Multidirectional underwater robot obstacle avoidance method and related equipment

Abstract

The invention belongs to the technical field of robot control, and particularly relates to a multidirectional underwater robot obstacle avoidance method and related equipment, and the method comprises the steps: transmitting detection sound waves in different detection directions in different time periods; acquiring echo conditions of each detection direction, judging whether obstacles exist in a plurality of detection directions according to the echo conditions, and if the obstacles exist in the plurality of detection directions, determining the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction; determining the obstacle avoidance level of the obstacle in each detection direction according to the obstacle distance and the planned path of the underwater robot; and performing obstacle avoidance on the underwater robot in each detection direction according to the obstacle avoidance level and position of the obstacle in each detection direction. The obstacle avoidance requirement can be met more quickly based on short-time multi-directional detection, and the task execution efficiency can be improved; and obstacle avoidance is carried out based on the obstacle avoidance level of the obstacle, so that the emergency capability is stronger.

Description

Technical Field

[0001] The invention belongs to the technical field of robot control, and in particular relates to a multi-directional underwater robot obstacle avoidance method and related equipment. Background Art

[0002] Underwater robots play a vital role in the fields of marine science, resource exploration, search and rescue operations, underwater engineering, etc. They have the potential to perform various tasks in underwater environments, but they also face many technical challenges, one of which is the problem of underwater motion obstacle avoidance. The underwater environment is complex, uncertain, and changeable, including seabed topography, marine life, water currents, and other obstacles. Therefore, underwater robots must be able to safely avoid these obstacles when performing tasks to protect themselves and the surrounding environment while ensuring the successful completion of the mission.

[0003] Existing underwater obstacle avoidance methods usually rely on sensors with a single or limited direction to detect obstacles, such as sonar or cameras, and control the rotation of a single sonar or camera to achieve detection in multiple directions at different times. However, this method has the problem of low obstacle avoidance decision-making ability and low timeliness when dealing with emergency situations, complex environments, and simultaneous multi-directional obstacle avoidance needs, which leads to low task execution efficiency. Summary of the invention

[0004] The purpose of the present invention is to propose an underwater robot obstacle avoidance method based on multiple directions and related equipment, in view of the fact that the underwater obstacle avoidance method in the prior art usually relies on sensors in a single or limited direction, and has low obstacle avoidance decision-making ability and low obstacle avoidance timeliness when dealing with emergency situations, complex environments and simultaneous multi-directional obstacle avoidance needs, thereby leading to low task execution efficiency. The method arranges a multi-directional obstacle avoidance detection device in the underwater robot, controls the multi-directional obstacle avoidance detection device to emit detection sound waves in different time periods in each underwater detection direction, and determines the obstacle situation in each detection direction according to the echo situation, wherein the multi-directional obstacle avoidance detection device can meet the requirements of simultaneous detection in multiple detection directions. The need for obstacle detection is met, and the emission of sound waves in different time periods can reduce the interference of sound waves in adjacent detection directions, ensuring the accuracy of detection. Even in complex environments, compared with existing methods, it can realize obstacle avoidance needs faster based on short-term multi-directional detection, and can complete tasks more quickly and efficiently, with stronger autonomy, reducing unnecessary pauses and waiting, and improving the efficiency of task execution. In addition, it is also possible to construct obstacle avoidance levels for each detection direction, and avoid obstacles for underwater robots in each detection direction according to the obstacle avoidance level and the position of the obstacles in each detection direction. The higher the obstacle avoidance level, the more urgent the obstacle avoidance, so as to better cope with emergency obstacle avoidance situations and have stronger emergency response capabilities.

[0005] In a first aspect, an embodiment of the present invention provides a multi-directional underwater robot obstacle avoidance method, wherein a multi-directional obstacle avoidance detection device is provided in the underwater robot, and the method comprises the following steps: Controlling the multi-directional obstacle avoidance detection device to emit detection sound waves in different time periods in each underwater detection direction; Obtaining the echo conditions of the detection sound waves in each detection direction, and determining whether there are obstacles in each detection direction according to the echo conditions; Determine whether the obstacle exists in multiple detection directions, and if the obstacle exists in multiple detection directions, determine the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction; Determining the obstacle avoidance level of the obstacle in each detection direction according to the obstacle distance between each obstacle and the underwater robot and the planned path of the underwater robot; The underwater robot is guided to avoid obstacles in each detection direction according to the obstacle avoidance level of the obstacle and the position of the obstacle in each detection direction.

[0006] Furthermore, the multi-directional obstacle avoidance detection device includes a plurality of sonar sensors, each sonar sensor is distributed in a different detection direction, and the multi-directional obstacle avoidance detection device is controlled to emit detection sound waves in each underwater detection direction in time periods, including: Controlling the sonar sensor in the first relative detection direction to emit a first group of detection sound waves; After a preset interval period, controlling the sonar sensor in the second relative detection direction to emit a second set of detection sound waves; After the preset interval period and the second group of detection sound waves are emitted, the sonar sensor in the third relative detection direction is controlled to emit a third group of detection sound waves, wherein the first relative detection direction, the second relative detection direction and the third relative detection direction respectively include two relative directions.

[0007] Furthermore, the acquiring of the echo conditions of the detection sound waves in each detection direction and determining whether there are obstacles in each detection direction according to the echo conditions include: detecting whether echo data of the first group of detection sound waves, the second group of detection sound waves and / or the third group of detection sound waves are received; If the echo data of the first group of detection sound waves, the second group of detection sound waves and / or the third group of detection sound waves are received, it is determined that the obstacle exists in the detection direction corresponding to the echo data.

[0008] Further, the echo data includes a propagation speed, an echo time and an echo direction, and the judging whether the obstacle exists in multiple detection directions, if the obstacle exists in multiple detection directions, determining the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction, includes: If echo data in multiple detection directions are received, it is determined that the obstacle exists in the multiple detection directions; According to the echo time generated by the obstacle and the propagation speed of the sound wave in the respective detection directions, the distance between the underwater robot and the obstacle in the detection direction is determined, and the position of the obstacle is determined according to the echo direction.

[0009] Further, determining the obstacle avoidance level of the obstacle in each detection direction according to the obstacle distance between each obstacle and the underwater robot and the planned path of the underwater robot includes: Prioritizing the obstacle distances between each obstacle and the underwater robot to obtain a priority queue corresponding to each obstacle; Determining a travel direction of the underwater robot according to the planned path of the underwater robot; The priority queue is adjusted according to the traveling direction of the underwater robot to obtain the obstacle avoidance level of the obstacle in each detection direction.

[0010] Further, the step of performing obstacle avoidance on the underwater robot in each detection direction according to the obstacle avoidance level of the obstacle in each detection direction and the position of the obstacle includes: Based on the obstacle avoidance level of each obstacle, the preset obstacle avoidance distance and the obstacle distance between each obstacle and the underwater robot are matched in order to determine whether obstacle avoidance is required; If obstacle avoidance is required, a new path is planned for the underwater robot based on the planned path of the underwater robot and the positions of the obstacles in each detection direction.

[0011] Furthermore, the preset obstacle avoidance distance includes a safety distance and a mandatory control distance. Based on the obstacle avoidance level of each obstacle, the preset safety distance and the obstacle distance between each obstacle and the underwater robot are matched in order to determine whether obstacle avoidance is required, including: Obtaining an obstacle distance of the obstacle at the highest obstacle avoidance level, comparing the obstacle distance of the obstacle at the highest obstacle avoidance level with the safety distance, and determining whether the obstacle distance of the obstacle at the highest obstacle avoidance level is greater than or equal to the safety distance; If the obstacle distance of the obstacle with the highest obstacle avoidance level is greater than or equal to the safety distance, it is determined that no obstacle avoidance is required, and the underwater robot is controlled to continue moving along the planned path, and obstacle avoidance judgment for the obstacle after the highest obstacle avoidance level is stopped; If the obstacle distance of the obstacle of the highest obstacle avoidance level is less than the safety distance and greater than or equal to the mandatory control distance, an obstacle avoidance warning is issued and a new path planning is performed; When the obstacle distance of the obstacle with the highest obstacle avoidance level is less than the mandatory control distance, the underwater robot is controlled to stop moving and a new path planning is performed.

[0012] In a second aspect, an embodiment of the present invention further provides a multi-directional underwater robot obstacle avoidance device, wherein a multi-directional obstacle avoidance detection device is provided in the underwater robot, and the device comprises: A signal transmitting module is used to control the multi-directional obstacle avoidance detection device to transmit detection sound waves in each underwater detection direction in different time periods; an obstacle judgment module is used to obtain the echo conditions of the detection sound waves in each detection direction, and determine whether there are obstacles in each detection direction according to the echo conditions; An obstacle data determination module, used to determine whether the obstacle exists in multiple detection directions, and if the obstacle exists in multiple detection directions, determine the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction; An obstacle avoidance level determination module, used to determine the obstacle avoidance level of the obstacle in each detection direction according to the obstacle distance between each obstacle and the underwater robot and the planned path of the underwater robot; The obstacle avoidance module is used to avoid obstacles for the underwater robot in each detection direction according to the obstacle avoidance level of the obstacle in each detection direction and the position of the obstacle.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of a multi-directional underwater robot obstacle avoidance method as described in the embodiment are implemented.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a multi-directional underwater robot obstacle avoidance method as described in the embodiment are implemented.

[0015] The beneficial effects achieved by the present invention are as follows: the present invention arranges a multi-directional obstacle avoidance detection device in the underwater robot, controls the multi-directional obstacle avoidance detection device to emit detection sound waves in different time periods in each underwater detection direction, and determines the obstacle situation in each detection direction according to the echo situation, wherein the multi-directional obstacle avoidance detection device can meet the demand for obstacle detection in multiple detection directions at the same time, and emitting sound waves in different time periods can reduce the interference of sound waves in adjacent detection directions, thereby ensuring the detection accuracy, and even in a complex environment, the obstacle avoidance demand can be realized faster than the existing method based on short-term multi-directional detection, and through autonomous obstacle avoidance, the underwater robot can complete the task more quickly and efficiently, with stronger autonomy, reducing unnecessary pauses and waiting, and improving the efficiency of task execution; in addition, the obstacle avoidance level of each detection direction can be constructed, and the underwater robot can avoid obstacles in each detection direction according to the obstacle avoidance level and the position of the obstacle in each detection direction, the higher the obstacle avoidance level, the more urgent the obstacle avoidance, thereby better coping with emergency obstacle avoidance situations and having stronger emergency response capabilities.

[0016] The above invention content is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings. The drawings are only for the purpose of illustrating preferred embodiments and are not to be considered as limiting the present invention. Also, the same reference symbols are used throughout the drawings to represent the same parts.

[0018] Figure 1 The present invention provides a flowchart of a multi-directional underwater robot obstacle avoidance method.

[0019] Figure 2 It is a flow chart of another multi-directional underwater robot obstacle avoidance method provided by an embodiment of the present invention.

[0020] Figure 3 It is a structural schematic diagram of a multi-directional underwater robot obstacle avoidance device provided by an embodiment of the present invention.

[0021] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific implementation method described herein is only an optimal embodiment of the present invention, which is only used to explain the present invention and does not limit the scope of protection of the present invention. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations (or steps) as sequential processes, many of the operations (or steps) therein can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the drawings; the process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0024] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. It should also be understood that in various embodiments of the present invention, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0025] It should be understood that in the present invention, "plurality" refers to two or more than two. "And / or" is merely a variable relationship that describes associated objects, indicating that three relationships may exist. For example, and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated with each other are in an "or" relationship. "Contains A, B and C", "Contains A, B, C" means that A, B, and C are all included, "Contains A, B or C" means that one of A, B, and C is included, and "Contains A, B and / or C" means that any one, any two, or any three of A, B, and C are included.

[0026] It should be understood that in the present invention, "B corresponding to A", "B corresponding to A", "A corresponds to B" or "B corresponds to A" means that B is associated with A and B can be determined based on A. Determining B based on A does not mean determining B based only on A, but B can also be determined based on A and / or other information. A and B match when the similarity between A and B is greater than or equal to a preset threshold.

[0027] Embodiment 1 Please refer to Figure 1 , Figure 1 The flowchart of a multi-directional underwater robot obstacle avoidance method provided by an embodiment of the present invention is as follows. A multi-directional underwater robot obstacle avoidance method, wherein a multi-directional obstacle avoidance detection device is provided in the underwater robot, and the method specifically comprises the following steps: S1. Control the multi-directional obstacle avoidance detection device to emit detection sound waves in different time periods in each underwater detection direction.

[0028] An underwater robot obstacle avoidance method based on multiple directions provided in an embodiment of the present invention is applicable to a scenario in which an underwater robot performs a task in an underwater environment. The underwater robot can move in any direction underwater, and there may be obstacles that may cause obstructions in the direction of movement. Therefore, obstacle avoidance is required in order to successfully complete the task. An underwater robot obstacle avoidance method based on multiple directions can be executed by an underwater robot, and an underwater drone can communicate with a host computer via a wireless connection. Based on the communication connection, data in the underwater drone can be uploaded to the host computer, and the host computer can send instructions to the underwater drone. The above-mentioned wireless connection methods include but are not limited to 4G / 5G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB connection, and other wireless connection methods currently known or to be developed in the future.

[0029] Specifically, the multi-directional obstacle avoidance detection device can be a multi-directional obstacle avoidance sonar integrated on the underwater robot, which is composed of multiple sonar sensors distributed in various directions of the sonar to achieve multi-directional environmental perception. The multi-directional sonar sensors can emit detection sound waves in the detection direction.

[0030] Specifically, the above step S1 specifically includes: S11, controlling the sonar sensor in the first relative detection direction to emit a first group of detection sound waves; S12, after a preset interval period, controlling the sonar sensor in the second relative detection direction to emit a second group of detection sound waves; S13. After the preset interval period and the second group of detection sound waves are emitted, control the sonar sensor in the third relative detection direction to emit a third group of detection sound waves, wherein the first relative detection direction, the second relative detection direction and the third relative detection direction respectively include two relative directions.

[0031] Specifically, in order to avoid interference of adjacent directions on the transmission of sound waves, in an embodiment of the present invention, sound waves can be emitted simultaneously for two detection directions in each relative direction, and the two detection directions can be detected at the same time. The relative direction can refer to two left and right detection directions, two front and back detection directions, and two up and down detection directions. Therefore, the first relative detection direction, the second relative detection direction, and the third relative detection direction can refer to any one of the left and right detection directions, the front and back detection directions, and the up and down detection directions. The detection direction is determined based on the direction of travel of the underwater robot's head. For example, the direction of travel of the head is used as a reference, and each detection direction in the three-dimensional space is determined according to the angle.

[0032] More specifically, the preset interval period can be determined according to the propagation speed of sound in water. By setting the preset interval period, the mutual interference caused by the detection sound waves during the transmission process can be reduced. The preset interval time can be 1 second, 0.5 seconds, etc. The time corresponding to the first relative detection direction, the second relative detection direction, and the third relative detection direction all emitting a detection sound wave is a sound wave emission cycle, that is, the two preset interval periods required for the sonar sensor in the first relative detection direction to emit the first group of detection sound waves to the sonar sensor in the third relative detection direction to emit the third group of detection sound waves are a sound wave emission cycle.

[0033] In this embodiment, through the above method, corresponding detection sound waves can be emitted to multiple detection directions within one sound wave emission cycle, and single multi-directional sound wave emission can be achieved while reducing mutual interference.

[0034] S2. Obtain the echo conditions of the detection sound waves in each detection direction, and determine whether there are obstacles in each detection direction according to the echo conditions.

[0035] Specifically, the above obstacles include reefs, large groups of marine life, etc. The above echo conditions include generating echoes or not generating echoes. According to the echo or no echo condition, it can be judged whether there are obstacles in each detection direction.

[0036] Specifically, the above step S2 specifically includes: S21, detecting whether echo data of the first group of detection sound waves, the second group of detection sound waves and / or the third group of detection sound waves are received; S22: If the echo data of the first group of detection sound waves, the second group of detection sound waves and / or the third group of detection sound waves are received, it is determined that the obstacle exists in the detection direction corresponding to the echo data.

[0037] Specifically, when the detection sound wave detects an obstacle, part of the emitted detection sound waves will be reflected to the underwater robot in the opposite direction. If the underwater robot receives the echo data reflected in the detection direction, it is determined that there is an obstacle in the detection direction. Among them, when the first group of detection sound waves is received, there is an obstacle in one or two directions of the first relative detection direction, and the direction of the fault object is determined by the direction of the received echo data. Similarly, if the second group of detection sound waves is received, it means that there is an obstacle in one or two directions corresponding to the second group of detection sound waves; if the third group of detection sound waves is received, it means that there is an obstacle in one or two directions corresponding to the third group of detection sound waves. For example: the first group of detection sound waves is a sound wave emitted to the left and right detection directions, and the echo data reflected from the left detection direction is received, but the echo data reflected from the right detection direction is not received, which means that there is an obstacle in the left detection direction and no obstacle on the right.

[0038] S3. Determine whether the obstacle exists in multiple detection directions. If the obstacle exists in multiple detection directions, determine the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction.

[0039] Specifically, if there is an obstacle in only one detection direction, obstacle avoidance only needs to be performed in that detection direction. When echo data reflected from multiple detection directions is obtained, it means that obstacles exist in multiple directions within one sound wave emission cycle. In the case where obstacles exist in multiple detection directions, it is necessary to obtain the obstacle distance between the underwater robot and each obstacle, and determine the location of the obstacle based on the direction of the echo data.

[0040] Specifically, the above step S3 includes: S31, if echo data in multiple detection directions are received, determining that the obstacle exists in the multiple detection directions; S32. Determine the distance between the underwater robot and the obstacle in the detection direction according to the echo time generated by the obstacle and the propagation speed of the sound wave in the respective detection directions, and determine the position of the obstacle according to the echo direction.

[0041] Specifically, the above echo data includes propagation speed, echo time and echo direction. When multiple obstacles are detected within a sound wave transmission cycle, the distance between the underwater robot and the obstacle can be calculated based on the echo time generated between the underwater robot and the obstacle and the propagation speed of the sound wave in the water, and the position of the obstacle can be determined based on the detection direction of the echo data. For example: the echo time from the emission of the detection sound wave to the reception of the echo data in the left detection direction is 1s, and the propagation speed of the sound wave in seawater is 1500m / s, then the obstacle distance between the obstacle in the left detection direction and the underwater robot is 750m. Based on the above method, the obstacle distance between the obstacle and the underwater robot in each direction where the obstacle exists can be calculated, and the position of each obstacle can be determined based on the direction of receiving the echo data.

[0042] S4. Determine the obstacle avoidance level of the obstacle in each detection direction according to the obstacle distance between each obstacle and the underwater robot and the planned path of the underwater robot.

[0043] Specifically, when there are obstacles in multiple detection directions, in order to ensure that the underwater robot can perform underwater tasks normally and provide the underwater robot with a better obstacle avoidance route, the obstacle avoidance level of the obstacles in each detection direction can be determined according to the obstacle distance between each obstacle and the underwater robot and the original planned path of the underwater robot.

[0044] In some embodiments, if there is an obstacle in the forward direction of the underwater robot, the obstacle avoidance level of the obstacle in the forward direction of the underwater robot can be determined first according to the planned path of the underwater robot, and then the obstacle avoidance levels in other directions can be determined. The smaller the obstacle distance, the higher the obstacle avoidance level; under the same obstacle avoidance distance, the closer the obstacle is to the planned path, the higher the obstacle avoidance level will be.

[0045] Specifically, the above step S4 specifically includes: S41, prioritizing the obstacle distances between each obstacle and the underwater robot to obtain a priority queue corresponding to each obstacle; S42, determining a moving direction of the underwater robot according to the planned path of the underwater robot; S43: adjusting the priority queue according to the traveling direction of the underwater robot to obtain the obstacle avoidance level of the obstacle in each detection direction.

[0046] Specifically, the distances of the obstacles can be sorted by a sorting algorithm, and the sorting can be in ascending order, and the priority queue corresponding to the obstacles is obtained by ascending order. In the priority queue, the smaller the distance of the obstacle at the front is, the closer the distance between the obstacle and the underwater robot is, and the greater the probability of posing a threat to the underwater robot.

[0047] More specifically, considering that the obstacle distance between some obstacles and the underwater robot is small, but the underwater robot does not move in the detection direction with a small obstacle distance, in order to more accurately determine whether the obstacle causes an obstruction to the movement of the underwater robot. Therefore, in this embodiment, the constructed priority queue can be adjusted in combination with the planned path of the underwater robot, and the obstacle distances of obstacles corresponding to the detection direction that will not cause obstruction are screened out from the priority sequence, and the priority queue is reconstructed. Based on the sorting of the obstacle avoidance distances in the reconstructed priority queue, the obstacle avoidance level of the obstacles corresponding to each obstacle avoidance distance in the reconstructed priority queue can be obtained. For example, if the obstacle avoidance distance between obstacle A and the underwater robot in the left detection direction is 500 cm, the obstacle avoidance distance between obstacle B and the underwater robot in the right detection direction is 300 cm, the obstacle avoidance distance between obstacle C and the underwater robot in the front detection direction is 1000 cm, and the obstacle avoidance distance between obstacle D and the underwater robot in the lower detection direction is 500 cm, then the priority queue initially constructed includes obstacle A in the left detection direction, obstacle B in the right detection direction, obstacle D in the lower detection direction, and obstacle C in the front detection direction in sequence; and according to the planned path of the underwater robot, relative to the current position, the underwater robot needs to move to the lower right side next, so the priority queue is updated, and the updated priority queue includes obstacle B in the right detection direction and obstacle D in the lower detection direction in sequence, and the obstacle level of obstacle B is higher than that of obstacle D. It can be seen that after the priority queue is updated in combination with the travel direction of the underwater robot, the obstacles caused to the underwater robot by the front detection direction and the left detection direction are no longer considered. In this way, the amount of calculation can be reduced and obstacles that are more likely to hinder the direction of the underwater robot can be screened out.

[0048] S5. Avoid obstacles for the underwater robot in each detection direction according to the obstacle avoidance level of the obstacle in each detection direction and the position of the obstacle.

[0049] Specifically, after determining the obstacle avoidance level and position of each obstacle, the underwater robot can avoid the obstacle and select the optimal movement path. Through multi-directional and efficient detection, the risk of collision or being trapped in obstacles can be reduced, improving the safety of the mission.

[0050] More specifically, the above step S5 specifically includes: S51, based on the obstacle avoidance level of each obstacle, sequentially matching the preset obstacle avoidance distance and the obstacle distance between each obstacle and the underwater robot to determine whether obstacle avoidance is required; S52: If obstacle avoidance is required, a new path is planned for the underwater robot based on the planned path of the underwater robot and the positions of the obstacles in each detection direction.

[0051] Specifically, the preset obstacle avoidance distance includes a safety distance and a mandatory control distance. In order to more accurately control the underwater robot to avoid obstacles, the safety distance and the mandatory control distance are preset. According to the obstacle avoidance level of the obstacle, the obstacle avoidance distance between the obstacle and the underwater robot is compared with the safety distance and the mandatory control distance in order, so that it can be judged from the distance whether obstacle avoidance is currently required. And when obstacle avoidance is required, obstacle avoidance is performed and the path of the underwater robot is optimized.

[0052] More specifically, combined Figure 2 As shown, the above step S51 specifically includes: S511, obtaining the obstacle distance of the obstacle at the highest obstacle avoidance level, comparing the obstacle distance of the obstacle at the highest obstacle avoidance level with the safety distance, and determining whether the obstacle distance of the obstacle at the highest obstacle avoidance level is greater than or equal to the safety distance; S512: If the obstacle distance of the obstacle with the highest obstacle avoidance level is greater than or equal to the safety distance, it is determined that no obstacle avoidance is required, and the underwater robot is controlled to continue moving along the planned path, and obstacle avoidance judgment for the obstacle after the highest obstacle avoidance level is stopped; S513: If the obstacle distance of the obstacle with the highest obstacle avoidance level is less than the safety distance and greater than or equal to the mandatory control distance, an obstacle avoidance warning is issued and a new path is planned; S514: When the obstacle distance of the obstacle with the highest obstacle avoidance level is less than the mandatory control distance, the underwater robot is controlled to stop moving and a new path is planned.

[0053] Specifically, the obstacle avoidance distance corresponding to the highest obstacle avoidance level can be compared with the safety distance first. When the obstacle distance of the obstacle corresponding to the highest obstacle avoidance level is greater than or equal to the safety distance, it can be considered that the current position of the underwater robot is safe, and obstacles with the highest obstacle avoidance level cannot cause obstructions, so the possibility of obstruction caused by other obstacles is even smaller. In this case, it is possible to stop judging the obstacle avoidance of other obstacles with low obstacle levels, which is conducive to reducing the amount of calculation, reducing data processing time, and improving the efficiency of obstacle avoidance processing. More specifically, when the obstacle distance of the obstacle with the highest obstacle avoidance level is less than the safety distance and greater than or equal to the mandatory control distance, an obstacle avoidance warning can be issued, and a new path can be planned based on the position of the obstacle and the obstacle avoidance distance. In addition, when the obstacle distance of the obstacle with the highest obstacle avoidance level is less than the mandatory control distance, it means that it is very dangerous at this time and the probability of causing obstruction is very high. At this time, it is necessary to control the underwater robot to stop moving, avoid collision with obstacles, and plan a new path. In this embodiment, the safety distance can be set to 200cm and the forced control distance can be set to 100cm. When the obstacle avoidance distance S1 ≥ 200cm, the underwater robot is controlled to continue moving normally along the planned path; when the obstacle avoidance distance S1 is 100cm ≤ S1 < 200cm, the underwater robot is controlled to issue an obstacle avoidance warning; when the obstacle avoidance distance S1 < 100cm, the underwater robot is forced to stop moving to avoid collision with obstacles.

[0054] In an embodiment of the present invention, by arranging a multi-directional obstacle avoidance detection device in the underwater robot, controlling the multi-directional obstacle avoidance detection device to emit detection sound waves in different time periods in each underwater detection direction, the obstacle situation in each detection direction can be determined according to the echo situation in each detection direction. Among them, the multi-directional obstacle avoidance detection device can meet the demand of obstacle detection in multiple detection directions at the same time, and the emission of sound waves in different time periods can reduce the interference of sound waves in adjacent detection directions, ensure the detection accuracy, and even in a complex environment, it can realize the obstacle avoidance demand faster based on short-term multi-directional detection compared with the existing method. Through autonomous obstacle avoidance, the underwater robot can complete the task more quickly and efficiently, with stronger autonomy, reducing unnecessary pauses and waiting, and improving the efficiency of task execution. In addition, it is also possible to construct the obstacle avoidance level of each detection direction, and avoid the underwater robot in each detection direction according to the obstacle avoidance level and the position of the obstacle in each detection direction. The higher the obstacle avoidance level, the more urgent the obstacle avoidance, so as to better cope with emergency obstacle avoidance situations and have stronger emergency response capabilities.

[0055] Embodiment 2 Please refer to Figure 3 , Figure 31 is a schematic diagram of the structure of a multi-directional underwater robot obstacle avoidance device provided by an embodiment of the present invention. A multi-directional underwater robot obstacle avoidance device can realize various embodiments of the multi-directional underwater robot obstacle avoidance method described above. A multi-directional obstacle avoidance detection device is provided in the underwater robot, and the device M30 includes: The signal transmitting module M301 is used to control the multi-directional obstacle avoidance detection device to transmit detection sound waves in different time periods in each underwater detection direction; The obstacle judgment module M302 is used to obtain the echo of the detection sound wave in each detection direction, and determine whether there is an obstacle in each detection direction according to the echo; The obstacle data determination module M303 is used to determine whether the obstacle exists in multiple detection directions. If the obstacle exists in multiple detection directions, the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle are determined based on the echo data reflected in each detection direction; The obstacle avoidance level determination module M304 is used to determine the obstacle avoidance level of the obstacle in each detection direction according to the distance between each obstacle and the underwater robot and the planned path of the underwater robot; The obstacle avoidance module M305 is used to avoid obstacles for the underwater robot in each detection direction according to the obstacle avoidance level of the obstacle in each detection direction and the position of the obstacle.

[0056] Optionally, the multi-directional obstacle avoidance detection device includes a plurality of sonar sensors, each sonar sensor is distributed in a different detection direction, and the signal transmitting module M301 includes: The first control submodule M3011 is used to control the sonar sensor in the first relative detection direction to emit a first group of detection sound waves; the second control submodule M3012 is used to control the sonar sensor in the second relative detection direction to emit a second group of detection sound waves after a preset interval period; The third control submodule M3013 is used to control the sonar sensor in the third relative detection direction to emit a third group of detection sound waves after the preset interval period and the second group of detection sound waves are emitted, wherein the first relative detection direction, the second relative detection direction and the third relative detection direction respectively include two relative directions.

[0057] Optionally, the obstacle determination module M302 includes: The detection submodule M3021 is used to detect whether the echo data of the first group of detection sound waves, the second group of detection sound waves and / or the third group of detection sound waves are received; The first determination submodule M3022 is configured to determine whether the obstacle exists in the detection direction corresponding to the echo data if the echo data of the first group of detection sound waves, the second group of detection sound waves and / or the third group of detection sound waves are received.

[0058] Optionally, the echo data includes propagation speed, echo time and echo direction, and the obstacle data determination module M303 includes: The second determination submodule M3031 is configured to determine whether the obstacle exists in the multiple detection directions if echo data in the multiple detection directions are received; The information determination submodule M3032 is used to determine the distance between the underwater robot and the obstacle in the respective detection directions according to the echo time generated by the obstacle and the propagation speed of the sound wave in the respective detection directions, and to determine the position of the obstacle according to the echo direction.

[0059] Optionally, the obstacle avoidance level determination module M304 includes: The sorting submodule M3041 is used to prioritize the obstacle distances between each obstacle and the underwater robot to obtain a priority queue corresponding to each obstacle; A direction determination submodule M3042 is used to determine the traveling direction of the underwater robot according to the planned path of the underwater robot; The queue adjustment submodule M3043 is used to adjust the priority queue according to the traveling direction of the underwater robot to obtain the obstacle avoidance level of the obstacle in each detection direction.

[0060] Optionally, the obstacle avoidance module M305 includes: A matching submodule M3051 is used to match the preset obstacle avoidance distance and the obstacle distance between each obstacle and the underwater robot in order based on the obstacle avoidance level of each obstacle, and determine whether obstacle avoidance is required; The obstacle avoidance submodule M3052 is used to plan a new path for the underwater robot based on the planned path of the underwater robot and the positions of the obstacles in each detection direction if obstacle avoidance is required.

[0061] Optionally, the preset obstacle avoidance distance includes a safety distance and a mandatory control distance, and the matching submodule M3051 specifically includes: The first distance comparison subunit M30511 is used to obtain the obstacle distance of the obstacle with the highest obstacle avoidance level, compare the obstacle distance of the obstacle with the highest obstacle avoidance level with the safety distance, and determine whether the obstacle distance of the obstacle with the highest obstacle avoidance level is greater than or equal to the safety distance; The first control subunit M30512 is configured to determine that no obstacle avoidance is required if the obstacle distance of the obstacle with the highest obstacle avoidance level is greater than or equal to the safety distance, and control the underwater robot to continue moving along the planned path, and stop obstacle avoidance judgment for the obstacle after the highest obstacle avoidance level; The second control subunit M30513 is configured to issue an obstacle avoidance warning and perform new path planning if the obstacle distance of the obstacle with the highest obstacle avoidance level is less than the safety distance and greater than or equal to the mandatory control distance; The third control subunit M30514 is used to control the underwater robot to stop moving and perform new path planning when the obstacle distance of the obstacle with the highest obstacle avoidance level is less than the forced control distance.

[0062] The multi-directional underwater robot obstacle avoidance device provided by the embodiment of the present invention can implement each process in the multi-directional underwater robot obstacle avoidance method described above, and can achieve the same beneficial effects. To avoid repetition, it will not be described here.

[0063] The present invention also provides an electronic device, see Figure 4 , Figure 4 : is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, and the electronic device D40 comprises: a processor D401, a memory D402, and a computer program stored in the memory D402 and executable on the processor D401. The processor D401 calls the computer program stored in the memory D402 to execute each step of a multi-directional underwater robot obstacle avoidance method provided in an embodiment of the present invention, and can achieve the same technical effect, refer to the description in the above embodiment, and will not be repeated here.

[0064] It should be pointed out that those skilled in the art can understand that the electronic device in the embodiment of the present invention is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), digital signal processors (DSP), embedded devices, etc. The electronic device can be a computing device such as a desktop computer, a notebook, a handheld computer, and a cloud server. The electronic device can perform human-computer interaction through a keyboard, a mouse, a remote control, a touchpad, or a voice-controlled device.

[0065] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes and steps in a multi-directional underwater robot obstacle avoidance method provided by an embodiment of the present invention are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0066] It should be noted that the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory can be an internal storage unit of an electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory can also be an external storage device of an electronic device, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Of course, the memory can also include both the internal storage unit of the electronic device and its external storage device. In this embodiment, the memory is generally used to store operating devices and various application software installed in the electronic device, such as a program code based on a multi-directional underwater robot obstacle avoidance method, etc. In addition, the memory can also be used to temporarily store various types of data that have been output or are to be output.

[0067] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of various embodiments of the above-mentioned multi-directional underwater robot obstacle avoidance method. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0068] The specific implementation described above is a preferred implementation of the multi-directional underwater robot obstacle avoidance method of the present invention, and is not intended to limit the specific implementation scope of the present invention. The scope of the present invention includes but is not limited to this specific implementation. All equivalent changes made in accordance with the shape and structure of the present invention are within the protection scope of the present invention.

Claims

1. A multi-directional underwater robot obstacle avoidance method, characterized in that: A multi-directional obstacle avoidance detection device is provided in the underwater robot, and the method comprises the following steps: Controlling the multi-directional obstacle avoidance detection device to emit detection sound waves in different time periods in each underwater detection direction; Obtaining the echo conditions of the detection sound waves in each detection direction, and determining whether there are obstacles in each detection direction according to the echo conditions; Determine whether the obstacle exists in multiple detection directions, and if the obstacle exists in multiple detection directions, determine the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction; Determining the obstacle avoidance level of the obstacle in each detection direction according to the obstacle distance between each obstacle and the underwater robot and the planned path of the underwater robot; The underwater robot is guided to avoid obstacles in each detection direction according to the obstacle avoidance level of the obstacle and the position of the obstacle in each detection direction.

2. The multi-directional underwater robot obstacle avoidance method according to claim 1, characterized in that: The multi-directional obstacle avoidance detection device includes a plurality of sonar sensors, each of which is distributed in a different detection direction. The multi-directional obstacle avoidance detection device is controlled to emit detection sound waves in different time periods in each underwater detection direction, including: Controlling the sonar sensor in the first relative detection direction to emit a first group of detection sound waves; After a preset interval period, controlling the sonar sensor in the second relative detection direction to emit a second set of detection sound waves; After the preset interval period and the second group of detection sound waves are emitted, the sonar sensor in the third relative detection direction is controlled to emit a third group of detection sound waves, wherein the first relative detection direction, the second relative detection direction and the third relative detection direction respectively include two relative directions.

3. The multi-directional underwater robot obstacle avoidance method according to claim 2, characterized in that: The obtaining of the echo conditions of the detection sound waves in each detection direction and determining whether there are obstacles in each detection direction according to the echo conditions include: detecting whether echo data of the first group of detection sound waves, the second group of detection sound waves and / or the third group of detection sound waves are received; If the echo data of the first group of detection sound waves, the second group of detection sound waves and / or the third group of detection sound waves are received, it is determined that the obstacle exists in the detection direction corresponding to the echo data.

4. The multi-directional underwater robot obstacle avoidance method according to claim 3, characterized in that: The echo data includes a propagation speed, an echo time, and an echo direction. The determining whether the obstacle exists in multiple detection directions, if the obstacle exists in multiple detection directions, determining the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction, includes: If echo data in multiple detection directions are received, it is determined that the obstacle exists in the multiple detection directions; According to the echo time generated by the obstacle and the propagation speed of the sound wave in the respective detection directions, the distance between the underwater robot and the obstacle in the detection direction is determined, and the position of the obstacle is determined according to the echo direction.

5. The multi-directional underwater robot obstacle avoidance method according to claim 4, characterized in that: The determining the obstacle avoidance level of the obstacle in each detection direction according to the obstacle distance between each obstacle and the underwater robot and the planned path of the underwater robot includes: Prioritizing the obstacle distances between each obstacle and the underwater robot to obtain a priority queue corresponding to each obstacle; Determining a travel direction of the underwater robot according to a planned path of the underwater robot; The priority queue is adjusted according to the traveling direction of the underwater robot to obtain the obstacle avoidance level of the obstacle in each detection direction.

6. A multi-directional underwater robot obstacle avoidance method according to any one of claims 1-5, characterized in that: The step of performing obstacle avoidance on the underwater robot in each detection direction according to the obstacle avoidance level of the obstacle in each detection direction and the position of the obstacle comprises: Based on the obstacle avoidance level of each obstacle, the preset obstacle avoidance distance and the obstacle distance between each obstacle and the underwater robot are matched in order to determine whether obstacle avoidance is required; If obstacle avoidance is required, a new path is planned for the underwater robot based on the planned path of the underwater robot and the positions of the obstacles in each detection direction.

7. The multi-directional underwater robot obstacle avoidance method according to claim 6, characterized in that: The preset obstacle avoidance distance includes a safety distance and a mandatory control distance. Based on the obstacle avoidance level of each obstacle, the preset safety distance and the obstacle distance between each obstacle and the underwater robot are matched in order to determine whether obstacle avoidance is required, including: Obtaining an obstacle distance of the obstacle at the highest obstacle avoidance level, comparing the obstacle distance of the obstacle at the highest obstacle avoidance level with the safety distance, and determining whether the obstacle distance of the obstacle at the highest obstacle avoidance level is greater than or equal to the safety distance; If the obstacle distance of the obstacle with the highest obstacle avoidance level is greater than or equal to the safety distance, it is determined that no obstacle avoidance is required, and the underwater robot is controlled to continue moving along the planned path, and obstacle avoidance judgment for the obstacle after the highest obstacle avoidance level is stopped; If the obstacle distance of the obstacle of the highest obstacle avoidance level is less than the safety distance and greater than or equal to the mandatory control distance, an obstacle avoidance warning is issued and a new path planning is performed; When the obstacle distance of the obstacle with the highest obstacle avoidance level is less than the mandatory control distance, the underwater robot is controlled to stop moving and a new path planning is performed.

8. A multi-directional underwater robot obstacle avoidance device, characterized in that: The underwater robot is provided with a multi-directional obstacle avoidance detection device, the device comprising: A signal transmitting module, used to control the multi-directional obstacle avoidance detection device to transmit detection sound waves in different time periods in each underwater detection direction; The obstacle judgment module is used to obtain the echo of the detection sound wave in each detection direction, and determine whether there is an obstacle in each detection direction according to the echo; An obstacle data determination module, used to determine whether the obstacle exists in multiple detection directions, and if the obstacle exists in multiple detection directions, determine the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction; An obstacle avoidance level determination module, used to determine the obstacle avoidance level of the obstacle in each detection direction according to the distance between each obstacle and the underwater robot and the planned path of the underwater robot; The obstacle avoidance module is used to avoid obstacles for the underwater robot in each detection direction according to the obstacle avoidance level of the obstacle in each detection direction and the position of the obstacle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of a multi-directional underwater robot obstacle avoidance method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, the steps of a multi-directional underwater robot obstacle avoidance method as described in any one of claims 1 to 7 are implemented.

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