A human-machine collaborative control system for underwater welding robots in limited waters

Abstract

The present invention relates to the technical field of underwater welding robots, and in particular to a human-machine collaborative control system for an underwater welding robot in limited waters, comprising: a dropping setting unit for determining the number of dropping points according to a weld evaluation value and determining a dropping point setting method according to an ocean current influence value; a route generating unit for determining a route generating method according to a judgment condition; a processing and judging unit for determining a processing method according to a judgment condition; a dropping optimization unit for determining a dropping point optimization method according to a dropping influence value; a route optimizing unit for optimizing a moving route when a conflict evaluation value is greater than or equal to a preset conflict evaluation value and determining a route optimization method according to a range obstacle reference value; and an information transmission unit for determining an information transmission method according to a transmission condition. The present invention can improve the use efficiency of the underwater welding robot.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater welding robots, and in particular to a human-machine collaborative control system of an underwater welding robot in limited waters. Background Art

[0002] When using a welding robot for underwater welding, the welding robot's lowering point is not adaptively set, and the welding robot often only moves according to a pre-set route. It is unable to adaptively adjust the lowering point and moving route according to the actual underwater situation, resulting in poor efficiency of the welding robot. Therefore, how to improve the efficiency of underwater welding robots is a technical problem that needs to be urgently solved by technical personnel in this field.

[0003] Chinese Patent Publication No. CN106557844B discloses a welding robot path planning method, which includes: establishing a DH parameter model for the welding robot; obtaining an obstacle avoidance path through a geometric obstacle avoidance strategy, and performing Cartesian space-based trajectory planning for the obstacle avoidance path; calculating the path length and motion energy consumption between the welding start point and the welding end point in the obstacle avoidance path; and performing dual-objective path planning for the path length and motion energy consumption using a cluster-guided multi-objective particle swarm optimization algorithm to obtain an optimized path planning result. It can be seen that the above technical solution has the following problems: the path generation method for the welding robot is single and cannot be adaptively adjusted according to actual conditions; and the impact of underwater environmental factors on the operation of multiple robots is not considered. As a result, the robot utilization efficiency is poor and cannot meet actual welding needs. Summary of the Invention

[0004] To this end, the present invention provides a human-machine collaborative control system for underwater welding robots in limited waters, which is used to overcome the problems in the prior art that the path generation method for welding robots is single, the path generation method cannot be adaptively adjusted according to actual conditions, and the influence of underwater environmental factors on the work of multiple robots is not considered, resulting in poor robot utilization efficiency and inability to meet actual welding needs.

[0005] To achieve the above objectives, the present invention provides a human-machine collaborative control system for an underwater welding robot in limited waters, comprising:

[0006] A lowering setting unit is used to determine the number of lowering points according to the weld evaluation value and determine the lowering point setting method according to the ocean current influence value. The lowering point setting method is to evenly set the lowering points or determine the lowering points according to the ocean current direction;

[0007] a route generating unit connected to the decentralization setting unit, for determining, according to the judgment condition, a route generating method to determine a moving route according to an obstacle conflict degree or a distance reference value;

[0008] a processing determination unit connected to the route generation unit and configured to determine a processing method according to a determination condition, wherein the processing method includes determining an optimization method for a drop point according to a drop impact value or determining whether to optimize the moving route according to a conflict evaluation value;

[0009] a decentralization optimization unit, which is connected to the decentralization setting unit and the processing and determination unit respectively, and is used to determine a decentralization point optimization method according to the decentralization impact value. The decentralization point optimization method is to determine an adjustment method according to the decentralization conditions or determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots. The adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold or cancel each conflicting decentralization point;

[0010] a route optimization unit, connected to the route generation unit and the processing and determination unit, respectively, for optimizing the moving route when the conflict evaluation value is greater than or equal to the preset conflict evaluation value, and determining a route optimization mode according to the range obstacle reference value, wherein the route optimization mode is to perform secondary path setting according to the direction conflict degree and the obstacle conflict degree or to determine a waiting mode according to the restriction conditions, wherein the waiting mode is moving waiting or adjacent waiting;

[0011] The information transmission unit is used to determine the information transmission mode as combined transmission or single robot transmission according to the transmission conditions.

[0012] Furthermore, the lowering setting unit determines the number of lowering points according to the weld evaluation value, and determines the lowering point setting method according to the ocean current impact value;

[0013] If the ocean current impact value is less than the preset ocean current impact value, the release point setting method is to set the release points evenly;

[0014] If the ocean current impact value is greater than or equal to the preset ocean current impact value, the release point setting method is to determine the release point according to the ocean current direction;

[0015] The number of the lowering points is positively correlated with the weld reference value.

[0016] Furthermore, the route generation unit responds to the judgment condition to determine the route generation method;

[0017] The judgment condition of the route generation unit response is that the limit reference value is greater than or equal to the preset limit reference value and the obstacle distribution reference value is greater than or equal to the preset obstacle distribution reference value. The route generation method is to determine the movement route according to the obstacle conflict degree, identify each movement path between a robot and the corresponding work point, and select the movement path with the smallest obstacle conflict degree as the movement route;

[0018] The judgment condition responded by the route generation unit is that the limit reference value is less than the preset limit reference value and the obstacle distribution reference value is less than the preset obstacle distribution reference value. The route generation method is to determine the moving route according to the distance reference value, identify the moving paths corresponding to the robot, and select the moving path with the smallest distance reference value as the moving route.

[0019] Furthermore, the processing determination unit responds to the determination condition to determine the processing method;

[0020] The judgment condition for processing the response of the judgment unit is that the number of conflict points is greater than or equal to the preset number of conflict points or the conflict point distribution coefficient is greater than or equal to the preset conflict point distribution coefficient, and the processing method is to determine the optimization method of the decentralized points according to the decentralized impact value;

[0021] The determination condition for processing the response of the determination unit is that the number of conflict points is less than the preset number of conflict points and the conflict point distribution coefficient is less than the preset conflict point distribution coefficient. The processing method is to determine whether to optimize the moving route according to the conflict evaluation value.

[0022] Furthermore, the decentralization optimization unit determines a decentralization point optimization method according to the decentralization impact value;

[0023] If the decentralization impact value is greater than or equal to the preset decentralization impact value, the decentralization point optimization method is to determine the adjustment method according to the decentralization conditions;

[0024] If the decentralization impact value is less than the preset decentralization impact value, the decentralization point optimization method is to determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots.

[0025] Further, the decentralization optimization unit responds to the decentralization conditions to determine the adjustment mode;

[0026] The decentralization conditions for the decentralization optimization unit response are that the proportion of conflict decentralization points is greater than or equal to the preset conflict decentralization point proportion and the conflict decentralization point distribution coefficient is greater than or equal to the preset conflict decentralization point distribution coefficient. The adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold;

[0027] The decentralization condition for the response of the decentralization optimization unit is that the proportion of conflict decentralization points is less than the preset proportion of conflict decentralization points or the conflict decentralization point distribution coefficient is less than the preset conflict decentralization point distribution coefficient. The adjustment method is to cancel each conflict decentralization point.

[0028] The increase value of the decentralization interval time is positively correlated with the conflict decentralization threshold.

[0029] Furthermore, the decentralization optimization unit determines the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots;

[0030] The priority coefficient corresponding to the decentralization point is positively correlated with the proportion of conflicting robots.

[0031] Furthermore, the route optimization unit determines a route optimization mode according to the range obstacle reference value;

[0032] If the range obstacle reference value is greater than or equal to the preset range obstacle reference value, the route optimization method is to set a secondary path based on the direction conflict degree and the obstacle conflict degree;

[0033] When the route optimization method is to set a secondary path based on the direction conflict degree and the obstacle conflict degree, a secondary path is set for each conflicting robot. For a conflicting robot, the conflicting robot is recorded as the target conflicting robot, and the moving path corresponding to the target conflicting robot with a direction conflict degree less than the preset direction conflict degree is recorded as the reference path. The reference path with the smallest obstacle conflict degree is used as the moving route of the target conflicting robot.

[0034] If the range obstacle reference value is less than the preset range obstacle reference value, the route optimization method is to determine the waiting method according to the restriction conditions.

[0035] Further, the route optimization unit responds to the constraint condition to determine the waiting mode;

[0036] The constraint condition for the route optimization unit response is that the path restriction coefficient is greater than or equal to the preset path restriction coefficient, and the waiting mode is mobile waiting;

[0037] The constraint condition for the route optimization unit to respond is that the path restriction coefficient is less than the preset path restriction coefficient, and the waiting mode is adjacent waiting.

[0038] Furthermore, the information transmission unit responds to the transmission conditions to determine the information transmission mode;

[0039] The transmission condition for the information transmission unit response is that the ocean impact value is greater than or equal to the preset ocean impact value or the impact distance is less than the preset impact distance, and the information transmission mode is combined transmission;

[0040] The transmission conditions for the information transmission unit response are that the ocean impact value is less than the preset ocean impact value and the impact distance is greater than or equal to the preset impact distance, and the information transmission mode is single robot transmission.

[0041] Compared with the prior art, the beneficial effect of the present invention lies in that, in the technical solution of the present invention, the number of welds and the distribution of welds are effectively reflected by the weld evaluation value, and then the number of release points is determined according to the weld evaluation value, so that the number of release points is more in line with the actual application scenario, so that the robot can quickly move to the location of the weld, reducing the movement and adjustment time during the robot's underwater welding operation, thereby improving the efficiency of the robot's underwater welding operation, and then determining the release point setting method according to the ocean current influence value, and effectively reflecting the ocean current influence by the ocean current influence value, and then adaptively selecting different release point setting methods according to the ocean current influence value, so that the selection of the release point setting method is more in line with the actual application scenario, avoiding the problem of poor robot efficiency caused by the failure to set the release point in the prior art, and also avoiding the defect of robot collision caused by unreasonable release point setting, and also enabling the robot's underwater welding operation to better cope with the complex and changeable marine environment, and improving the stability and reliability of the robot's underwater welding operation.

[0042] Furthermore, the present invention determines the route generation method based on the judgment conditions, effectively reflects the obstacle degree of the current environment through the judgment conditions, and then adaptively selects different route generation methods according to the judgment conditions, so that the selection of the route generation method is in line with the actual application scenario, avoiding the problem in the prior art that the path generation method for the welding robot is single and cannot be adaptively adjusted according to the actual scenario, thereby improving the use efficiency of the welding robot.

[0043] Furthermore, the present invention determines the processing method based on the judgment conditions, and effectively reflects the number and distribution of collision conflict points during the movement of the robot through the judgment conditions, and then adaptively selects different processing methods according to the judgment conditions, so that the selection of processing methods is more in line with the actual application scenario, reducing the conflict between the robot and other robots during the movement, improving the safety and adaptability of the underwater welding robot, and better adapting to the needs of the robot's underwater welding operations.

[0044] Furthermore, in the present invention, the optimization method of the release point is determined according to the release influence value, and the density of the release point setting is effectively reflected by the release influence value, and then different release point optimization methods are adaptively selected according to the release influence value, so that the selection of the release point optimization method is more in line with the actual application scenario, avoiding the problem of more conflicts between the robot and other robots during the movement due to unreasonable release point setting, thereby improving the movement efficiency of the welding robot.

[0045] Furthermore, in the present invention, the adjustment method is determined according to the lowering conditions, and the number and distribution of conflicting lowering points are effectively reflected through the lowering conditions, and then different adjustment methods are adaptively selected according to the lowering conditions, so that the selection of the adjustment method is more in line with the actual application scenario, and can reduce the risks brought by improper setting of the lowering points, thereby reducing the conflict between the robot and other robots during movement, and improving the stability and reliability of the robot's underwater welding operation.

[0046] Furthermore, the present invention determines the route optimization method based on the range obstacle reference value, which effectively reflects the degree of obstacles in the moving route. Different route optimization methods are adaptively selected according to the range obstacle reference value, so that the selection of route optimization method is more in line with the actual working environment. When facing larger obstacles, the path can be quickly adjusted, which can reduce delays caused by obstacles, thereby improving the robot's movement efficiency.

[0047] Furthermore, the present invention determines the information transmission mode according to the transmission conditions, and effectively reflects the impact of the marine environment and electromagnetic interference between robots on the robot information transmission through the transmission conditions, and then selects a suitable information transmission mode according to the actual environment. By optimizing the information transmission mode, the delay and error rate in the transmission process can be reduced, thereby improving the efficiency of the robot's underwater welding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a unit connection diagram of the human-machine collaborative control system of the limited water underwater welding robot of the present invention;

[0049] Figure 2 This is a flow chart of the present invention that determines a processing method according to a judgment condition;

[0050] Figure 3 This is a flow chart of the present invention's method for determining an optimization method for a decentralization point based on a decentralization impact value;

[0051] Figure 4 This is a flow chart of the present invention for determining a route optimization method based on a range obstacle reference value. DETAILED DESCRIPTION

[0052] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0053] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0054] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0055] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0056] See also Figures 1 to 4 As shown, the present invention provides a human-machine collaborative control system for an underwater welding robot in limited waters, comprising:

[0057] A lowering setting unit is used to determine the number of lowering points according to the weld evaluation value and determine the lowering point setting method according to the ocean current influence value. The lowering point setting method is to evenly set the lowering points or determine the lowering points according to the ocean current direction;

[0058] a route generating unit connected to the decentralization setting unit, for determining, according to the judgment condition, a route generating method to determine a moving route according to an obstacle conflict degree or a distance reference value;

[0059] a processing determination unit connected to the route generation unit and configured to determine a processing method according to a determination condition, wherein the processing method includes determining an optimization method for a drop point according to a drop impact value or determining whether to optimize the moving route according to a conflict evaluation value;

[0060] a decentralization optimization unit, which is connected to the decentralization setting unit and the processing and determination unit respectively, and is used to determine a decentralization point optimization method according to the decentralization impact value. The decentralization point optimization method is to determine an adjustment method according to the decentralization conditions or determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots. The adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold or cancel each conflicting decentralization point;

[0061] a route optimization unit, connected to the route generation unit and the processing and determination unit, respectively, for optimizing the moving route when the conflict evaluation value is greater than or equal to the preset conflict evaluation value, and determining a route optimization mode according to the range obstacle reference value, wherein the route optimization mode is to perform secondary path setting according to the direction conflict degree and the obstacle conflict degree or to determine a waiting mode according to the restriction conditions, wherein the waiting mode is moving waiting or adjacent waiting;

[0062] The information transmission unit is used to determine the information transmission mode as combined transmission or single robot transmission according to the transmission conditions.

[0063] The present invention includes several robots for welding cracks that appear in pipelines in limited waters, where the limited waters are waters where obstacles exist and where pipelines need to be welded. The present invention also provides a data monitoring unit for collecting underwater environmental information. The data monitoring unit is connected to the lowering setting unit and the information transmission unit respectively. The underwater environmental information includes but is not limited to the number of cracks, the location of the cracks, the robot position and the location of the obstacles. The robot position is the position of the robot in the water after being lowered into the water through the lowering point. The lowering point is the point at sea level for lowering the robot into the water. Obstacles include but are not limited to shipwrecks, reefs, marine life and corals. This is content that is easy for technicians in this field to understand and will not be described in detail. The user can determine the number of lowering points and the location of the lowering points through the data monitoring unit, the lowering setting unit, the route generation unit, the processing and judgment unit, the lowering optimization unit, the route optimization unit and the information transmission unit, and determine the processing method according to the judgment conditions to achieve human-machine collaborative control, thereby improving the use efficiency of the robot.

[0064] In the present invention, the working point corresponding to each lowered robot is determined according to the reference distance, wherein:

[0065] The affected area is divided into several adjacent sub-areas of equal volume. A point analysis is performed for each robot. When performing point analysis on a single robot, the robot is recorded as the target robot, and the sub-area with the smallest reference distance to the target robot is used as the working point corresponding to the target robot. Point analysis is then performed on robots whose working points have not yet been determined. The point analysis is stopped until a preset condition is met, and the point allocation method is determined based on the preset condition.

[0066] Under the first preset condition, the point allocation method is to determine the working point corresponding to the unassigned robot based on the comprehensive evaluation value;

[0067] When determining the working points corresponding to the unassigned robots based on the comprehensive evaluation value, a point analysis is performed for each unassigned robot. When performing a point analysis for a single unassigned robot, the unassigned robot is recorded as the target unassigned robot, and the sub-area with the largest welding reference value is used as the working point corresponding to the target unassigned robot. The point analysis is stopped until all unassigned robots are set with corresponding working points.

[0068] Under the second preset condition, the point allocation method is to determine the secondary working point corresponding to the welding robot according to the comprehensive evaluation value;

[0069] When determining the secondary working point corresponding to the welded robot based on the comprehensive evaluation value, a secondary point analysis is performed for each welded robot. When performing the secondary point analysis for a single welded robot, the unassigned sub-area with the smallest comprehensive evaluation value is used as the secondary working point corresponding to the welded robot. The secondary point analysis is stopped until each unassigned sub-area is provided with a corresponding welded robot.

[0070] The preset conditions include a first preset condition that the number of allocated robots is equal to the number of sub-areas and the number of unallocated robots is greater than the standard number, and a second preset condition that the number of allocated robots is less than the number of sub-areas and the number of unallocated robots is equal to the standard number;

[0071] Unassigned robots are robots with undetermined work locations, assigned robots are robots with determined work locations, welding robots are robots that complete welding tasks corresponding to a single sub-area, the standard number is 0, the number of assigned robots is the total number of assigned robots, the number of sub-areas is the total number of sub-areas that affect area division, and the number of unassigned robots is the total number of unassigned robots;

[0072] An unassigned sub-area is a sub-area where no robot is performing welding work; the affected area is the smallest cube that can contain all cracks; for a robot and each sub-area, the reference distance is the minimum of the shortest distances from the robot to each sub-area; the comprehensive evaluation value = number of welds + first reference distance, where the number of welds is the total number of welds corresponding to a single sub-area, and the first reference distance is the minimum of the shortest distances from the welding robot to each unassigned sub-area;

[0073] Weld assessment value = weld number + weld distribution coefficient, where the weld number is the total number of welds in the affected area, and the weld distribution coefficient is the average value of the reference minimum distances corresponding to each weld. For a single weld, this weld is recorded as the target weld, and all welds other than the target weld are recorded as reference welds. The shortest distance from the target weld to each reference weld is detected, and the minimum value of each shortest distance is recorded as the reference minimum distance corresponding to the target weld.

[0074] The present invention is provided with a continuous cycle monitoring cycle, and the data status is determined once at the end of each monitoring cycle. The length of the monitoring cycle can be set according to the needs of the user. The greater the user's demand for monitoring accuracy, the shorter the length of the monitoring cycle. A value of the monitoring cycle is provided, and the monitoring cycle is 10 minutes.

[0075] The present invention provides several historical records, any of which records the ocean current impact value, obstacle distribution reference value, number of conflict points, conflict point distribution coefficient, and conflict evaluation value, etc., during at least one historical process of the robot moving to the working point. Each historical record has a corresponding qualification mark, which records whether the robot's efficiency meets user requirements. The qualification mark can be recorded manually.

[0076] Specifically, the lowering setting unit determines the number of lowering points according to the weld evaluation value, and determines the lowering point setting method according to the ocean current impact value;

[0077] If the ocean current impact value is less than the preset ocean current impact value, the release point setting method is to set the release points evenly;

[0078] If the ocean current impact value is greater than or equal to the preset ocean current impact value, the release point setting method is to determine the release point according to the ocean current direction;

[0079] The number of the lowering points is positively correlated with the weld reference value.

[0080] The number of drop points is an even number. The number of dropped robots is positively correlated with the weld assessment value. The number of robots dropped at a single drop point = the number of all dropped robots / the number of drop points.

[0081] The ocean current impact value is determined by taking the line with the shortest distance from the center of the impact area to sea level as the reference line, dividing the reference line into M equal parts, and taking the maximum seawater velocity detected at a single dividing point during the current monitoring period as the reference velocity. The average of the reference velocity corresponding to each dividing point is then taken as the ocean current impact value. The value of M can be determined by the user according to their needs. A value of 10 is provided. The velocity at each dividing point is determined using an electromagnetic flow meter, which is readily understood by those skilled in the art and will not be further elaborated. The center of the impact area is the center of the sphere circumscribing the impact area.

[0082] The value of the preset ocean current impact value can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of robot use, the smaller the value of the preset ocean current impact value is. A value of the preset ocean current impact value is provided, and the historical records of evenly setting the release points are detected. The average value of the ocean current impact values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset ocean current impact value.

[0083] The uniform setting of the drop points includes: recording the point where the reference straight line intersects the sea level as the reference center point, recording a circle with the reference center point as the center and the reference length as the radius as the target circle, dividing the target circle into sectors equal to the number of drop points, recording the straight sides of each sector as reference sides, and setting drop points at the intersection of each reference side and the outline of the target circle, wherein the reference length is positively correlated with the number of drop points;

[0084] Determining the release points according to the direction of the ocean current includes: recording a straight line passing through the reference center point and parallel to the direction of the ocean current as the first reference straight line, recording a straight line at the end opposite to the direction of the ocean current, which is parallel to the first reference straight line and has a reference distance to the first reference straight line as the second reference straight line, the number of release points set on the first reference straight line and the second reference straight line are both reference numbers, reference number = total number of release points / 2, setting a release point at the reference center point, and setting an equal number of release points on both sides of the reference center point on the first reference straight line, wherein the distance between two adjacent release points is a preset distance; and setting the release point at the intersection of the reference perpendicular line and the second reference straight line, the reference perpendicular line is a straight line passing through a single equally divided point on the first reference straight line and perpendicular to the first reference straight line, the reference distance is positively correlated with the ocean current impact value, the value of the preset distance can be determined by the user according to actual needs, and a preset distance value is provided, which is 10m.

[0085] Specifically, the route generation unit responds to the judgment condition to determine the route generation method;

[0086] The judgment condition of the route generation unit response is that the limit reference value is greater than or equal to the preset limit reference value and the obstacle distribution reference value is greater than or equal to the preset obstacle distribution reference value. The route generation method is to determine the movement route according to the obstacle conflict degree, identify each movement path between a robot and the corresponding work point, and select the movement path with the smallest obstacle conflict degree as the movement route;

[0087] The judgment condition responded by the route generation unit is that the limit reference value is less than the preset limit reference value and the obstacle distribution reference value is less than the preset obstacle distribution reference value. The route generation method is to determine the moving route according to the distance reference value, identify the moving paths corresponding to the robot, and select the moving path with the smallest distance reference value as the moving route.

[0088] The judgment condition includes a first judgment condition and a second judgment condition. The first judgment condition is that the limit reference value is greater than or equal to the preset limit reference value and the obstacle distribution reference value is greater than or equal to the preset obstacle distribution reference value. The second judgment condition is that the limit reference value is less than the preset limit reference value and the obstacle distribution reference value is less than the preset obstacle distribution reference value.

[0089] The lower bottom surface of the affected area is recorded as the first reference surface, the smallest rectangle that can contain all the drop points is recorded as the second reference surface, and the smallest cube that can contain the first reference surface and the second reference surface is recorded as the target area;

[0090] Reference limit value = volume of obstacles in the target area / volume of the target area. Methods for measuring the volume of obstacles in the target area include, but are not limited to, lidar technology, water depth density measurement, and sonar technology. Users can select the method based on actual needs.

[0091] The obstacle distribution reference value is the average of the minimum spacings corresponding to each obstacle in the target area. For a single obstacle, it is recorded as the target obstacle, and all obstacles other than the target obstacle are recorded as reference obstacles. The shortest distance from the target obstacle to each reference obstacle is detected, and the minimum value of the shortest distances is recorded as the minimum spacing corresponding to the target obstacle.

[0092] The values ​​of the preset limit reference value and the preset obstacle distribution reference value can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of the robot, the smaller the values ​​of the preset limit reference value and the preset obstacle distribution reference value. Provided are values ​​of the preset limit reference value and the preset obstacle distribution reference value. The preset limit reference value is 20%. The historical records of determining the movement route based on the distance reference value are detected, and the average value of the obstacle distribution reference values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset obstacle distribution reference value.

[0093] The method for confirming the obstacle conflict degree is to record a moving path as the target moving path for a moving path. At the end of the current monitoring cycle, the obstacle conflict degree = the obstacle volume of the target moving path / the volume of the target moving path; the distance reference value is the length of a single moving path.

[0094] Specifically, the processing determination unit responds to the determination condition to determine the processing method;

[0095] The judgment condition for processing the response of the judgment unit is that the number of conflict points is greater than or equal to the preset number of conflict points or the conflict point distribution coefficient is greater than or equal to the preset conflict point distribution coefficient, and the processing method is to determine the optimization method of the decentralized points according to the decentralized impact value;

[0096] The determination condition for processing the response of the determination unit is that the number of conflict points is less than the preset number of conflict points and the conflict point distribution coefficient is less than the preset conflict point distribution coefficient. The processing method is to determine whether to optimize the moving route according to the conflict evaluation value.

[0097] The determination condition includes a first determination condition and a second determination condition. The first determination condition is that the number of conflict points is greater than or equal to the preset number of conflict points or the conflict point distribution coefficient is greater than or equal to the preset conflict point distribution coefficient. The second determination condition is that the number of conflict points is less than the preset number of conflict points and the conflict point distribution coefficient is less than the preset conflict point distribution coefficient.

[0098] A collision point is a point where robots moving in different directions meet during their movement. It should be noted that if robots encounter each other at different times at a point, then that point will have a target number of collision points. The target number corresponds to the number of encounters. The collision point can be determined by the user using a dynamic model or a kinematic model. This is well understood by those skilled in the art and will not be described in detail here.

[0099] The number of conflict points is the total number of conflict points in the process of all robots moving to the corresponding working points; the conflict point distribution coefficient is the average value of the reference distances corresponding to each conflict point in the process of all robots moving to the corresponding working points. For a single conflict point, the conflict point is recorded as the target conflict point, and the other conflict points other than the target conflict point are recorded as reference conflict points. The shortest distance from the target conflict point to each reference conflict point is detected, and the minimum value of the shortest distances is recorded as the reference distance corresponding to the target conflict point.

[0100] The values ​​of the preset number of conflict points and the preset conflict point distribution coefficient can be determined by the user according to the actual application scenario. It can be understood that the smaller the values ​​of the preset number of conflict points and the preset conflict point distribution coefficient are, the greater the user's need to determine the optimization method of the decentralization points according to the influencing conditions. A value of the preset number of conflict points and the preset conflict point distribution coefficient is provided, and the historical records of determining the optimization method of the decentralization points according to the influencing conditions are detected. The average value of the number of conflict points corresponding to the historical records that can meet the user's needs is recorded as the preset number of conflict points, and the average value of the conflict point distribution coefficients corresponding to the historical records that can meet the user's needs is recorded as the preset conflict point distribution coefficient;

[0101] When determining whether to optimize the moving route based on the conflict evaluation value, if the conflict evaluation value is greater than or equal to the preset conflict evaluation value, the moving route is optimized; if the conflict evaluation value is less than the preset conflict evaluation value, the moving route does not need to be optimized; conflict evaluation value = number of conflict points + conflict point distribution coefficient;

[0102] The value of the preset conflict assessment value can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of robot use, the larger the value of the preset conflict assessment value is. A value of the preset conflict assessment value is provided, and the average value of the conflict assessment values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset conflict assessment value.

[0103] Specifically, the decentralization optimization unit determines the optimization mode of the decentralization point according to the decentralization impact value;

[0104] If the decentralization impact value is greater than or equal to the preset decentralization impact value, the decentralization point optimization method is to determine the adjustment method according to the decentralization conditions;

[0105] If the decentralization impact value is less than the preset decentralization impact value, the decentralization point optimization method is to determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots.

[0106] Among them, the decentralization influence value = the area of ​​the second reference surface / the total number of decentralization robots corresponding to each decentralization point; the value of the preset decentralization influence value can be determined by the user according to the actual application scenario. It can be understood that the larger the value of the preset decentralization influence value, the greater the user's need to adjust the decentralization point distance according to the comprehensive evaluation value. A preset decentralization influence value is provided, and the historical records of adjusting the decentralization point distance according to the comprehensive evaluation value are detected. The average value of the decentralization influence values ​​corresponding to the historical records that can meet the user's needs is recorded as the preset decentralization influence value.

[0107] Specifically, the decentralization optimization unit responds to the decentralization conditions to determine the adjustment method;

[0108] The decentralization conditions for the decentralization optimization unit response are that the proportion of conflict decentralization points is greater than or equal to the preset conflict decentralization point proportion and the conflict decentralization point distribution coefficient is greater than or equal to the preset conflict decentralization point distribution coefficient. The adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold;

[0109] The decentralization condition for the response of the decentralization optimization unit is that the proportion of conflict decentralization points is less than the preset proportion of conflict decentralization points or the conflict decentralization point distribution coefficient is less than the preset conflict decentralization point distribution coefficient. The adjustment method is to cancel each conflict decentralization point.

[0110] The increase value of the decentralization interval time is positively correlated with the conflict decentralization threshold.

[0111] The decentralization conditions include a first decentralization condition and a second decentralization condition. The first decentralization condition is that the proportion of conflict decentralization points is greater than or equal to the preset proportion of conflict decentralization points and the conflict decentralization point distribution coefficient is greater than or equal to the preset conflict decentralization point distribution coefficient. The second decentralization condition is that the proportion of conflict decentralization points is less than the preset proportion of conflict decentralization points or the conflict decentralization point distribution coefficient is less than the preset conflict decentralization point distribution coefficient.

[0112] A conflicting release point is a release point where the proportion of conflicting robots is greater than or equal to the preset proportion of conflicting robots. A non-conflicting release point is a release point where the proportion of conflicting robots is less than the preset proportion of conflicting robots. Conflicting robots are the robots that encounter each other at each conflicting point. For a single release point, the release point is recorded as the target release point. The proportion of conflicting robots corresponding to the target release point = the number of conflicting robots at the target release point / the total number of robots at the target release point. The value of the preset proportion of conflicting robots can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of robot use, the smaller the value of the preset proportion of conflicting robots. A value of the preset proportion of conflicting robots is provided, and the preset proportion of conflicting robots is 40%; the proportion of conflicting release points = the number of conflicting release points / the total number of release points.

[0113] The conflict decentralization point distribution coefficient is the average value of the reference minimum spacings corresponding to each conflict decentralization point. For a single conflict decentralization point, this conflict decentralization point is recorded as the target conflict decentralization point, and all other conflict decentralization points except the target conflict decentralization point are recorded as reference conflict decentralization points. The shortest distances from the target conflict decentralization point to each reference conflict decentralization point are detected, and the minimum value of the shortest distances is recorded as the reference minimum spacing corresponding to the target conflict decentralization point.

[0114] The values ​​of the preset conflict decentralization point ratio and the preset conflict decentralization point distribution coefficient can be determined by the user according to the actual application scenario. It can be understood that the larger the values ​​of the preset conflict decentralization point ratio and the preset conflict decentralization point distribution coefficient are, the greater the user's demand for canceling each conflict decentralization point. A value of the preset conflict decentralization point ratio and the preset conflict decentralization point distribution coefficient is provided. The preset conflict decentralization point ratio is 40%. The detection and adjustment method is to cancel each historical record corresponding to each conflict decentralization point, and the average value of the conflict decentralization point distribution coefficient corresponding to the historical record that can meet the user's needs is recorded as the preset conflict decentralization point distribution coefficient.

[0115] Conflict decentralization threshold = percentage of conflict decentralization points + conflict decentralization point distribution coefficient;

[0116] The robots corresponding to each drop point are lowered into the water according to the preset order and time interval. When lowering a single drop point, all the robots corresponding to that drop point are lowered into the water. The preset order is the order in which the drop points are lowered, which can be determined by the user. A method for setting the preset order is provided. The preset order is the order from near to far from the reference center point. The initial time interval for lowering is 10 minutes, and the time interval between two adjacent drops is the time interval.

[0117] Canceling each conflicting decentralization point includes: not decentralizing robots at the conflicting decentralization points, and evenly distributing the robots corresponding to each conflicting decentralization point to each non-conflicting decentralization point. If the conflicting decentralization points are A1, A2, and A3, and the non-conflicting decentralization points are B1 and B2, and the number of robots corresponding to each decentralization point is 2, then the robots corresponding to A1, A2, and A3 will be distributed to B1 and B2, where the number of robots distributed to B1 and B2 is 3 each.

[0118] Specifically, the decentralization optimization unit determines the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots;

[0119] The priority coefficient corresponding to the decentralization point is positively correlated with the proportion of conflicting robots.

[0120] The order of decentralization corresponding to each decentralization point is determined according to the order of priority coefficients from large to small.

[0121] Specifically, the route optimization unit determines a route optimization mode according to a range obstacle reference value;

[0122] If the range obstacle reference value is greater than or equal to the preset range obstacle reference value, the route optimization method is to set a secondary path based on the direction conflict degree and the obstacle conflict degree;

[0123] When the route optimization method is to set a secondary path based on the direction conflict degree and the obstacle conflict degree, a secondary path is set for each conflicting robot. For a conflicting robot, the conflicting robot is recorded as the target conflicting robot, and the moving path corresponding to the target conflicting robot with a direction conflict degree less than the preset direction conflict degree is recorded as the reference path. The reference path with the smallest obstacle conflict degree is used as the moving route of the target conflicting robot.

[0124] If the range obstacle reference value is less than the preset range obstacle reference value, the route optimization method is to determine the waiting method according to the restriction conditions.

[0125] Among them, the range obstacle reference value is confirmed in the following way: for a conflict robot, the conflict robot is recorded as the target conflict robot, and the maximum value of the reference obstacle ratio corresponding to each conflict point of the target conflict robot is recorded as the range obstacle reference value; for a single conflict point, the conflict point is recorded as the first target conflict point, and the reference obstacle ratio = the volume of the obstacle within the reference range / the volume of the reference range. The reference range is a sphere with the first target conflict point as the center and the preset radius as the radius. The value of the preset radius can be determined by the user according to actual needs. A preset radius value is provided, and the preset radius is 15m.

[0126] The direction conflict degree is determined by, for a conflicting robot, recording the conflicting robot as the target conflicting robot, recording a movement path corresponding to the target conflicting robot as the target movement path, and recording the number of non-conflicting robots on the target movement path whose movement difference with the target conflicting robot is greater than a preset movement difference as the direction conflict degree. The movement difference degree is determined by, for any two robots, the angle between the movement directions of the two robots is the movement difference degree.

[0127] The values ​​of the preset range obstacle reference value, the preset direction conflict degree and the preset movement difference degree can be determined by the user according to the actual application scenario. It can be understood that the smaller the value of the preset range obstacle reference value, the greater the user's demand for secondary path setting based on the direction conflict degree and the obstacle conflict degree. The greater the user's demand for improving the efficiency of robot use, the smaller the values ​​of the preset direction conflict degree and the preset movement difference degree. A preset range obstacle reference value, a preset direction conflict degree and a preset movement difference degree are provided, and the historical records of secondary path setting based on the direction conflict degree and the obstacle conflict degree are detected. The average value of the range obstacle reference value corresponding to the historical records that can meet the user's needs is recorded as the preset range obstacle reference value, and the average value of the direction conflict degree corresponding to the historical records that can meet the user's needs is recorded as the preset direction conflict degree. The value of the preset movement difference degree is 45°.

[0128] Specifically, the route optimization unit responds to the constraint conditions to determine the waiting mode;

[0129] The constraint condition for the route optimization unit response is that the path restriction coefficient is greater than or equal to the preset path restriction coefficient, and the waiting mode is mobile waiting;

[0130] The constraint condition for the route optimization unit to respond is that the path restriction coefficient is less than the preset path restriction coefficient, and the waiting mode is adjacent waiting.

[0131] The restriction condition includes a first restriction condition and a second restriction condition, the first restriction condition being that the path restriction coefficient is greater than or equal to a preset path restriction coefficient, and the second restriction condition being that the path restriction coefficient is less than a preset path restriction coefficient;

[0132] For a single conflict point, the path restriction coefficient is the length of the shortest line segment passing through the conflict point and connecting the two obstacles. The value of the preset path restriction coefficient can be determined by the user according to the actual application scenario. The greater the user's demand for improving the efficiency of the robot, the larger the value of the preset path restriction coefficient. A value of the preset path restriction coefficient is provided. The detection waiting mode is the historical records corresponding to the adjacent waiting. The average value of the path restriction coefficients corresponding to the historical records that can meet the user's needs is recorded as the preset path restriction coefficient.

[0133] The moving waiting includes: for a conflict point, moving the robots corresponding to each of the second-class conflict ends corresponding to the conflict point to the fork closest to the conflict point, waiting for the robots corresponding to the first-class conflict ends to pass, then selecting the second-class conflict ends one by one, recording the selected first-class conflict ends as target conflict ends, recording the second-class conflict ends that the robots have not moved to their original positions as reference conflict ends, moving all the robots corresponding to the target conflict ends to their original positions, waiting for all the robots corresponding to the target conflict ends to pass, and then moving the robots corresponding to the reference conflict ends to their original positions, until all the robots corresponding to the second-class conflict ends have passed;

[0134] The adjacent waiting includes: moving the robot corresponding to each second-class conflict end by a preset moving distance to a side perpendicular to the moving direction, and after the robot corresponding to the first-class conflict end passes, selecting the second-class conflict ends one by one, recording the selected first-class conflict ends as target conflict ends, and recording the second-class conflict ends that have not been moved to the original position as reference conflict ends, moving all the robots corresponding to the target conflict ends to their original positions, and after all the robots corresponding to the target conflict ends have passed, moving the robot corresponding to the reference conflict end to its original position, until all the robots corresponding to the second-class conflict ends have passed;

[0135] The value of the preset moving distance can be determined by the user. A preset moving distance is provided, which is one-third of the width of the corresponding moving path. The fork closest to the conflict point is the end of another moving path connected to the moving path where the conflict point is located.

[0136] The first-class conflict end is the conflict end with the largest number of robots, and the second-class conflict end is the conflict end with a smaller number of robots than the number of robots corresponding to the first-class conflict end. It is understood that when robots meet at a conflict point, the end corresponding to robots moving in the same direction is recorded as a conflict end.

[0137] Specifically, the information transmission unit responds to the transmission conditions to determine the information transmission mode;

[0138] The transmission condition for the information transmission unit response is that the ocean impact value is greater than or equal to the preset ocean impact value or the impact distance is less than the preset impact distance, and the information transmission mode is combined transmission;

[0139] The transmission conditions for the information transmission unit response are that the ocean impact value is less than the preset ocean impact value and the impact distance is greater than or equal to the preset impact distance, and the information transmission mode is single robot transmission.

[0140] The transmission condition includes a first transmission condition and a second transmission condition. The first transmission condition is that the ocean impact value is greater than or equal to the preset ocean impact value or the impact distance is less than the preset impact distance. The second transmission condition is that the ocean impact value is less than the preset ocean impact value and the impact distance is greater than or equal to the preset impact distance.

[0141] Ocean impact value = ocean current impact value + limit reference value. The impact distance is determined by, for a single robot, marking it as the target robot and other robots excluding the target robot as reference robots. The shortest distance between the target robot and each reference robot is measured, and the average of the shortest distances is recorded as the reference impact distance. The average of the reference impact distances corresponding to each robot is recorded as the impact distance.

[0142] The values ​​of the preset ocean impact value and the preset impact distance can be determined by the user according to the actual application scenario. The greater the user's demand for improving monitoring accuracy, the smaller the values ​​of the preset ocean impact value and the preset impact distance. Provide a value for the preset ocean impact value and the preset impact distance, detect the historical records of single robot transmission, and record the average value of each ocean impact value that can meet the user's needs as the preset ocean impact value, and the average value of each impact distance that can meet the user's needs as the preset impact distance;

[0143] The combination transmission includes: performing combination analysis on each robot, when performing combination analysis on a single robot, recording the robot as a target robot, recording other robots excluding the target robot as reference robots, recording each reference robot whose shortest distance to the target robot is less than a preset shortest distance and the set of target robots as a reference combination, and continuing to perform combination analysis on robots not recorded in the reference combination until all robots are recorded in the reference combination, and for a single reference combination, transmitting information corresponding to each robot to any robot in the reference combination and then transmitting it to the data monitoring unit;

[0144] In single-robot transmission, a single robot only receives its own information and transmits it to the data monitoring unit.

[0145] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0146] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A human-machine collaborative control system for underwater welding robots in limited waters, characterized in that: include: A lowering setting unit is used to determine the number of lowering points according to the weld evaluation value and determine the lowering point setting method according to the ocean current influence value. The lowering point setting method is to evenly set the lowering points or determine the lowering points according to the ocean current direction; a route generating unit connected to the decentralization setting unit, for determining, according to the judgment condition, a route generating method to determine a moving route according to an obstacle conflict degree or a distance reference value; a processing determination unit connected to the route generation unit and configured to determine a processing method according to a determination condition, wherein the processing method includes determining an optimization method for a drop point according to a drop impact value or determining whether to optimize the moving route according to a conflict evaluation value; a decentralization optimization unit, which is connected to the decentralization setting unit and the processing and determination unit respectively, and is used to determine a decentralization point optimization method according to the decentralization impact value. The decentralization point optimization method is to determine an adjustment method according to the decentralization conditions or determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots. The adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold or cancel each conflicting decentralization point; a route optimization unit, connected to the route generation unit and the processing and determination unit, respectively, for optimizing the moving route when the conflict evaluation value is greater than or equal to the preset conflict evaluation value, and determining a route optimization mode according to the range obstacle reference value, wherein the route optimization mode is to perform secondary path setting according to the direction conflict degree and the obstacle conflict degree or to determine a waiting mode according to the restriction conditions, wherein the waiting mode is moving waiting or adjacent waiting; The information transmission unit is used to determine the information transmission mode as combined transmission or single robot transmission according to the transmission conditions.

2. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 1, characterized in that: The lowering setting unit determines the number of lowering points according to the weld evaluation value, and determines the lowering point setting method according to the ocean current impact value; If the ocean current impact value is less than the preset ocean current impact value, the release point setting method is to set the release points evenly; If the ocean current impact value is greater than or equal to the preset ocean current impact value, the release point setting method is to determine the release point according to the ocean current direction; The number of the lowering points is positively correlated with the weld reference value.

3. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 1, characterized in that: The route generation unit determines a route generation method in response to a judgment condition; The judgment condition of the route generation unit response is that the limit reference value is greater than or equal to the preset limit reference value and the obstacle distribution reference value is greater than or equal to the preset obstacle distribution reference value. The route generation method is to determine the movement route according to the obstacle conflict degree, identify each movement path between a robot and the corresponding work point, and select the movement path with the smallest obstacle conflict degree as the movement route; The judgment condition responded by the route generation unit is that the limit reference value is less than the preset limit reference value and the obstacle distribution reference value is less than the preset obstacle distribution reference value. The route generation method is to determine the moving route according to the distance reference value, identify the moving paths corresponding to the robot, and select the moving path with the smallest distance reference value as the moving route.

4. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 1, characterized in that: The processing determination unit determines a processing method in response to the determination condition; The judgment condition for processing the response of the judgment unit is that the number of conflict points is greater than or equal to the preset number of conflict points or the conflict point distribution coefficient is greater than or equal to the preset conflict point distribution coefficient, and the processing method is to determine the optimization method of the decentralized points according to the decentralized impact value; The determination condition for processing the response of the determination unit is that the number of conflict points is less than the preset number of conflict points and the conflict point distribution coefficient is less than the preset conflict point distribution coefficient. The processing method is to determine whether to optimize the moving route according to the conflict evaluation value.

5. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 4, characterized in that: The decentralization optimization unit determines a decentralization point optimization method according to the decentralization impact value; If the decentralization impact value is greater than or equal to the preset decentralization impact value, the decentralization point optimization method is to determine the adjustment method according to the decentralization conditions; If the decentralization impact value is less than the preset decentralization impact value, the decentralization point optimization method is to determine the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots.

6. The human-machine collaborative control system of the underwater welding robot in limited waters according to claim 5, characterized in that: The decentralization optimization unit responds to the decentralization conditions to determine the adjustment method; The decentralization conditions for the decentralization optimization unit response are that the proportion of conflict decentralization points is greater than or equal to the preset conflict decentralization point proportion and the conflict decentralization point distribution coefficient is greater than or equal to the preset conflict decentralization point distribution coefficient. The adjustment method is to increase the decentralization interval time according to the conflict decentralization threshold; The decentralization condition for the response of the decentralization optimization unit is that the proportion of conflict decentralization points is less than the preset proportion of conflict decentralization points or the conflict decentralization point distribution coefficient is less than the preset conflict decentralization point distribution coefficient. The adjustment method is to cancel each conflict decentralization point. The increase value of the decentralization interval time is positively correlated with the conflict decentralization threshold.

7. The human-machine collaborative control system of the underwater welding robot in limited water area according to claim 5, characterized in that: The decentralization optimization unit determines the priority coefficient corresponding to each decentralization point according to the proportion of conflicting robots; The priority coefficient corresponding to the decentralization point is positively correlated with the proportion of conflicting robots.

8. The human-machine collaborative control system of the underwater welding robot in limited water area according to claim 5, characterized in that: The route optimization unit determines a route optimization mode according to the range obstacle reference value; If the range obstacle reference value is greater than or equal to the preset range obstacle reference value, the route optimization method is to set a secondary path based on the direction conflict degree and the obstacle conflict degree; When the route optimization method is to set a secondary path based on the direction conflict degree and the obstacle conflict degree, a secondary path is set for each conflicting robot. For a conflicting robot, the conflicting robot is recorded as the target conflicting robot, and the moving path corresponding to the target conflicting robot with a direction conflict degree less than the preset direction conflict degree is recorded as the reference path. The reference path with the smallest obstacle conflict degree is used as the moving route of the target conflicting robot. If the range obstacle reference value is less than the preset range obstacle reference value, the route optimization method is to determine the waiting method according to the restriction conditions.

9. The human-machine collaborative control system of the underwater welding robot in limited water area according to claim 5, characterized in that: The route optimization unit determines a waiting mode in response to the constraint condition; The constraint condition for the route optimization unit response is that the path restriction coefficient is greater than or equal to the preset path restriction coefficient, and the waiting mode is mobile waiting; The constraint condition for the route optimization unit to respond is that the path restriction coefficient is less than the preset path restriction coefficient, and the waiting mode is adjacent waiting.

10. The human-machine collaborative control system of the underwater welding robot in limited water area according to claim 1, characterized in that: The information transmission unit responds to the transmission conditions to determine the information transmission mode; The transmission condition for the information transmission unit response is that the ocean impact value is greater than or equal to the preset ocean impact value or the impact distance is less than the preset impact distance, and the information transmission mode is combined transmission; The transmission conditions for the information transmission unit response are that the ocean impact value is less than the preset ocean impact value and the impact distance is greater than or equal to the preset impact distance, and the information transmission mode is single robot transmission.

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