length value, the driving time value, the total moving energy consumption, and the path curvature value of each docking moving path of the second tidal robot to be moved to obtain the driving comprehensive scoring index of each docking moving path of the second tidal robot to be moved; Perform comparative analysis on the driving comprehensive scoring indexes of each docking moving path of the second tidal robot to be moved, and use the docking moving path with the largest driving comprehensive scoring index as the optimal docking moving path of the second robot.

[0009] Further, the specific formula for calculating the driving comprehensive scoring index of each docking moving path of the second tidal robot to be moved is as follows: where, XzP iis the comprehensive driving score index of the i-th docking and moving driving path of the second tidal robot to be moved, LcD i is the driving path length value of the i-th docking and moving driving path of the second tidal robot to be moved, α1 is the driving path length coefficient stored in the database, XsJ i is the driving time value of the i-th docking and moving driving path of the second tidal robot to be moved, α2 is the driving time coefficient stored in the database, NxZ i is the total moving energy consumption value of the i-th docking and moving driving path of the second tidal robot to be moved, α3 is the energy consumption coefficient stored in the database, LqL i is the path curvature value of the i-th docking and moving driving path of the second tidal robot to be moved, α4 is the path curvature coefficient stored in the database, α1 + α2 + α3 + α4 = 1, e is the natural constant, i = 1, 2, 3, …, i0, i0 is the number of docking and moving driving paths of the second tidal robot to be moved.

[0010] Furthermore, the specific steps for the path curvature value of each docking and moving driving path of the second tidal robot to be moved are as follows: Each docking and moving driving path of the second tidal robot to be moved is respectively divided into road segments to obtain several curvature analysis road segments for each docking and moving driving path of the second tidal robot to be moved, where each curvature analysis road segment includes several driving position points; Steering analysis and length analysis are respectively performed on each driving position point of each curvature analysis road segment of each docking and moving driving path of the second tidal robot to be moved to obtain the comprehensive value of the steering angle change and the road segment length value for each curvature analysis road segment of each docking and moving driving path of the second tidal robot to be moved; The comprehensive value of the steering angle change and the road segment length value for each curvature analysis road segment of each docking and moving driving path of the second tidal robot to be moved are respectively comprehensively analyzed to obtain the path curvature value for each docking and moving driving path of the second tidal robot to be moved.

[0011] Furthermore, the specific formulas for calculating the comprehensive value of the steering angle change, the road segment length value for each curvature analysis road segment of each docking and moving driving path of the second tidal robot to be moved, and the path curvature value for each docking and moving driving path of the second tidal robot to be moved are as follows: Among them, ZxB is is the comprehensive value of the steering angle change of the s-th curvature analysis road segment of the i-th docking and moving driving path of the second tidal robot to be moved, V isr is the direction vector of the r-th driving position point of the s-th curvature analysis road segment of the i-th docking and moving driving path of the second tidal robot to be moved, V is(r+1)is the direction vector of the (r + 1)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x isr , y isr ) are the coordinate values of the r-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x is(r+2) , y is(r+2) ) are the coordinate values of the (r + 2)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x is(r+1) , y is(r+1) ) are the coordinate values of the (r + 1)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, LdC is is the section length value of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, LqL i is the path curvature value of the i-th docking movement driving path of the second tidal robot to be moved, i = 1, 2, 3, …, i0, where i0 is the number of docking movement driving paths of the second tidal robot to be moved, s = 1, 2, 3, …, s0, where s0 is the number of curvature analysis sections, and r = 1, 2, 3, …, r0, where r0 is the number of driving position points.

[0012] Furthermore, the specific steps for collision analysis and adjustment of the target position coordinates of the second tidal robot to be moved are as follows: After the second tidal robot to be moved reaches the target position coordinates, obtain the boundary center ordinate value of the left armspan of the first tidal robot to be moved and the boundary center ordinate value of the right armspan of the second tidal robot to be moved, and perform a difference analysis to obtain the armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved; Compare and analyze the armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved with the preset armspan interval safety value; If the armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved is lower than or equal to the preset armspan interval safety value, no measures are taken; If the armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved is higher than the preset armspan interval safety value, perform a translation adjustment on the target position of the second tidal robot to be moved.

[0013] Further, the specific steps for docking analysis and adjustment of the initial docking position coordinates of the second tidal robot to be moved and sending a docking movement instruction to the second tidal robot after the docking analysis and adjustment are as follows: Obtain the docking surface image data of the first and second tidal robots to be moved respectively, where the docking surface image data includes the pixel values and three-dimensional coordinate values of each pixel point in the interface image; Based on the color segmentation algorithm, perform segmentation processing on the docking surface image data of the first and second tidal robots to be moved to obtain several docking position regions in the docking surface images of the first and second tidal robots to be moved; Mark the three-dimensional coordinates of the central pixel point of each docking position region in the docking surface images of the first and second tidal robots to be moved as the three-dimensional coordinate values of each docking position point of the first and second tidal robots to be moved; Perform comprehensive analysis on the three-dimensional coordinate values of each docking position point in the docking surface images of the first and second tidal robots to be moved to obtain the docking position space deviation index and the docking position normal vector deviation index between the first tidal robot to be moved and the second tidal robot to be moved; Obtain the actual contact force feedback values of each docking position point of the first and second tidal robots to be moved respectively and perform comprehensive analysis to obtain the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved; Perform comprehensive analysis on the docking position space deviation index, the docking position normal vector deviation index, and the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved to obtain the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved; Compare and analyze the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved with a preset docking position comprehensive evaluation threshold, and take adjustment measures according to the analysis results; Among them, the specific formula for calculating the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved is as follows: Where DjF is the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved, and YjC u is the actual contact force feedback value of the u-th docking position point of the first tidal robot to be moved, and EjC u is the actual contact force feedback value of the u-th docking position point of the second tidal robot to be moved, e is the natural constant, u = 1, 2, 3,..., u0, and u0 is the number of docking position points.

[0014] Further, the specific formula for calculating the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved is as follows: Among them, DwP is the comprehensive evaluation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, KjP is the spatial deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, ξ1 is the spatial deviation coefficient stored in the database, FxP is the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, ξ2 is the normal vector deviation coefficient stored in the database, DjF is the contact force feedback index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, ξ3 is the contact force feedback coefficient stored in the database, and ξ1 + ξ2 + ξ3 = 1.

[0015] Further, the specific steps to obtain the spatial deviation index of the docking position and the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved are as follows:

[0016] Read the three-dimensional coordinate values of each docking position point of the first and second tidal robots to be moved, and perform deviation analysis respectively to obtain the spatial deviation values of each docking position point between the first tidal robot to be moved and the second tidal robot to be moved, and perform comprehensive analysis to obtain the spatial deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved;

[0017] Arbitrarily select several pixel points in each docking position area of the first and second tidal robots to be moved;

[0018] Perform normal vector analysis on the three-dimensional coordinates of several pixel points in each docking position area of the first and second tidal robots to be moved respectively with the three-dimensional coordinates of the docking position points to obtain the normal vector values of each docking position area of the first and second tidal robots to be moved, and perform comprehensive analysis to obtain the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved;

[0019] Among them, the specific formulas for calculating the spatial deviation value of each docking position point, the spatial deviation index of the docking position, and the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved are as follows: Among them, ΔPc u is the spatial deviation value of the u-th docking position point between the first tidal robot to be moved and the second tidal robot to be moved, (x u , y u , z u ) is the three-dimensional coordinate value of the u-th docking position point of the first tidal robot to be moved, (x′ u , y′ u , z′ u) is the three-dimensional coordinate value of the u-th docking position point of the second tidal robot to be moved, KjP is the docking position space deviation index between the first tidal robot to be moved and the second tidal robot to be moved, FxP is the docking position normal vector deviation index between the first tidal robot to be moved and the second tidal robot to be moved, DF u is the normal vector value of the u-th docking position point of the first tidal robot to be moved, EF u is the normal vector value of the u-th docking position point of the second tidal robot to be moved, u = 1, 2, 3, …, u0, and u0 is the number of docking position points.

[0020] The present invention has the following beneficial effects:

[0021] (1). For the multi-point docking control method of this tidal robot, by introducing trajectory screening and multi-dimensional comprehensive analysis, including path length, time, curvature, energy consumption, etc., the optimal path is selected and the moving trajectory is dynamically adjusted, thereby greatly improving the rationality of the docking path planning and the efficiency of the robot movement. In addition, a comprehensive analysis of spatial deviation, normal vector deviation, and contact force feedback is added at the docking point, enabling the robot to accurately complete the docking and fundamentally solving the problems of inaccurate docking or interference.

[0022] (2). For the multi-point docking control method of this tidal robot, through means such as real-time path obstacle avoidance analysis, docking point normal vector analysis, and contact force feedback analysis, a dynamic adjustment mechanism is established. For example, when the robot detects that the distance from other robots is insufficient at the target position, it can adjust the target position in real time to avoid collisions. When the spatial deviation and contact force feedback of the docking point do not reach the safety threshold, the system can trigger the automatic optimization of the docking point. This real-time evaluation and adjustment ability significantly improves the adaptability and reliability of the system in complex environments.

[0023] (3). For the multi-point docking control method of this tidal robot, by introducing a path comprehensive scoring index in the path planning stage, which combines path length, curvature, energy consumption, and time, the safety and efficiency of the robot's moving path are ensured. In the docking stage, key indicators such as the spatial deviation index, normal vector deviation index, and contact force feedback index of the docking point are obtained through image data analysis to form an all-round analysis system for the docking point. Finally, a comprehensive evaluation index of the docking position is calculated by synthesizing these indicators to determine whether the safety threshold is reached, ensuring the safety and stability of the docking process and avoiding situations of docking failure or robot damage, greatly enhancing the reliability and application value of the system.

[0024] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Flow chart of the multi-point docking control method for a tidal robot according to the present invention.

[0026] Figure 2 Flow chart of the specific steps for obtaining the moving path of the first tidal robot to be moved in the multi-point docking control method for a tidal robot according to the present invention.

[0027] Figure 3 Flow chart of the specific steps for obtaining the optimal docking and moving path of the second robot in the multi-point docking control method for a tidal robot according to the present invention. Detailed implementation manners

[0028] In the embodiments of the present application, through a multi-point docking control method for a tidal robot, the problems in the existing tidal robot docking control methods are solved. In the existing tidal robot docking control methods, usually only the analysis of a single robot or simple multi-robot path planning is carried out, while ignoring the complex interactions and dynamic path adjustment requirements involved in the multi-robot docking process, which easily leads to problems such as path conflicts, collisions, and inaccurate docking during the docking process of the robots. In addition, in the prior art, there is a lack of a dynamic real-time evaluation mechanism for path planning and docking position adjustment, which easily results in unreasonable path selection or failure during the docking process due to interference or errors, thereby increasing the control complexity and operation risk of the system. Secondly, in the prior art, the control process for multi-point docking usually lacks an all-round docking position evaluation mechanism. Especially when multiple docking points need to meet the docking requirements synchronously, there is a lack of a comprehensive analysis method combining multi-dimensional data such as image recognition and force sensor feedback, which easily leads to the docking points not meeting the safety docking standards, increasing the docking adjustment time and system debugging cost, and reducing the system efficiency.

[0029] The general idea for the problems in the embodiments of the present application is as follows:

[0030] Obtain the initial position coordinates and target position coordinates of each tidal robot, conduct trajectory analysis and generate a moving path. Send a moving instruction to the first tidal robot to complete its arrival at the target position. After the first robot reaches the target position, conduct a comprehensive analysis of multiple indicators such as path length, energy consumption, and curvature for multiple docking moving paths of the second robot, select the optimal docking moving path, send a moving instruction to the second robot to complete its arrival at the target position. After the second robot reaches the target position, conduct collision analysis and target position adjustment to ensure that the second robot enters the initial position for docking. Conduct docking analysis on the second robot, including image data segmentation, obtaining the three-dimensional coordinates of the docking point, analyzing the spatial deviation of the docking point, analyzing the deviation of the normal vector, and analyzing the contact force feedback. Comprehensively analyze the above indicators, calculate the comprehensive evaluation index, and determine whether the preset docking threshold is reached. If not satisfied, adjust the position until docking is completed. Repeat the above steps of path screening, sending moving instructions, and docking analysis to complete the multi-point docking of all tidal robots.

[0031] Please refer to Figure 1, an embodiment of the present invention provides a technical solution: a multi-point docking control method for a tidal robot, comprising the following steps: obtaining the initial position coordinates and target position coordinates of each tidal robot to be moved; analyzing the initial position coordinates and target position coordinates of the first tidal robot to be moved to obtain the moving path of the first tidal robot to be moved; sending a moving instruction to the first tidal robot to be moved based on the moving path; after the first tidal robot to be moved reaches the target position coordinates, analyzing the initial position coordinates and target position coordinates of the first tidal robot to be moved to obtain several docking moving paths of the second tidal robot to be moved (the analysis process is the same as that of the moving path of the first tidal robot to be moved), and performing path screening analysis to obtain the optimal docking moving path of the second robot; sending a first moving instruction to the second tidal robot to be moved based on the optimal docking moving path; after the second tidal robot to be moved reaches the target position coordinates, performing collision analysis and adjustment on the target position coordinates of the second tidal robot to be moved, and obtaining the initial position coordinates to be docked of the second tidal robot to be moved (in this embodiment, the position coordinates indicate that the arm extension direction of the second tidal robot to be moved is horizontal and on the same horizontal line as that of the first tidal robot to be moved, but there is still a gap between the adjacent arm extension boundaries of the two); after performing collision analysis and adjustment on the target position coordinates of the second tidal robot to be moved, sending a second moving instruction to the second tidal robot to be moved based on the initial position coordinates to be docked (that is, after performing translation adjustment on the target position of the second tidal robot to be moved, analyzing the moving trajectory according to the position coordinates after translation adjustment and the initial position coordinates to be docked, and the analysis process is the same as that of the moving path of the first tidal robot to be moved); after the second tidal robot to be moved reaches the initial position coordinates to be docked, performing docking analysis and adjustment on the initial position coordinates to be docked of the second tidal robot to be moved, and sending a docking moving instruction to the second tidal robot to be moved after the docking analysis and adjustment (that is, translating and docking the second tidal robot to be moved towards the first tidal robot to be moved); after the docking between the second tidal robot to be moved and the first tidal robot to be moved is completed, repeating the steps of path screening analysis, sending the first moving instruction, collision analysis and adjustment, sending the second moving instruction, docking analysis and adjustment, and sending the docking moving instruction for the remaining tidal robots to be moved until all the remaining tidal robots to be moved are docked.

[0032] Specifically, as Figure 2As shown, the specific steps to obtain the moving path of the first tidal robot to be moved are as follows: Based on the initial position coordinates and target position coordinates of the first tidal robot to be moved, establish the initial moving straight path of the first tidal robot to be moved, and divide it into several initial moving straight line segments and the straight driving trajectories of each initial moving straight line segment; Obtain the road surface image data of each initial moving straight line segment of the first tidal robot to be moved, and perform obstacle detection respectively to obtain several initial moving straight line obstacle segments with obstacles for the first tidal robot to be moved. The road surface image data includes the pixel values of each pixel point in the road surface image. Among them, the obstacle detection is specifically: preprocess the road surface image data, including graying, binarization, filtering (such as Gaussian filtering) and edge detection of the pixel values of each pixel point in the road surface image, and use feature detection algorithms (such as SIFT, SURF or ORB) to identify the key feature points in the image, and these points indicate the edges or other significant features of the obstacles; Based on the obstacle avoidance trajectory algorithm, perform obstacle avoidance analysis and adjustment on the straight driving trajectories of each initial moving straight line obstacle segment of the first tidal robot to be moved to obtain the obstacle avoidance driving trajectories of each initial moving straight line obstacle segment of the first tidal robot to be moved. Among them, the obstacle avoidance analysis and adjustment is specifically: use an arc or multiple straight lines to bypass the obstacle. If the obstacle is circular or spherical, generate a tangent connection path at the outside of the obstacle (i.e., the boundary point of the obstacle). For complex obstacle shapes (such as polygons), use a path offset algorithm (such as the dynamic window method or the grid search method) to generate an obstacle avoidance path; Stitch the obstacle avoidance driving trajectories of each initial moving straight line obstacle segment of the first tidal robot to be moved and the straight driving trajectories of the remaining each initial moving straight line segment to obtain the moving path of the first tidal robot to be moved.

[0033] In this implementation, by refining the path planning, the initial straight-line movement path is divided into multiple sections, and obstacle detection and obstacle avoidance adjustment are performed on each section. This obstacle detection method based on image data (combining techniques such as grayscale conversion, binarization, filtering, and edge detection) can more accurately capture the position and shape of obstacles in the environment, thereby greatly improving the accuracy of path planning and the adaptability to complex environments. In addition, by dynamically adjusting the path (such as arcs, tangents, or spliced multi-segment straight lines), it can ensure that the robot can still complete the path planning safely and efficiently in a dynamic or complex obstacle environment. Through detailed obstacle detection and obstacle avoidance trajectory analysis, it provides strong safety guarantees for the robot's movement. During the obstacle detection process, using feature point detection algorithms of images (such as SIFT, SURF, or ORB) can effectively identify the edges or significant feature regions of obstacles, avoiding the risk of missing small or non-significant obstacles in traditional methods. In the obstacle avoidance adjustment stage, for different obstacle shapes (such as circles, spheres, or polygons), flexible obstacle avoidance strategies such as tangent connection, dynamic window method, or grid search method are adopted to ensure that the robot always maintains a safe distance when passing through the obstacle area. Through this real-time adjusted path planning mechanism, the probability of the robot colliding can be effectively reduced, and its operating reliability in complex environments can be improved. During the path planning process, dividing the initial straight-line path into several sections and analyzing them one by one not only reduces the overall computational complexity but also increases the flexibility of path planning. For example, when an obstacle is detected in a certain section, only the path of this section needs to be adjusted for obstacle avoidance, while the other obstacle-free sections can directly use the straight-line path, thus avoiding the high computational cost of global path replanning. In addition, the operation of splicing the obstacle avoidance trajectory and the straight-line path can quickly generate a global movement path, providing a smooth and efficient movement plan for the robot. Compared with traditional methods, the partition analysis and local adjustment strategies in this paper are more efficient in dealing with complex scenarios and can dynamically respond to environmental changes.

[0034] Specifically, as Figure 3As shown in the figure, the specific steps to obtain the optimal docking driving movement path of the second robot are as follows: Based on several docking movement driving paths of the second tidal robot to be moved, analyze the driving path length values of each docking movement driving path of the second tidal robot to be moved respectively; obtain the movement speed value and unit movement energy consumption value of the second tidal robot to be moved; comprehensively analyze the movement speed value, unit movement energy consumption value, and the driving path length value of each docking movement driving path of the second tidal robot to be moved, and obtain the driving time value (i.e., driving path length value / movement speed value) and total movement energy consumption (i.e., driving path length value * unit movement energy consumption value) of each docking movement driving path of the second tidal robot to be moved; analyze the curvature of each docking movement driving path of the second tidal robot to be moved respectively, and obtain the path curvature value of each docking movement driving path of the second tidal robot to be moved; comprehensively analyze the driving path length value, driving time value, total movement energy consumption value, and path curvature value of each docking movement driving path of the second tidal robot to be moved, and obtain the driving comprehensive scoring index of each docking movement driving path of the second tidal robot to be moved; compare and analyze the driving comprehensive scoring indexes of each docking movement driving path of the second tidal robot to be moved, and take the docking movement driving path with the largest driving comprehensive scoring index as the optimal docking driving movement path of the second robot.

[0035] The specific formula for calculating the driving comprehensive scoring index of each docking movement driving path of the second tidal robot to be moved is as follows: Among them, XzP i is the driving comprehensive scoring index of the i-th docking movement driving path of the second tidal robot to be moved, LcD i is the driving path length value of the i-th docking movement driving path of the second tidal robot to be moved, α1 is the driving path length coefficient stored in the database, XsJ i is the driving time value of the i-th docking movement driving path of the second tidal robot to be moved, α2 is the driving time coefficient stored in the database, NxZ i is the total movement energy consumption of the i-th docking movement driving path of the second tidal robot to be moved, α3 is the energy consumption coefficient stored in the database, LqL i is the path curvature value of the i-th docking movement driving path of the second tidal robot to be moved, α4 is the path curvature coefficient stored in the database, α1 + α2 + α3 + α4 = 1, e is the natural constant, with a value of 2.71 in this embodiment, i = 1, 2, 3,..., i0, i0 is the number of docking movement driving paths of the second tidal robot to be moved, and the above data are all calculated after removing the units.

[0036] In this implementation, through the comprehensive analysis of multiple key parameters such as the driving path length, driving time, total energy consumption, and path curvature for each docking path, not only the basic characteristics of the path (such as length) are considered, but also the actual operating conditions such as moving speed and energy consumption are combined. This multi-dimensional evaluation method can comprehensively reflect the practicality and efficiency of the path, avoiding misjudgment problems that may be caused by using only path length or time as a single criterion. For example, by comprehensively analyzing the energy consumption and curvature value of the path, a path that can save energy and ensure the smooth driving of the robot can be preferentially selected, thus greatly improving the scientificity and rationality of path planning. By introducing the calculation of moving speed and unit energy consumption, dynamically evaluating the driving time and total energy consumption of the path can enable the robot to select a more economical path. Further, through curvature analysis, the smoothness of the path can be quantified, avoiding frequent turning or increased mechanical load caused by excessive curvature. This path selection method based on the comprehensive scoring index ensures that the robot can not only efficiently complete the docking task, but also minimize the operating cost to the greatest extent, while reducing mechanical wear and enhancing the overall reliability of the system. By designing a driving comprehensive scoring formula, combining multiple indicators such as path length, driving time, energy consumption, and curvature, and setting weights (path length coefficient, time coefficient, energy coefficient, curvature coefficient) for each indicator, the quantitative comparison of different paths is achieved. Through the weight parameters stored in the database, the priority of each indicator can be flexibly adjusted according to the actual task requirements. For example, increasing the weight of the time coefficient in an emergency task, or increasing the weight of the energy consumption coefficient when the battery power is limited. This scoring system can not only quickly evaluate all candidate paths, but also efficiently select the optimal path through the direct sorting of the scoring results. This quantitative system effectively reduces manual intervention and subjective judgment, improving the accuracy and efficiency of the decision-making process.

[0037] Specifically, the specific steps for the path curvature value of each docking movement driving path of the second tidal robot to be moved are as follows: Each docking movement driving path of the second tidal robot to be moved is respectively divided into sections to obtain several curvature analysis sections of each docking movement driving path of the second tidal robot to be moved, where each curvature analysis section includes several driving position points; Steering analysis and length analysis are respectively performed on each driving position point of each curvature analysis section of each docking movement driving path of the second tidal robot to be moved to obtain the comprehensive value of the steering angle change and the section length value of each curvature analysis section of each docking movement driving path of the second tidal robot to be moved; The comprehensive value of the steering angle change and the section length value of each curvature analysis section of each docking movement driving path of the second tidal robot to be moved are respectively comprehensively analyzed to obtain the path curvature value of each docking movement driving path of the second tidal robot to be moved.

[0038] The specific formulas for calculating the comprehensive value of steering angle change, the road section length value, and the path curvature value of each curvature analysis section of each docking movement driving path of the second tidal robot to be moved are as follows: Among them, ZxB is is the comprehensive value of steering angle change of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, V isr is the direction vector of the r-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, V is(r+1) is the direction vector of the (r + 1)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x isr , y isr ) is the coordinate value of the r-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x is(r+2) , y is(r+2) ) is the coordinate value of the (r + 2)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x is(r+1) , y is(r+1) ) is the coordinate value of the (r + 1)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, LdC is is the road section length value of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, LqL i is the path curvature value of the i-th docking movement driving path of the second tidal robot to be moved, i = 1, 2, 3, …, i0, where i0 is the number of docking movement driving paths of the second tidal robot to be moved, s = 1, 2, 3, …, s0, where s0 is the number of curvature analysis sections, and r = 1, 2, 3, …, r0, where r0 is the number of driving position points.

[0039] In this implementation, by dividing each docking movement path into several curvature analysis sections and calculating the comprehensive value of the steering angle change and the section length value point by point, the curvature magnitude of each path is quantified. This method not only improves the ability to describe the smoothness of the path but also effectively captures local changes in the path (such as sharp turns, complex steering, etc.). Through the precise calculation of the curvature value, smoother paths can be selected, reducing unstable phenomena caused by excessive curvature during the robot's movement, such as mechanical vibrations and increased energy consumption. This precise curvature assessment helps the robot complete the docking task with higher stability. In this method, the curvature analysis is gradually completed through multi-level calculations, including steering angle change analysis, section length calculation, and comprehensive curvature value evaluation. The segmented processing method for each curvature analysis section enables the refined analysis of the local features of the path, avoiding the problem of insufficient accuracy caused by only calculating the global curvature in traditional methods. In addition, taking the curvature value as an important part of the comprehensive path score makes the path selection consider not only the length and time but also the complexity and feasibility of the path. Prioritizing paths with lower curvature values in path planning can significantly improve the robot's adaptability in complex scenarios and provide a more flexible planning scheme for the robot's operation. Dividing each docking path into multiple curvature analysis sections and performing step-by-step analysis of steering and length for each section significantly reduces the computational complexity of the overall path planning. Each curvature analysis only needs to calculate the steering angle and section length within a local range. This segmented analysis reduces the redundancy of global calculations and improves the real-time performance and efficiency of path curvature calculation. Especially in the docking planning scenario of multiple candidate paths, the segmented analysis can quickly screen out suitable path candidates and avoid unnecessary global complex path analysis. In addition, this method can also optimize local areas (such as near obstacles or narrow channels) to improve the accuracy of path planning.

[0040] Specifically, the specific steps for collision analysis and adjustment of the target position coordinates of the second tidal robot to be moved are as follows: After the second tidal robot to be moved reaches the target position coordinates, at this time, the arm extension direction of the second tidal robot to be moved is horizontal with that of the first tidal robot to be moved, but not on the same horizontal line. Obtain the ordinate value of the boundary center of the left arm extension of the first tidal robot to be moved and the ordinate value of the boundary center of the right arm extension of the second tidal robot to be moved. For example, the target position coordinates of the first tidal robot to be moved are (0, 0), and the target position coordinates of the second tidal robot to be moved are (-2, -3), and perform difference analysis to obtain the arm extension interval value between the first tidal robot to be moved and the second tidal robot to be moved. For example, the ordinate value of the boundary center of the left arm extension of the first tidal robot to be moved is 1.5, and the ordinate value of the boundary center of the right arm extension of the second tidal robot to be moved is -4.5, then the arm extension interval value between the first tidal robot to be moved and the second tidal robot to be moved is 1.5 - (-4.5) = 6m; Compare and analyze the arm extension interval value between the first tidal robot to be moved and the second tidal robot to be moved with the preset safe arm extension interval value; If the arm extension interval value between the first tidal robot to be moved and the second tidal robot to be moved is lower than or equal to the preset safe arm extension interval value, no measures are taken; If the arm extension interval value between the first tidal robot to be moved and the second tidal robot to be moved is higher than the preset safe arm extension interval value, perform translational adjustment on the target position of the second tidal robot to be moved.

[0041] It should be explained that in this embodiment, the coordinate position of each tidal robot to be moved takes the target position of the first tidal robot to be moved as the coordinate origin, and takes the arm extension direction of the first tidal robot to be moved as the y-axis, and takes the center of the first tidal robot and the direction perpendicular to the arm extension as the x-axis.

[0042] The safe arm extension interval value means that the arm extension directions of the two tidal robots to be moved are on the same horizontal line, but there is still a gap between their adjacent arm extension boundaries, such as 1m.

[0043] The specific implementation example of the translational adjustment of the target position of the second tidal robot to be moved is as follows: The armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved is 1.5 - (-4.5) = 6m, and the preset safe value of the armspan interval is 9m. Then, it is necessary to translate the second tidal robot to be moved 3m in the direction away from the left armspan direction of the first tidal robot to be moved. And during the translation, the armspan direction of the second tidal robot to be moved and the armspan direction of the first tidal robot to be moved are still in the horizontal state, but still not on the same horizontal line. Then, the ordinate value of the boundary center of the right armspan after the translational adjustment of the target position of the second tidal robot to be moved is -7.5.

[0044] In this implementation scheme, after the second tidal robot reaches the target position, by precisely calculating and analyzing the armspan interval between it and the first tidal robot, it is ensured that the two maintain a safe distance in space. By introducing the "safe value of the armspan interval", it can effectively avoid physical collisions or mechanical interferences caused by the robots being too close to each other, and at the same time ensure that each manipulator can work smoothly during docking. For example, when the actual armspan interval value is higher than the safe value, the system can, through translational adjustment, move the robot to a position that is both safe and meets the docking requirements. This dynamic adjustment strategy ensures the smooth progress of the docking task of the robot in a complex environment, greatly improving the stability and safety of the docking process. And this method uses a coordinate system with the target position of the first tidal robot as the coordinate origin, and its armspan direction as the y-axis, and the direction perpendicular to the armspan direction as the x-axis. The design of this coordinate system provides a standardized basis for subsequent difference calculation and translational adjustment. Through a unified coordinate system, the positions and armspan boundaries of all tidal robots can be described by clear mathematical expressions, making the calculation of the armspan interval value simple and efficient. Such a standardized design also reduces the risk of calculation chaos and adjustment errors in the multi-robot system, providing good support for the scalability of the system. And the collision analysis and adjustment method has strong flexibility and adaptability. When it is detected that the armspan interval value between the second tidal robot and the first tidal robot does not meet the safety requirements, the system can automatically calculate the required translation distance and dynamically adjust the second robot according to the preset rules (such as "away from the left armspan direction of the first robot"). The adjusted target position still maintains the horizontal state of its armspan direction, ensuring that the adjustment process is simple and does not affect subsequent docking operations. This dynamic adjustment mechanism can not only adapt to different task requirements, but also effectively reduce the risk of docking failure in a complex environment, improving the intelligent level and task completion efficiency of the system.

[0045] Specifically, the specific steps for docking analysis and adjustment of the initial docking position coordinates of the second tidal robot to be moved and sending a docking movement instruction to the second tidal robot after the docking analysis and adjustment are as follows: Obtain the docking surface image data of the first and second tidal robots to be moved through a photographing device, such as a camera. The docking surface image data includes the pixel values and three-dimensional coordinate values of each pixel point in the interface image; Based on the color segmentation algorithm, perform segmentation processing on the docking surface image data of the first and second tidal robots to be moved (that is, compare and divide according to the pixel values of each pixel point in the normal image of the docking position point), and obtain several docking position areas in the docking surface images of the first and second tidal robots to be moved; Mark the three-dimensional coordinates of the central pixel point of each docking position area in the docking surface images of the first and second tidal robots to be moved as the three-dimensional coordinate values of each docking position point of the first and second tidal robots to be moved; Perform comprehensive analysis on the three-dimensional coordinate values of each docking position point in the docking surface images of the first and second tidal robots to be moved to obtain the docking position space deviation index and the docking position normal vector deviation index between the first tidal robot to be moved and the second tidal robot to be moved; Respectively obtain the actual contact force feedback values of each docking position point of the first and second tidal robots to be moved and perform comprehensive analysis to obtain the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved; Perform comprehensive analysis on the docking position space deviation index, the docking position normal vector deviation index, and the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved to obtain the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved; Compare and analyze the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved with a preset docking position comprehensive evaluation threshold, and take adjustment measures according to the analysis results. The specific steps are as follows: If the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved meets the preset docking position comprehensive evaluation threshold, no measures are taken. If the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved does not meet the preset docking position comprehensive evaluation threshold, analyze the abnormal index. If the docking position space deviation index and the docking position normal vector deviation index are abnormal, adjust the initial docking position coordinates of the second tidal robot to be moved. If the docking position contact force feedback index is abnormal, analyze the abnormal docking position point and send an abnormal alarm for the docking position point to the relevant staff;

[0046] Among them, the specific formula for calculating the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved is as follows: Among them, DjF is the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved, and YjC u is the actual contact force feedback value of the u-th docking position point of the first tidal robot to be moved, and EjC u is the actual contact force feedback value of the u-th docking position point of the second tidal robot to be moved. e is the natural constant, which takes the value of 2.71 in this embodiment. u = 1, 2, 3, …, u0, and u0 is the number of docking position points.

[0047] The specific formula for calculating the comprehensive evaluation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved is as follows: Among them, DwP is the comprehensive evaluation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, KjP is the spatial deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, ξ1 is the spatial deviation coefficient stored in the database, FxP is the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, ξ2 is the normal vector deviation coefficient stored in the database, DjF is the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved, ξ3 is the contact force feedback coefficient stored in the database, ξ1 + ξ2 + ξ3 = 1, and e is the natural constant, which takes the value of 2.71 in this embodiment.

[0048] It should be explained that in this embodiment, the coordinate position of each tidal robot to be moved takes the target position of the first tidal robot to be moved as the coordinate origin, and takes the arm extension direction of the first tidal robot to be moved as the y-axis, takes the center of the first tidal robot to be moved and the direction perpendicular to the arm extension direction as the x-axis, and takes the standing direction of the first tidal robot to be moved, that is, the direction perpendicular to the x-axis and the y-axis as the z-axis.

[0049] Among them, the actual contact force feedback value of the docking position point is obtained through a force sensor.

[0050] And if both the first tidal robot to be moved and the second tidal robot to be moved are moving without error, the coordinate of the docking point between them should only have a difference in the y value, and there is no difference in its x value and z value.

[0051] In this implementation scheme, a comprehensive docking position analysis system is established by comprehensively evaluating the three-dimensional coordinate values, normal vector deviations, and contact force feedback values of the docking position points of the first and second tidal robots. This multi-dimensional evaluation can accurately identify whether the docking state between the robots meets the preset docking requirements. Especially in complex environments, by analyzing the spatial deviation index and the normal vector deviation index, it is possible to quickly locate potential attitude or position deviation problems. In addition, the addition of the contact force feedback index can monitor the force situation during the docking process in real time, preventing docking failures or damages caused by excessive or insufficient contact forces. Through this method, the accuracy and safety during the robot docking process can be ensured, significantly reducing the risk of docking failures. This method introduces a mechanism for comparing the "comprehensive docking position evaluation index" with the "comprehensive docking position evaluation threshold" to be able to judge in real time whether the robot docking state meets the preset standards. When the comprehensive docking position evaluation index does not meet the requirements, the system will take targeted adjustment measures according to the specific abnormal reasons: for example, when the spatial deviation index or the normal vector deviation index is abnormal, the system will dynamically adjust the initial docking position coordinates of the second tidal robot; when the contact force feedback index is abnormal, the system can locate the specific abnormal docking position point and issue an alarm. This dynamic adjustment mechanism enables the system to quickly adapt to various emergencies, improving the reliability and robustness of the docking task and avoiding docking failures caused by error accumulation. This method designs a unified three-dimensional coordinate system (with the target position of the first tidal robot as the origin, the arm extension direction as the y-axis, and the direction perpendicular to the arm extension direction as the x-axis), and obtains the three-dimensional coordinate values of the docking position points through image segmentation. This standardized coordinate system provides a clear reference framework for the analysis of the docking position points, greatly simplifying the data processing and analysis process. In addition, by calculating the spatial deviation, normal vector deviation, and contact force feedback index through a comprehensive analysis formula and combining the weight coefficients in the database, it is possible to efficiently generate the comprehensive docking position evaluation index and compare it with the threshold. This data-based automated analysis method improves the overall efficiency of the docking task while reducing the need for manual intervention, and is applicable to complex tasks of multi-robot collaborative docking.

[0052] Specifically, the specific steps to obtain the spatial deviation index of the docking position and the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved are as follows: Read the three-dimensional coordinate values of each docking position point of the first and second tidal robots to be moved, and perform deviation analysis respectively to obtain the spatial deviation values of each docking position point between the first tidal robot to be moved and the second tidal robot to be moved, and perform comprehensive analysis to obtain the spatial deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved; Arbitrarily select several pixel points (three pixel points are selected in this embodiment) in each docking position area of the first and second tidal robots to be moved; Perform normal vector analysis on the three-dimensional coordinates of several pixel points in each docking position area of the first and second tidal robots to be moved respectively with the three-dimensional coordinates of the docking position points to obtain the normal vector values of each docking position area of the first and second tidal robots to be moved, and perform comprehensive analysis to obtain the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved.

[0053] Among them, the specific formulas for calculating the spatial deviation value, the spatial deviation index of the docking position, and the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved are as follows: Among them, ΔPc u is the spatial deviation value of the u-th docking position point between the first tidal robot to be moved and the second tidal robot to be moved, (x u , y u , z u ) is the three-dimensional coordinate value of the u-th docking position point of the first tidal robot to be moved, (x′ u , y′ u , z′ u ) is the three-dimensional coordinate value of the u-th docking position point of the second tidal robot to be moved, KjP is the spatial deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, FxP is the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, DF u is the normal vector value of the u-th docking position point of the first tidal robot to be moved, EF u is the normal vector value of the u-th docking position point of the second tidal robot to be moved, u = 1, 2, 3,..., u0, and u0 is the number of docking position points.

[0054] In this implementation, by reading the three-dimensional coordinate values of each docking position point of the first and second tidal robots and performing point-by-point deviation analysis on these coordinates, the spatial deviation value between the two can be accurately calculated. This method can not only effectively capture the absolute error of the docking point positions of the two robots, but also synthesize the spatial deviation values of multiple docking points into a "spatial deviation index of the docking position", comprehensively quantifying the accuracy of the overall docking point matching. This precise means of spatial deviation quantification can effectively reduce the risk of docking failure. Especially in multi-point docking tasks, it can ensure that all docking points meet the position matching requirements, thereby improving the success rate of the docking task. By selecting several pixel points (such as 3 pixel points) in each docking position area and performing normal vector analysis on their three-dimensional coordinates, the normal vector value of the docking point area can be accurately calculated. Further, by comparing the normal vectors of the corresponding docking points of the first and second tidal robots and calculating the normal vector deviation index, the attitude consistency between the docking points of the two robots can be comprehensively evaluated. This normal vector matching analysis ensures that the docking points not only match in position but also align in the spatial direction, avoiding mechanical structure interference or docking failure problems caused by excessive normal vector deviation of the docking points, providing a strong guarantee for the stability of multi-point docking tasks. The calculation formula designed by this method calculates the spatial deviation value and normal vector deviation value of each docking position point point by point and comprehensively analyzes these deviation values to generate two core indicators, namely the "spatial deviation index" and the "normal vector deviation index". This comprehensive analysis method avoids the complexity of point-by-point analysis, simplifies the evaluation process of the docking state, and at the same time ensures the global optimization of the docking accuracy. In addition, through these two comprehensive indicators, it can be quickly judged whether the overall docking state meets the requirements, providing an efficient decision-making basis for subsequent dynamic adjustment and exception handling. By selecting several pixel points in each docking area for normal vector analysis, it can not only adapt to the complexity of the shape of the docking point area, but also dynamically capture the possible local subtle deviations on the surface of the docking point. Whether it is a regular docking point or a docking area with a complex shape, accurate analysis can be carried out through this method. This flexible analysis method enables the tidal robot to still complete high-precision docking operations under complex environments and task requirements, enhancing the robustness and adaptability of the system.

[0055] In summary, the present application has at least the following effects:

[0056] By introducing trajectory screening and multi-dimensional comprehensive analysis, including path length, time, curvature, energy consumption, etc., the optimal path is selected and the moving trajectory is dynamically adjusted, thereby greatly improving the rationality of the docking path planning and the efficiency of the robot movement. In addition, adding a comprehensive analysis of spatial deviation, normal vector deviation, and contact force feedback at the docking point enables the robot to accurately complete the docking, fundamentally solving the problems of inaccurate docking or interference.

[0057] Through means such as real-time obstacle avoidance analysis of the path, normal vector analysis of the docking point, and contact force feedback analysis, a dynamic adjustment mechanism is established. For example, when the robot detects insufficient distance from other robots at the target position, it can adjust the target position in real time to avoid collisions. When the spatial deviation and contact force feedback of the docking point do not reach the safety threshold, the system can trigger the automatic optimization of the docking point. This real-time evaluation and adjustment ability significantly improves the adaptability and reliability of the system in complex environments.

[0058] By introducing a comprehensive path scoring index in the path planning stage, which combines path length, curvature, energy consumption, and time, the safety and efficiency of the robot's movement path are ensured. In the docking stage, key indicators such as the spatial deviation index, normal vector deviation index, and contact force feedback index of the docking point are obtained through image data analysis to form a comprehensive analysis system of the docking point. Finally, a comprehensive evaluation index of the docking position is calculated based on these indicators to determine whether the safety threshold is reached, ensuring the safety and stability of the docking process and avoiding situations such as docking failure or robot damage, greatly enhancing the reliability and application value of the system.

[0059] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0060] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A multi-point docking control method for a tidal robot, characterized in that It includes the following steps: Obtain the initial position coordinates and target position coordinates of each tidal robot to be moved; Conduct a trajectory analysis on the initial position coordinates and target position coordinates of the first tidal robot to be moved to obtain the moving path of the first tidal robot to be moved; Send a moving instruction to the first tidal robot to be moved based on the moving path; After the first tidal robot to be moved reaches the target position coordinates, conduct a trajectory analysis on the initial position coordinates and target position coordinates of the first tidal robot to be moved to obtain several docking moving paths of the second tidal robot to be moved, and conduct a path screening analysis to obtain the optimal docking moving path of the second robot; Send a first moving instruction to the second tidal robot to be moved based on the optimal docking moving path; After the second tidal robot to be moved reaches the target position coordinates, conduct a collision analysis and adjustment on the target position coordinates of the second tidal robot to be moved, and obtain the initial position coordinates to be docked of the second tidal robot to be moved; After the collision analysis and adjustment of the target position coordinates of the second tidal robot to be moved, send a second moving instruction to the second tidal robot to be moved based on the initial position coordinates to be docked; After the second tidal robot to be moved reaches the initial position coordinates to be docked, conduct a docking analysis and adjustment on the initial position coordinates to be docked of the second tidal robot to be moved, and send a docking moving instruction to the second tidal robot to be moved after the docking analysis and adjustment; After the docking of the second tidal robot to be moved and the first tidal robot to be moved is completed, repeat the steps of path screening analysis, sending the first moving instruction, collision analysis and adjustment, sending the second moving instruction, docking analysis and adjustment, and sending the docking moving instruction for the remaining tidal robots to be moved until all the remaining tidal robots to be moved are docked.

2. The multi-point docking control method of the tidal robot according to claim 1, characterized in that, The specific steps to obtain the moving path of the first tidal robot to be moved are as follows: Based on the initial position coordinates and target position coordinates of the first tidal robot to be moved, establish an initial moving straight path of the first tidal robot to be moved, and divide it into several initial moving straight line sections and the straight driving trajectories of each initial moving straight line section; Obtain the road surface image data of each initial moving straight line section of the first tidal robot to be moved, and conduct obstacle detection respectively to obtain several initial moving straight line obstacle sections with obstacles of the first tidal robot to be moved. The road surface image data includes the pixel values of each pixel point in the road surface image; Conduct an obstacle avoidance analysis and adjustment on the straight driving trajectories of each initial moving straight line obstacle section of the first tidal robot to be moved based on the obstacle avoidance trajectory algorithm to obtain the obstacle avoidance driving trajectories of each initial moving straight line obstacle section of the first tidal robot to be moved; Conduct a splicing process on the obstacle avoidance driving trajectories of each initial moving straight line obstacle section of the first tidal robot to be moved and the straight driving trajectories of the remaining each initial moving straight line section to obtain the moving path of the first tidal robot to be moved.

3. The multi-point docking control method of the tidal robot according to claim 1, characterized in that, The specific steps to obtain the optimal docking driving movement path of the second robot are as follows: Based on several docking movement driving paths of the second tidal robot to be moved, analyze the driving path length values of each docking movement driving path of the second tidal robot to be moved respectively; Obtain the moving speed value and the unit moving energy consumption value of the second tidal robot to be moved; Comprehensively analyze the moving speed value, the unit moving energy consumption value, and the driving path length value of each docking movement driving path of the second tidal robot to be moved, and obtain the driving time value and the total moving energy consumption of each docking movement driving path of the second tidal robot to be moved; Conduct curvature analysis on each docking movement driving path of the second tidal robot to be moved respectively, and obtain the path curvature value of each docking movement driving path of the second tidal robot to be moved; Comprehensively analyze the driving path length value, the driving time value, the total moving energy consumption, and the path curvature value of each docking movement driving path of the second tidal robot to be moved, and obtain the driving comprehensive scoring index of each docking movement driving path of the second tidal robot to be moved; Conduct a comparative analysis on the driving comprehensive scoring index of each docking movement driving path of the second tidal robot to be moved, and use the docking movement driving path with the largest driving comprehensive scoring index as the optimal docking driving movement path of the second robot.

4. The multi-point docking control method of the tidal robot according to claim 3, wherein, The specific formula for calculating the driving comprehensive scoring index of each docking movement driving path of the second tidal robot to be moved is as follows: Among them, XzP i is the comprehensive driving score index of the i-th docking and moving driving path of the second tidal robot to be moved, LcD i is the driving path length value of the i-th docking and moving driving path of the second tidal robot to be moved, α1 is the driving path length coefficient stored in the database, XsJ i is the driving time value of the i-th docking and moving driving path of the second tidal robot to be moved, α2 is the driving time coefficient stored in the database, NxZ i is the total moving energy consumption of the i-th docking and moving driving path of the second tidal robot to be moved, α3 is the energy consumption coefficient stored in the database, LqL i is the path curvature value of the i-th docking and moving driving path of the second tidal robot to be moved, α4 is the path curvature coefficient stored in the database, α1 + α2 + α3 + α4 = 1, e is the natural constant, i = 1, 2, 3, …, i0, i0 is the number of docking and moving driving paths of the second tidal robot to be moved.

5. The multi-point docking control method of the tidal robot according to claim 3, characterized in that, The specific steps for the path curvature value of each docking movement driving path of the second tidal robot to be moved are as follows: Conduct section division on each docking movement driving path of the second tidal robot to be moved respectively, and obtain several curvature analysis sections of each docking movement driving path of the second tidal robot to be moved, where each curvature analysis section includes several driving position points; Conduct steering analysis and length analysis on each driving position point of each curvature analysis section of each docking movement driving path of the second tidal robot to be moved respectively, and obtain the comprehensive value of the steering angle change and the section length value of each curvature analysis section of each docking movement driving path of the second tidal robot to be moved; Comprehensively analyze the comprehensive value of the steering angle change and the section length value of each curvature analysis section of each docking movement driving path of the second tidal robot to be moved respectively, and obtain the path curvature value of each docking movement driving path of the second tidal robot to be moved.

6. The multi-point docking control method of the tidal robot according to claim 5, characterized in that The specific formulas for calculating the comprehensive value of the steering angle change, the section length value of each curvature analysis section of each docking movement driving path of the second tidal robot to be moved, and the path curvature value of each docking movement driving path of the second tidal robot to be moved are as follows: Among them, ZxB is is the comprehensive value of the steering angle change of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, V isr is the direction vector of the r-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, V is(r+1) is the direction vector of the (r + 1)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x isr , y isr ) are the coordinate values of the r-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x is(r+2) , y is(r+2) ) are the coordinate values of the (r + 2)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, (x is(r+1) , y is(r+1) ) are the coordinate values of the (r + 1)-th driving position point of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, LdC is is the section length value of the s-th curvature analysis section of the i-th docking movement driving path of the second tidal robot to be moved, LqL i is the path curvature value of the i-th docking movement driving path of the second tidal robot to be moved, i = 1, 2, 3, …, i0, where i0 is the number of docking movement driving paths of the second tidal robot to be moved, s = 1, 2, 3, …, s0, where s0 is the number of curvature analysis sections, and r = 1, 2, 3, …, r0, where r0 is the number of driving position points.

7. The multi-point docking control method of the tidal robot according to claim 1, characterized in that The specific steps for collision analysis and adjustment of the target position coordinates of the second tidal robot to be moved are as follows: After the second tidal robot to be moved reaches the target position coordinates, obtain the vertical coordinate value of the boundary center of the left armspan of the first tidal robot to be moved and the vertical coordinate value of the boundary center of the right armspan of the second tidal robot to be moved, and perform a difference analysis to obtain the armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved; Compare and analyze the armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved with the preset armspan interval safety value; If the armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved is lower than or equal to the preset armspan interval safety value, no measures are taken; If the armspan interval value between the first tidal robot to be moved and the second tidal robot to be moved is higher than the preset armspan interval safety value, perform a translation adjustment on the target position of the second tidal robot to be moved.

8. The multi-point docking control method of the tidal robot according to claim 1, characterized in that The specific steps for performing docking analysis and adjustment on the initial docking position coordinates of the second tidal robot to be moved and sending a docking movement instruction to the second tidal robot to be moved after the docking analysis and adjustment are as follows: Obtain the docking surface image data of the first and second tidal robots to be moved respectively, where the docking surface image data includes the pixel value and three-dimensional coordinate value of each pixel point in the interface image; Based on the color segmentation algorithm, perform segmentation processing on the docking surface image data of the first and second tidal robots to be moved to obtain several docking position areas in the docking surface images of the first and second tidal robots to be moved; Mark the three-dimensional coordinates of the central pixel point of each docking position area in the docking surface images of the first and second tidal robots to be moved as the three-dimensional coordinate values of each docking position point of the first and second tidal robots to be moved; Perform a comprehensive analysis on the three-dimensional coordinate values of each docking position point in the docking surface images of the first and second tidal robots to be moved to obtain the docking position space deviation index and docking position normal vector deviation index between the first tidal robot to be moved and the second tidal robot to be moved; Obtain the actual contact force feedback values of each docking position point of the first and second tidal robots to be moved respectively and perform a comprehensive analysis to obtain the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved; Perform a comprehensive analysis on the docking position space deviation index, docking position normal vector deviation index, and docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved to obtain the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved; Compare and analyze the docking position comprehensive evaluation index between the first tidal robot to be moved and the second tidal robot to be moved with the preset docking position comprehensive evaluation threshold, and take adjustment measures according to the analysis results; Among them, the specific formula for calculating the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved is as follows: Among them, DjF is the docking position contact force feedback index between the first tidal robot to be moved and the second tidal robot to be moved, and YjC u is the actual contact force feedback value of the u-th docking position point of the first tidal robot to be moved, and EjC u is the actual contact force feedback value of the u-th docking position point of the second tidal robot to be moved, e is the natural constant, u = 1, 2, 3, …, u0, and u0 is the number of docking position points.

9. The multi-point docking control method of the tidal robot according to claim 8, characterized in that, The specific formula for calculating the comprehensive evaluation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved is as follows: Among them, DwP is the comprehensive evaluation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, KjP is the spatial deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, ξ1 is the spatial deviation coefficient stored in the database, FxP is the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, ξ2 is the normal vector deviation coefficient stored in the database, DjF is the contact force feedback index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved, ξ3 is the contact force feedback coefficient stored in the database, and ξ1 + ξ2 + ξ3 = 1.

10. The multi-point docking control method of the tidal robot according to claim 8, characterized in that, The specific steps to obtain the spatial deviation index of the docking position and the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved are as follows: Read the three-dimensional coordinate values of each docking position point of the first and second tidal robots to be moved, and perform deviation analysis respectively to obtain the spatial deviation values of each docking position point between the first tidal robot to be moved and the second tidal robot to be moved, and perform comprehensive analysis to obtain the spatial deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved; Arbitrarily select several pixel points in each docking position area of the first and second tidal robots to be moved; Perform normal vector analysis on the three-dimensional coordinates of several pixel points in each docking position area of the first and second tidal robots to be moved respectively with the three-dimensional coordinates of the docking position points to obtain the normal vector values of each docking position area of the first and second tidal robots to be moved, and perform comprehensive analysis to obtain the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved; Among them, the specific formulas for calculating the spatial deviation value, the spatial deviation index of the docking position, and the normal vector deviation index of the docking position between the first tidal robot to be moved and the second tidal robot to be moved are as follows: where, ΔPc u is the spatial deviation value of the u-th docking position point between the first tidal robot to be moved and the second tidal robot to be moved, (x u , y u , z u ) is the three-dimensional coordinate value of the u-th docking position point of the first tidal robot to be moved, (x′ u , y′ u , z′ u ) is the three-dimensional coordinate value of the u-th docking position point of the second tidal robot to be moved, KjP is the docking position spatial deviation index between the first tidal robot to be moved and the second tidal robot to be moved, FxP is the docking position normal vector deviation index between the first tidal robot to be moved and the second tidal robot to be moved, DF u is the normal vector value of the u-th docking position point of the first tidal robot to be moved, EF u is the normal vector value of the u-th docking position point of the second tidal robot to be moved, u = 1, 2, 3, …, u0, and u0 is the number of docking position points.

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