Underwater robot control method and related equipment

Abstract

The invention is suitable for the technical field of robot control, and particularly relates to an underwater robot control method and related equipment, and the method comprises the steps: obtaining depth data and pressure data of an underwater robot; determining a current task environment of the underwater robot based on the depth data and the pressure data; according to the current task environment, a target advancing mode of the underwater robot is judged; and if the target advancing mode is different from the current advancing mode of the underwater robot, switching the current advancing mode of the underwater robot into the target advancing mode. The current task environment of the underwater robot is analyzed according to the depth data and the pressure data in the environment where the water robot is located, the underwater robot is controlled to be switched to the advancing mode adaptive to the current task environment, and it is guaranteed that the underwater robot achieves autonomous switching of the advancing modes based on environment conversion in the underwater environment and the land environment. The method is not limited by the environment any more, changing tasks and environments can be dealt with more flexibly, and the autonomous operability is higher.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot control, and in particular relates to an underwater robot control method and related equipment. Background Art

[0002] The application scenarios of robots are becoming increasingly complex and diverse. In order to meet the needs of actual applications, micro-robots that can survive and work in multi-media environments have been developed in response to the complexity and diversity of application scenarios, including amphibious robots. Amphibious robots are a special type of underwater machine designed to perform tasks underwater and on land. In recent years, they have been widely used in scientific research, resource exploration, rescue missions, and marine ecological monitoring. However, the execution of tasks by underwater robots in different environments and the switching from underwater to land usually involve complex motion control problems. When switching between underwater and land, the operator's judgment of the environment is relied on for switching control, and the mode cannot be switched autonomously using environmental factors. There is a problem of poor autonomy in the switching method. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that in the prior art, when an underwater robot switches between underwater and land, it relies on the operator's judgment of the environment for switching control, cannot autonomously use environmental factors to switch modes, and has a poor autonomy in the switching method. An underwater robot control method and related equipment are proposed. The method analyzes the current task environment of the underwater robot by acquiring depth data and pressure data in the environment where the underwater robot is located. After judging the current task environment of the underwater robot, the underwater robot can be controlled to switch to a travel mode that is suitable for the current task environment, thereby ensuring that the underwater robot can autonomously switch the travel mode based on environmental changes in both underwater and land environments, effectively perform tasks, no longer be restricted by the environment, reduce dependence on remote operators, and is conducive to more flexible response to changing tasks and environments, with stronger autonomous operability.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling an underwater robot, the method comprising the following steps: Acquire depth data and pressure data of the underwater robot, wherein the depth data is the vertical distance between the current position of the underwater robot and the water surface, and the pressure data is the ambient pressure of the underwater robot at the current position; Determining a current mission environment of the underwater robot based on the depth data and the pressure data; Determining a target travel mode of the underwater robot according to the current mission environment, where different mission environments correspond to different travel modes; If the target traveling mode is different from the current traveling mode of the underwater robot, the current traveling mode of the underwater robot is switched to the target traveling mode.

[0005] Furthermore, the underwater robot is integrated with a depth sensor and a pressure sensor, and the acquisition of the depth data and pressure data of the underwater robot includes: The depth sensor collects the vertical distance of the underwater robot relative to the water surface in real time to obtain depth data of the underwater robot; The pressure change of the underwater robot is collected by the pressure sensor to obtain the pressure data of the underwater robot.

[0006] Further, determining the current task environment of the underwater robot based on the depth data and the pressure data includes: Acquire reference depth data and reference pressure data corresponding to different task environments, where different task environments correspond to different reference depth data and different reference pressure data; Comparing the depth data with reference depth data corresponding to different mission environments, and comparing the pressure data with reference pressure data corresponding to different mission environments, to obtain a data comparison result of the underwater robot; The current mission environment of the underwater robot is determined based on the data comparison result.

[0007] Further, the reference depth data is a depth threshold, the reference pressure data is a pressure threshold, and the depth data is compared with the reference depth data corresponding to different task environments, and the pressure data is compared with the reference pressure data corresponding to different task environments to obtain the data comparison result of the underwater robot, including: Comparing the depth data with the depth threshold to obtain a depth data comparison result of the underwater robot; Comparing the pressure data with the pressure threshold to obtain a pressure data comparison result of the underwater robot; The depth data comparison result and the pressure data comparison result are determined as the data comparison result of the underwater robot.

[0008] Furthermore, before comparing the depth data with reference depth data corresponding to different mission environments, and comparing the pressure data with reference pressure data corresponding to different mission environments, to obtain the data comparison result of the underwater robot, the method further includes: The depth threshold and pressure threshold corresponding to the underwater robot are determined according to the motion parameters and task depth of the underwater robot in performing tasks under different task environments.

[0009] Further, the task environment includes an underwater task environment and a land task environment, and determining the current task environment of the underwater robot based on the data comparison result includes: If the depth data is less than the depth threshold, and the pressure data is less than the pressure threshold, determining that the current task environment is the underwater task environment; If the depth data is greater than or equal to the depth threshold, and the pressure data is greater than or equal to the pressure threshold, it is determined that the current task environment is the onshore task environment.

[0010] Further, judging the target travel mode of the underwater robot according to the current task environment includes: if the current task environment is the underwater task environment, judging the target travel mode of the underwater robot to be the underwater propulsion mode; If the current task environment is the land task environment, it is determined that the target travel mode of the underwater robot is the land travel mode.

[0011] In a second aspect, an embodiment of the present invention further provides an underwater robot control device, the device comprising: A data acquisition module, used to obtain depth data and pressure data of the underwater robot, wherein the depth data is the vertical distance between the current position of the underwater robot and the water surface, and the pressure data is the ambient pressure of the underwater robot at the current position; An environment determination module, used to determine the current task environment of the underwater robot based on the depth data and the pressure data; A mode judgment module, used to judge the target travel mode of the underwater robot according to the current task environment, and different task environments correspond to different travel modes; A mode switching module is used to switch the current travel mode of the underwater robot to the target travel mode if the target travel mode is different from the current travel mode of the underwater robot.

[0012] 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 an underwater robot control method as described in the embodiment are implemented.

[0013] 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 wherein when the computer program is executed by a processor, the steps of an underwater robot control method as described in the embodiment are implemented.

[0014] The beneficial effects achieved by the present invention are as follows: the present invention analyzes the current task environment of the underwater robot by acquiring the depth data and pressure data in the environment where the underwater robot is located. After determining the current task environment of the underwater robot, the underwater robot can be controlled to switch to a travel mode that is adapted to the current task environment, thereby ensuring that the underwater robot can autonomously switch travel modes based on environmental changes in both underwater and land environments, effectively perform tasks, no longer be restricted by the environment, reduce dependence on remote operators, and be conducive to more flexible response to changing tasks and environments, with stronger autonomous operability.

[0015] 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

[0016] 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.

[0017] Figure 1 This is a flow chart of an underwater robot control method provided by an embodiment of the present invention.

[0018] Figure 2 It is a flow chart of another underwater robot control method provided by an embodiment of the present invention.

[0019] Figure 3 It is a structural schematic diagram of an underwater robot control device provided by an embodiment of the present invention.

[0020] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] Embodiment 1 Please refer to Figure 1 , Figure 1 1 is a flow chart of an underwater robot control method provided by an embodiment of the present invention. An underwater robot control method specifically comprises the following steps: S1. Acquire depth data and pressure data of an underwater robot, wherein the depth data is the vertical distance between the current position of the underwater robot and the water surface, and the pressure data is the ambient pressure of the underwater robot at the current position.

[0027] An underwater robot control method provided by an embodiment of the present invention is applicable to scenarios where underwater robots perform tasks in different mission environments. The electronic device running an underwater robot control method may be a control center system that uniformly controls different underwater robots and other equipment. The electronic device may be connected to the underwater robot through a wireless connection. It should be noted that the wireless connection method includes but is 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.

[0028] Specifically, the above step S1 specifically includes: S11, collecting the vertical distance of the underwater robot relative to the water surface in real time through the depth sensor to obtain depth data of the underwater robot; S12. Collect pressure changes of the underwater robot through the pressure sensor to obtain pressure data of the underwater robot.

[0029] Specifically, a depth sensor can be integrated into the underwater robot, and the vertical distance between the current position of the underwater robot and the water surface can be collected by the depth sensor, and the obtained vertical distance can be determined as the depth data of the underwater robot, for example, the vertical distance between the underwater robot and the water surface is 20 meters. The depth data collected by the depth sensor can be sent to the electronic device connected to the communication in the form of a depth map and a point cloud, and the depth data analysis is performed based on the processor in the electronic device.

[0030] In some embodiments, the vertical distance between the current position of the underwater robot and the water surface at a certain moment can be collected as the depth data of the underwater robot, for example: the value at a certain moment is used as the depth data of the underwater robot to judge the scene. The vertical distance between the current position of the underwater robot and the water surface over a period of time can also be collected in real time as the depth data of the underwater robot, for example: collect once per second, collect the vertical distance between the current position of the underwater robot and the water surface in real time within 3 seconds, and further confirm the environment based on the vertical distances collected three times. When the vertical distances collected three times become larger in sequence, it can be said that the underwater robot is entering the water.

[0031] More specifically, a pressure sensor can be integrated into the underwater robot, and the environmental pressure caused by the environment in the current position of the underwater robot can be collected through the pressure sensor, and the obtained environmental pressure can be used as the pressure data of the underwater robot. Possibly, the environmental pressure of the underwater robot at a certain moment can be collected as a basis for judging the environment it is in, or the pressure change of the underwater robot over a period of time can be collected, and the pressure change can be used as a basis for judging the environment it is in. The pressure data collected by the underwater robot is also sent to the electronic device connected to the communication, and the pressure data analysis is performed based on the processor in the electronic device.

[0032] S2. Determine the current mission environment of the underwater robot based on the depth data and the pressure data.

[0033] After receiving the depth data and pressure data uploaded by the underwater robot, the current mission environment of the underwater robot can be determined by combining the depth data and pressure data.

[0034] Specifically, the above step S2 specifically includes: S21, obtaining reference depth data and reference pressure data corresponding to different task environments, where different task environments correspond to different reference depth data and different reference pressure data; S22, comparing the depth data with reference depth data corresponding to different task environments, and comparing the pressure data with reference pressure data corresponding to different task environments, to obtain a data comparison result of the underwater robot; S23. Determine the current mission environment of the underwater robot based on the data comparison result.

[0035] Specifically, the underwater robot performs different tasks in different task environments, such as deep water tasks, shallow water tasks, surface tasks, etc. In order to more accurately determine the current task environment of the underwater robot, reference depth data and reference pressure data can be set in advance for different task environments. By comparing the collected depth data with the reference depth data, and comparing the collected pressure data with the reference pressure data, the data comparison result of the underwater robot can be obtained, and then the current task environment of the underwater robot can be determined based on the data comparison result.

[0036] More specifically, combined Figure 2 As shown, the above step S22 specifically includes: S221. Compare the depth data with the depth threshold to obtain the depth data comparison result of the underwater robot; S222. Compare the pressure data with the pressure threshold to obtain the pressure data comparison result of the underwater robot; S223. Determine the depth data comparison result and the pressure data comparison result as the data comparison result of the underwater robot.

[0037] Specifically, the reference depth data is the depth threshold, and the reference pressure data is the pressure threshold. It is possible to determine the depth threshold and pressure threshold corresponding to the underwater robot according to the motion parameters and task depth of the underwater robot in different task environments, wherein the motion parameters may include angular displacement, speed, angular velocity, acceleration, etc. The task depth may refer to the depth required to perform the task, for example: the underwater robot goes down to a depth of 100 meters to perform the task. Figure 2 As shown, the controller can compare the depth data collected by the underwater drone through the depth sensor with the depth threshold to obtain a comparison result between the depth data and the depth threshold, and compare the pressure data collected by the pressure sensor with the pressure threshold to obtain a comparison result between the pressure data and the pressure threshold. Then, the comparison result between the depth data and the depth threshold and the comparison result between the pressure data and the pressure threshold are used as the data comparison result of the underwater robot to judge the current task environment.

[0038] More specifically, combined Figure 2 As shown, the above step S23 specifically includes: S231, if the depth data is less than the depth threshold, and the pressure data is less than the pressure threshold, determining that the current task environment is the underwater task environment; S232: If the depth data is greater than or equal to the depth threshold, and the pressure data is greater than or equal to the pressure threshold, it is determined that the current task environment is the onshore task environment.

[0039] In this embodiment, the task environment performed by the underwater robot includes an underwater task environment and a land task environment. Possibly, the direction upward toward the water surface can be regarded as the positive direction, and the direction downward toward the water surface can be regarded as the reverse direction. Based on the fact that the pressure caused by the underwater environment to the underwater robot is greater than the pressure caused by the land environment to the underwater robot, when the depth data collected by the underwater robot is less than the depth threshold, and the pressure data is less than the pressure threshold, it can be determined that the current task environment of the underwater robot is an underwater task environment; when the depth data collected by the underwater robot is greater than or equal to the depth threshold, and the pressure data is greater than or equal to the pressure threshold, it can be determined that the current task environment of the underwater robot is a land task environment. For example, if the pressure data collected is 200N, the depth data is 20 meters, the depth threshold is 0 meters, and the pressure threshold is 100N, then the underwater robot is in the land task environment and performs the land task.

[0040] S3. Determine the target travel mode of the underwater robot according to the current task environment, where different task environments correspond to different travel modes.

[0041] Specifically, after the current mission environment of the underwater robot is determined, since different mission environments correspond to different travel modes, the target travel mode of the underwater robot can be determined according to the mission environment.

[0042] More specifically, the above step S3 includes: S31, if the current task environment is the underwater task environment, determining that the target travel mode of the underwater robot is the underwater propulsion mode; S32: If the current task environment is the land task environment, determine that the target travel mode of the underwater robot is the land travel mode.

[0043] Specifically, if it is determined that the current mission environment is an underwater mission environment, the target travel mode of the underwater robot can be determined to be an underwater propulsion mode, and if the current mission environment is a land mission environment, the target travel mode of the underwater robot can be determined to be a land propulsion mode. By using the collected depth data and pressure data to determine the current mission environment, and determining the target travel mode of the underwater robot based on the current mission environment, and by using data in the environment rather than a restricted environment, it is possible to respond more flexibly to changing tasks and environments.

[0044] S4. If the target traveling mode is different from the current traveling mode of the underwater robot, the current traveling mode of the underwater robot is switched to the target traveling mode.

[0045] Specifically, since the underwater robot may be in a dynamic state, in the process of judging the target travel mode, before switching the travel mode, the travel mode of the underwater robot still uses the travel mode judged last time as the current travel mode. Therefore, after determining the target travel mode, it is necessary to compare the target travel mode with the current travel mode to determine whether the two are the same. If they are different, the current travel mode can be autonomously switched to the target travel mode to adapt to the current environment of the underwater robot.

[0046] More specifically, when the target travel mode is the same as the current travel mode, there is no need to switch, and the current travel mode can continue to work as the target travel mode. After determining the travel mode, the controller can generate a mode switching instruction / mode maintenance instruction and send it to the underwater robot to control the underwater robot to switch modes or not. For example: data is collected once every 1 second. When the data is collected in the first 1 second, it is judged that the underwater robot is in the land travel mode and works as the current travel mode; the data collected in the next 1 second determines that the underwater robot is in the underwater travel mode, that is, the target travel mode. At this time, it is necessary to switch the land travel mode of the underwater robot to the underwater travel mode, so as to make the underwater robot autonomously switch modes in a timely and accurate manner according to the depth data and pressure data collected in real time, and perform tasks including underwater surveys, underwater operations and land operations.

[0047] In an embodiment of the present invention, by integrating a depth sensor in the underwater robot to collect depth data in real time, and integrating a pressure sensor to collect pressure data in real time, data in the task environment can be collected in real time and sent to the controller for data analysis. The controller at one end of the electronic device can automatically determine the current task environment of the underwater robot after comparing the collected depth data and pressure data with the depth threshold and pressure threshold, so that the underwater robot can autonomously judge the task environment in which it is located. After judging the current task environment of the underwater robot, the underwater robot can be controlled to switch to a travel mode adapted to the current task environment, thereby ensuring that the underwater robot effectively performs tasks in both underwater and land environments, is no longer restricted by the environment, and can more flexibly respond to changing tasks and environments, reduce dependence on remote operators, have decision-making capabilities, and have stronger autonomous operability. In addition, the free switching mechanism does not require the use of large-scale dual-mode structures or complex mechanical components, so the structure of the underwater robot can be simplified, the total weight can be reduced, and the maneuverability and movement efficiency of the underwater robot can be improved.

[0048] Please refer to Example 2 Figure 3 , Figure 3: is a structural diagram of an underwater robot control device provided by an embodiment of the present invention. An underwater robot control device can implement various embodiments of the above-mentioned underwater robot control method, and the device M30 includes: a data acquisition module M301, which is used to obtain the depth data and pressure data of the underwater robot, the depth data is the vertical distance between the current position of the underwater robot and the water surface, and the pressure data is the environmental pressure of the underwater robot at the current position; An environment determination module M302, used to determine the current task environment of the underwater robot based on the depth data and the pressure data; A mode determination module M303 is used to determine the target travel mode of the underwater robot according to the current task environment, and different task environments correspond to different travel modes; The mode switching module M304 is configured to switch the current traveling mode of the underwater robot to the target traveling mode if the target traveling mode is different from the current traveling mode of the underwater robot.

[0049] Optionally, the underwater robot is integrated with a depth sensor and a pressure sensor, and the data acquisition module M301 includes: The first data acquisition submodule M3011 is used to acquire the vertical distance of the underwater robot relative to the water surface in real time through the depth sensor to obtain the depth data of the underwater robot; The second data acquisition submodule M3012 is used to collect the pressure change of the underwater robot through the pressure sensor to obtain the pressure data of the underwater robot.

[0050] Optionally, the environment determination module M302 includes: The data acquisition submodule M3021 is used to acquire reference depth data and reference pressure data corresponding to different task environments. Different task environments correspond to different reference depth data and different reference pressure data. A comparison submodule M3022 is used to compare the depth data with reference depth data corresponding to different mission environments, and to compare the pressure data with reference pressure data corresponding to different mission environments, to obtain a data comparison result of the underwater robot; The environment determination submodule M3023 is used to determine the current task environment of the underwater robot based on the data comparison result.

[0051] Optionally, the reference depth data is a depth threshold, the reference pressure data is a pressure threshold, and the comparison submodule M3022 specifically includes: A first comparison subunit M30221 is used to compare the depth data with the depth threshold to obtain a depth data comparison result of the underwater robot; The second comparison subunit M30222 is used to compare the pressure data with the pressure threshold to obtain a pressure data comparison result of the underwater robot; The result determination subunit M30223 is used to determine the depth data comparison result and the pressure data comparison result as the data comparison result of the underwater robot.

[0052] Optionally, the device M30 further includes a threshold selection module M305, which is used to determine the depth threshold and pressure threshold corresponding to the underwater robot according to the motion parameters and task depth of the underwater robot performing tasks in different task environments.

[0053] Optionally, the mission environment includes an underwater mission environment and a land mission environment, and the environment determination submodule M3023 includes: A first environment determination submodule M30231, configured to determine that the current task environment is the underwater task environment if the depth data is less than the depth threshold and the pressure data is less than the pressure threshold; The second environment determination submodule M30232 is used to determine that the current task environment is the onshore task environment if the depth data is greater than or equal to the depth threshold and the pressure data is greater than or equal to the pressure threshold.

[0054] Optionally, the mode determination module M303 includes: A first mode determination submodule M2031 is used to determine that the target travel mode of the underwater robot is the underwater propulsion mode if the current task environment is the underwater task environment; The second mode determination submodule M2032 is used to determine that the target travel mode of the underwater robot is the land travel mode if the current task environment is the land task environment.

[0055] The underwater robot control device provided by the embodiment of the present invention can implement each process in the above-mentioned underwater robot control method and can achieve the same beneficial effects. To avoid repetition, it will not be described here.

[0056] The embodiment of the present invention also provides an electronic device, which can be wirelessly connected to the underwater robot, and can perform data analysis on the underwater robot, determine the task environment of the underwater robot, and switch the travel mode. 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 includes: 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 an underwater robot control 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.

[0057] 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.

[0058] 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 computer program implements the various processes and steps in an underwater robot control method provided by an embodiment of the present invention, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0059] 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 may 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 may 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 may 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 of an underwater robot control method, etc. In addition, the memory may also be used to temporarily store various types of data that have been output or are to be output.

[0060] 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 underwater robot control method. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0061] The specific implementation described above is a preferred implementation of an underwater robot control 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 method for controlling an underwater robot, characterized in that: The method comprises the following steps: Acquire depth data and pressure data of the underwater robot, wherein the depth data is the vertical distance between the current position of the underwater robot and the water surface, and the pressure data is the ambient pressure of the underwater robot at the current position; Determining a current mission environment of the underwater robot based on the depth data and the pressure data; Determining a target travel mode of the underwater robot according to the current mission environment, where different mission environments correspond to different travel modes; If the target traveling mode is different from the current traveling mode of the underwater robot, the current traveling mode of the underwater robot is switched to the target traveling mode.

2. The underwater robot control method according to claim 1, characterized in that: The underwater robot is integrated with a depth sensor and a pressure sensor, and the depth data and pressure data of the underwater robot are obtained, including: The depth sensor collects the vertical distance of the underwater robot relative to the water surface in real time to obtain depth data of the underwater robot; The pressure change of the underwater robot is collected by the pressure sensor to obtain the pressure data of the underwater robot.

3. The underwater robot control method according to claim 1, characterized in that: The determining the current task environment of the underwater robot based on the depth data and the pressure data includes: Obtain reference depth data and reference pressure data corresponding to different task environments, where different task environments correspond to different reference depth data and different reference pressure data; Comparing the depth data with reference depth data corresponding to different mission environments, and comparing the pressure data with reference pressure data corresponding to different mission environments, to obtain a data comparison result of the underwater robot; The current mission environment of the underwater robot is determined based on the data comparison result.

4. The underwater robot control method according to claim 3, characterized in that: The reference depth data is a depth threshold, the reference pressure data is a pressure threshold, and the depth data is compared with the reference depth data corresponding to different task environments, and the pressure data is compared with the reference pressure data corresponding to different task environments to obtain the data comparison result of the underwater robot, including: Comparing the depth data with the depth threshold to obtain a depth data comparison result of the underwater robot; Comparing the pressure data with the pressure threshold to obtain a pressure data comparison result of the underwater robot; The depth data comparison result and the pressure data comparison result are determined as the data comparison result of the underwater robot.

5. The underwater robot control method according to claim 4, characterized in that: Before comparing the depth data with reference depth data corresponding to different task environments, and comparing the pressure data with reference pressure data corresponding to different task environments, to obtain the data comparison result of the underwater robot, the method further includes: The depth threshold and pressure threshold corresponding to the underwater robot are determined according to the motion parameters and task depth of the underwater robot in performing tasks under different task environments.

6. The underwater robot control method according to claim 4, characterized in that: The task environment includes an underwater task environment and a land task environment, and determining the current task environment of the underwater robot based on the data comparison result includes: If the depth data is less than the depth threshold, and the pressure data is less than the pressure threshold, determining that the current task environment is the underwater task environment; If the depth data is greater than or equal to the depth threshold, and the pressure data is greater than or equal to the pressure threshold, it is determined that the current task environment is the onshore task environment.

7. The underwater robot control method according to claim 6, characterized in that: The step of determining the target travel mode of the underwater robot according to the current task environment includes: If the current task environment is the underwater task environment, determining that the target travel mode of the underwater robot is the underwater propulsion mode; If the current task environment is the land task environment, it is determined that the target travel mode of the underwater robot is the land travel mode.

8. An underwater robot control device, characterized in that: The device comprises: A data acquisition module, used to obtain depth data and pressure data of the underwater robot, wherein the depth data is the vertical distance between the current position of the underwater robot and the water surface, and the pressure data is the ambient pressure of the underwater robot at the current position; An environment determination module, used to determine the current task environment of the underwater robot based on the depth data and the pressure data; A mode determination module, used to determine the target travel mode of the underwater robot according to the current task environment, and different task environments correspond to different travel modes; A mode switching module is used to switch the current travel mode of the underwater robot to the target travel mode if the target travel mode is different from the current travel mode of the underwater robot.

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 the underwater robot control method according to 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 a processor, the steps of an underwater robot control method as claimed in any one of claims 1 to 7 are implemented.

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