Underwater robot control method, underwater robot, electronic equipment and storage medium

Abstract

The invention provides an underwater robot control method. The underwater robot control method comprises the following steps: determining that an underwater robot is in a trapped state; determining first attitude information of the underwater robot; in response to the received first control instruction, controlling the underwater robot to enter a resonance state; determining second attitude information of the underwater robot; and judging that the posture of the underwater robot meets a first preset condition based on the first posture information and the second posture information, and sending a second control instruction to control the underwater robot to move so as to be separated from the trapped state. According to the technical scheme, the underwater robot is controlled to enter the vibration state, the operation space for the underwater robot to break away from the trapped state is increased, and the underwater robot can move to break away from the trapped state. The process of controlling the underwater robot to break away from the trapped state does not need manpower or other auxiliary equipment, so that the cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to an underwater robot control method, an underwater robot, an electronic device and a storage medium. Background Art

[0002] Underwater Vehicle is an intelligent mechanical device that can perform various tasks in underwater environments.

[0003] When working in an underwater environment, underwater robots often encounter obstacles and may be bound by obstacles and enter a trapped state. For example, when an underwater robot touches the bottom, it may sink into mud and enter a trapped state, or it may be stuck by reefs in the water and enter a trapped state. In order to help the underwater robot escape from the trapped state, the existing technical solution is to send divers or remote-controlled unmanned submersibles into the underwater environment to find the underwater robot and help the underwater robot escape through contact intervention.

[0004] For example, a diver dives into an underwater environment to find an underwater robot in a trapped state, controls the underwater robot to get rid of obstacles, and then escapes from the trapped state. For example, a remote-controlled unmanned submersible dives into an underwater environment to find an underwater robot in a trapped state, and tows the underwater robot with a towing rope or other towing tools to free the underwater robot from the trapped state.

[0005] The inventor of the present application has found that the existing technical solutions require the help of divers or unmanned submersibles, which consumes a lot of manpower and material resources. Divers or remote-controlled unmanned submersibles take a long time to search for underwater robots and have low efficiency.

[0006] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0007] This application aims to propose a technical solution to solve at least one of the technical problems mentioned above.

[0008] According to one aspect of the present application, a method for controlling an underwater robot is provided. The method comprises: determining that the underwater robot is in a trapped state; determining first posture information of the underwater robot; responding to a received first control instruction to control the underwater robot to enter a resonance state; determining second posture information of the underwater robot; judging that the posture of the underwater robot meets a first preset condition based on the first posture information and the second posture information, and issuing a second control instruction to control the underwater robot to move so as to escape from the trapped state.

[0009] According to some embodiments of the present application, determining that the underwater robot is in a trapped state includes: determining speed information of the underwater robot; and determining that the underwater robot is in a trapped state when the speed information meets a second preset condition within a continuous first time interval.

[0010] According to some embodiments of the present application, determining that the underwater robot is in a trapped state includes: determining distance information between the underwater robot and an obstacle; and determining that the underwater robot is in a trapped state when the distance information meets a third preset condition within a second consecutive time interval.

[0011] According to some embodiments of the present application, determining that the underwater robot is in a trapped state includes: acquiring image information of an obstacle; and determining that the underwater robot is in a trapped state when the image information meets a fourth preset condition within a third consecutive time interval.

[0012] According to some embodiments of the present application, judging that the posture of the underwater robot satisfies a first preset condition based on the first posture information and the second posture information, and issuing a second control instruction to control the movement of the underwater robot to escape from the trapped state includes: judging that the posture of the underwater robot satisfies the first preset condition based on the first posture information and the second posture information; determining the movement mode of the underwater robot based on the first posture information and the second posture information; and issuing a second control instruction generated based on the movement mode to control the underwater robot to move according to the movement mode to escape from the trapped state.

[0013] According to another aspect of the present application, an underwater robot is also provided. The underwater robot includes a controller, a posture detection device and a resonance device. The controller confirms that the underwater robot is in a trapped state and sends a first control instruction. The resonance device controls the underwater robot to enter a resonance state in response to the control instruction. The posture detection device determines the first posture information of the underwater robot in the trapped state, and is also used to confirm the second posture information of the underwater robot in the resonance state, and sends the first posture information and the second posture information to the controller. The controller is also used to receive the first posture information and the second posture information, and based on the first posture information and the second posture information, judge that the posture of the underwater robot meets the first preset condition, and issue a second control instruction to control the movement of the underwater robot to escape from the trapped state.

[0014] According to some embodiments of the present application, the resonance device includes a housing, an eccentric pendulum and a control module. The eccentric pendulum is arranged inside the housing. The control module is arranged below the eccentric pendulum.

[0015] According to some embodiments of the present application, the underwater robot is an autonomous underwater vehicle.

[0016] According to another aspect of the present application, an electronic device is also provided. The electronic device includes one or more processors. The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the underwater robot control method of the present application.

[0017] According to another aspect of the present application, a non-volatile computer-readable storage medium is also provided. The non-volatile computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the underwater robot control method of the present application is implemented.

[0018] Beneficial Effects When the underwater robot is confirmed to be in a trapped state, the underwater robot is controlled to enter a vibration state, and the operation space for the underwater robot to escape from the trapped state is increased through resonance, which is conducive to the movement of the underwater robot to escape from the trapped state, thereby increasing the success rate of the underwater robot escaping from the trapped state. The technical solution of the present application does not require manpower or other auxiliary equipment to control the underwater robot to escape from the trapped state, thereby reducing costs, and the underwater robot escapes from the trapped state by controlling the movement of the underwater robot itself, without the need to search for the underwater robot, thereby shortening the time and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic flow chart of an underwater robot control method 1000 according to an embodiment of the present application is shown; Figure 2 A flow chart of step S110 of the underwater robot control method 1000 of the embodiment of the present application is shown; Figure 3 Another flowchart of step S110 of the underwater robot control method 1000 of the embodiment of the present application is shown; Figure 4 Another flowchart of step S110 of the underwater robot control method 1000 of the embodiment of the present application is shown; Figure 5 A flow chart of step S150 of the underwater robot control method 1000 of the embodiment of the present application is shown; Figure 6 A schematic diagram of the structure of an underwater robot according to an embodiment of the present application is shown; Figure 7 A schematic diagram showing the top of an underwater robot trapped in an embodiment of the present application is shown; Figure 8 A schematic diagram showing an underwater robot trapped at the bottom of an embodiment of the present application is shown; Fig. 9 A schematic structural diagram of a resonance device according to an embodiment of the present application is shown.

[0021] Description of reference numerals: An underwater robot 1 ; an obstacle 2 ; a posture detection device 11 ; a controller 12 ; a resonance device 13 , an eccentric pendulum 131 ; a control module 132 ; and a housing 133 . DETAILED DESCRIPTION

[0022] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0023] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0024] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0025] The terms "first", "second" and the like in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order.

[0026] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. The described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0027] Figure 1 FIG. 1 is a flow chart of an underwater robot control method 1000 according to an embodiment of the present application. Figure 1 As shown, the underwater robot control method 1000 includes S110-S150. Exemplarily, the underwater robot control method 1000 can be executed by a controller or a remote control platform that controls the underwater robot. The controller can be at the underwater robot end or at a remote control platform.

[0028] In S110, it is determined that the underwater robot is in a trapped state. For example, the underwater robot may be an AUV (Autonomous Underwater Vehicle), a HUV (Hybrid Underwater Vehicle), etc. The trapped state of the underwater robot may be defined as a state in which the underwater robot is restrained by obstacles and its movement is affected. Figure 7 A schematic diagram showing the top of an underwater robot according to an embodiment of the present application being trapped. Figure 8 The schematic diagram of the underwater robot 1 in the embodiment of the present application being trapped at the bottom is shown. For example, the obstacle 2 may be mud, reefs, corals, etc. The underwater robot 1 may sink into mud, be stuck by reefs or corals during operation in the underwater environment, and then enter a trapped state.

[0029] Exemplarily, the underwater robot 1 may be provided with sensor equipment such as sonar, camera, and lidar. The sonar, camera, and lidar sensors may be used to sense the environment in which the underwater robot 1 is located, and further confirm that the underwater robot 1 is in a trapped state.

[0030] In S120, first posture information of the underwater robot is determined. For example, the posture information of the underwater robot 1 may include the heading angle, pitch angle, and roll angle of the underwater robot 1. The first posture information may be posture information when the underwater robot 1 is in a trapped state.

[0031] In S130, in response to the received first control instruction, the underwater robot is controlled to enter a resonance state. Exemplarily, the first control instruction may be an instruction issued by the controller to turn on the resonance device. The resonance device may be a device disposed inside the underwater robot 1 that can resonate with the underwater robot 1. The underwater robot 1 receives the control instruction to turn on the resonance device and turns on the resonance device. The resonance device resonates with the underwater robot 1, thereby controlling the underwater robot 1 to enter a resonance state.

[0032] In S140, second posture information of the underwater robot is determined. Exemplarily, the second posture information is posture information after the underwater robot 1 enters the resonance state. The underwater robot 1 can obtain the posture information of the underwater robot 1 after entering the resonance state in real time.

[0033] In S150, it is determined based on the first posture information and the second posture information that the posture of the underwater robot meets the first preset condition, and a second control instruction is issued to control the underwater robot to move so as to escape from the trapped state. For example, the posture information of the underwater robot 1 may include information such as the heading angle, the pitch angle, and the roll angle. The second control instruction may be an instruction issued by the controller to control the movement of the underwater robot 1. After receiving the second control instruction, the underwater robot 1 moves according to the second control instruction. The heading angle of the underwater robot 1 included in the first posture information can be named as the first heading angle X1. The pitch angle of the underwater robot 1 included in the first posture information can be named as the first pitch angle Y1. The roll angle of the underwater robot 1 included in the first posture information can be named as the first roll angle Z1. The heading angle of the underwater robot 1 included in the second posture information can be named as the second heading angle X2. The pitch angle of the underwater robot 1 included in the second posture information can be named as the second pitch angle Y2. The roll angle of the underwater robot 1 included in the second posture information can be named as the second roll angle Z2.

[0034] For example, the change range of the heading angle of the underwater robot 1 is R1. The change range of the pitch angle of the underwater robot 1 is R2. The change range of the roll angle of the underwater robot 1 is R3. R1, R2 and R3 are values ​​in the range of 0% to 100%. The calculation formulas of R1, R2 and R3 are as shown in formula (1)

[0035]

[0036]

[0037] Formula (1) For example, the first preset condition may be that at least one of R1, R2 and R3 is greater than the preset change range R. R is a value in the range of 0% to 100% set by the user, and is not limited here. For example, when R=50%, at least one of R1, R2 and R3 is greater than 50%, which means that the posture of the underwater robot 1 meets the first preset condition. When the posture of the underwater robot 1 meets the first preset condition, it can be characterized that the underwater robot 1 has generated an operating space to escape from the trapped state through resonance.

[0038] Through the above embodiments, when it is confirmed that the underwater robot is in a trapped state, the underwater robot is controlled to enter a vibration state, and the operation space for the underwater robot to escape from the trapped state is increased through resonance, which is conducive to the movement of the underwater robot to escape from the trapped state, thereby improving the success rate of the underwater robot escaping from the trapped state. The process of controlling the underwater robot to escape from the trapped state does not require manpower or other auxiliary equipment, which reduces costs. The underwater robot is controlled to escape from the trapped state by its own movement, and there is no need to find the underwater robot, which shortens the time and improves efficiency.

[0039] Figure 2 FIG. 1 is a flow chart of step S110 of the underwater robot control method 1000 of the embodiment of the present application. Figure 2 As shown, step S110 of the underwater robot control method 1000 includes S111 and S112.

[0040] In S111, the speed information of the underwater robot is determined. Exemplarily, the underwater robot 1 may be provided with an integrated navigation unit. The integrated navigation unit is a navigation device that combines navigation technology and a sensor, and can obtain the speed information of the underwater robot 1. The speed information may be the speed of the underwater robot 1. The underwater robot 1 may determine the speed information of the underwater robot 1 through the integrated navigation unit.

[0041] In S112, when the speed information meets the second preset condition within the continuous first time interval, it is determined that the underwater robot is in a trapped state. Exemplarily, when the underwater robot 1 is operating in an underwater environment, it will move at a set speed S0. When the underwater robot 1 encounters an obstacle 2, the speed changes due to the blocking effect of the obstacle 2, which causes the actual speed S1 of the underwater robot 1 to be inconsistent with the set speed S0. For example, the first time interval is T1. The user can customize T1 to a value within 0-5s. The second preset condition can be that S1 is lower than 10% of S0 within the continuous T1 time. When the underwater robot 1 satisfies that the actual speed S1 of the underwater robot 1 is less than 10% of the set speed S0 within the continuous T1 time, it indicates that the underwater robot 1 cannot escape from the obstacle 2, and then it is determined that the underwater robot 1 is in a trapped state.

[0042] Through the above embodiment, by determining that the speed information of the underwater robot meets the second preset condition within the continuous T1 time, it can be determined that the underwater robot is in a trapped state.

[0043] Figure 3 FIG. 2 is another flow chart of step S110 of the underwater robot control method 1000 of the embodiment of the present application. Figure 3As shown, step S110 of the underwater robot control method 1000 includes S113 and S114.

[0044] In S113, the distance information between the underwater robot 1 and the obstacle is determined. For example, the underwater robot 1 may be provided with a laser radar. The laser radar may measure the distance information between the underwater robot 1 and the obstacle 2.

[0045] In S114, when the distance information meets the third preset condition within the second consecutive time interval, it is determined that the underwater robot is in a trapped state. For example, when the underwater robot 1 operates in an underwater environment, the position moves. When the underwater robot 1 encounters an obstacle 2, it may be bound by the obstacle 2 and cannot escape from the obstacle 2.

[0046] For example, the distance information between the underwater robot 1 and the obstacle 2 is the distance L. The second time interval T2 can be a value within 0-5s set by the user. The third preset condition can be that L is less than 0.1m in the continuous T2 time. L meeting the third preset condition can indicate that the underwater robot 1 cannot escape from the obstacle 2, and then determine that the underwater robot 1 is in a trapped state.

[0047] Through the above embodiment, by determining that the distance information between the underwater robot and the obstacle meets the third preset condition within the continuous T2 time, it can be determined that the underwater robot is in a trapped state.

[0048] Figure 4 FIG. 2 is another flow chart of step S110 of the underwater robot control method 1000 of the embodiment of the present application. Figure 4 As shown, step S110 of the underwater robot control method 1000 includes S115 and S116.

[0049] In S115, image information of the obstacle is obtained. For example, the underwater robot 1 may be provided with an image acquisition device. The image acquisition device may be a camera. The camera may acquire image information of the obstacle 2.

[0050] In S116, if the image information meets the fourth preset condition within the third consecutive time interval, it is determined that the underwater robot is in a trapped state. For example, the third time interval T3 can be a value within 0-5s set by the user. The fourth preset condition can be that the area of ​​the obstacle 2 in the image information accounts for more than 50% within the consecutive T3 time. The image information meeting the fourth preset condition indicates that the underwater robot 1 cannot successfully escape from the obstacle 2, and then determines that the underwater robot 1 is in a trapped state.

[0051] Through the above embodiment, by determining that the image information meets the fourth preset condition within the continuous T3 time, it can be determined that the underwater robot is in a trapped state.

[0052] Figure 5 FIG. 1 is a flow chart of step S150 of the underwater robot control method 1000 of the embodiment of the present application. Figure 5 As shown, step S150 of the underwater robot control method 1000 includes S151-S153.

[0053] In S151, it is determined whether the posture of the underwater robot meets a first preset condition based on the first posture information and the second posture information. The content of S151 has been described in detail in S150 above, and will not be repeated here.

[0054] In S152, the movement mode of the underwater robot is determined based on the first posture information and the second posture information. Figure 7 A schematic diagram showing the top of an underwater robot according to an embodiment of the present application being trapped. Figure 8 A schematic diagram of an underwater robot 1 according to an embodiment of the present application being trapped at the bottom is shown. For example, the movement mode of the underwater robot 1 may be spiral rolling, forward, or backward. For example, when the first pitch angle Y1 included in the first posture information is greater than 25° and the second pitch angle Y2 included in the second posture information is greater than 25°, it can be determined that the top of the underwater robot 1 is trapped, and further, it can be determined that the movement mode of the underwater robot is backward. For example, when the first pitch angle Y1 included in the first posture information is less than -20° and the second pitch angle Y2 included in the second posture information is less than -20°, it can be determined that the bottom of the underwater robot is trapped, and further, it can be determined that the movement mode of the underwater robot is at least one of spiral rolling, forward, or backward.

[0055] In S153, a second control instruction generated based on the movement mode is issued to control the underwater robot to move according to the movement mode to escape from the trapped state.

[0056] Through the above embodiment, by determining that the image information meets the fourth preset condition within the continuous T3 time, it can be indirectly determined that the underwater robot is in a trapped state.

[0057] Figure 6 FIG. 1 is a schematic diagram showing the structure of an underwater robot according to an embodiment of the present application. Figure 6As shown, the underwater robot 1 includes a controller 12, a resonance device 13 and a posture detection device 11. For example, the underwater robot 1 may be an AUV (Autonomous Underwater Vehicle), an HUV (Hybrid Underwater Vehicle), etc. The trapped state of the underwater robot 1 may be defined as a state in which the underwater robot 1 is restrained by obstacles and its actions are affected.

[0058] The controller 12 confirms that the underwater robot 1 is in a trapped state, and sends a first control instruction to the resonance device 13. Exemplarily, the underwater robot 1 can be provided with sensor equipment such as sonar, camera, laser radar, etc., and the environment in which the underwater robot 1 is located can be sensed by sensors such as sonar, camera, laser radar, etc., so as to determine that the underwater robot 1 is in a trapped state. The controller 12 can receive sensor information sent by sensors such as sonar, camera, laser radar, etc., and then determine that the underwater robot 1 is in a trapped state. The controller 12 is also used to receive the first posture information and the second posture information, and based on the first posture information and the second posture information, it is determined that the posture of the underwater robot 1 meets the first preset condition, and the second control instruction is sent to control the movement of the underwater robot 1 to get out of the trapped state.

[0059] The posture detection device 11 determines the first posture information of the underwater robot 1 in the trapped state. Exemplarily, the posture information of the underwater robot 1 may include the bow angle, pitch angle and roll angle of the underwater robot 1. The first posture information is the posture information of the underwater robot 1 when it is in the trapped state. The posture detection device 11 is also used to confirm the second posture information of the underwater robot 1 in the resonance state, and send the first posture information and the second posture information to the controller 12. For example, the second posture information is the posture information of the underwater robot 1 after entering the resonance state. The underwater robot 1 can obtain the posture information of the underwater robot 1 after entering the resonance state in real time.

[0060] The resonance device 13 controls the underwater robot 1 to enter a resonance state in response to the first control instruction.

[0061] Through the above embodiments, when it is confirmed that the underwater robot is in a trapped state, the underwater robot is controlled to enter a vibration state, and the operation space for the underwater robot to escape from the trapped state is increased through resonance, which is conducive to the movement of the underwater robot to escape from the trapped state, thereby improving the success rate of the underwater robot escaping from the trapped state. The process of controlling the underwater robot to escape from the trapped state does not require manpower or other auxiliary equipment, which reduces costs. The underwater robot is controlled to escape from the trapped state by its own movement, and there is no need to find the underwater robot, which shortens the time and improves efficiency.

[0062] Fig. 9 FIG. 1 is a schematic diagram showing the structure of a resonance device according to an embodiment of the present application. Fig. 9 As shown, the resonance device 13 includes an eccentric pendulum 131, a control module 132 and a housing 133. The eccentric pendulum 131 is disposed inside the housing 133. The control module 132 is disposed below the eccentric pendulum 131. The eccentric pendulum 131 is used to rotate and generate an eccentric force under the control of the control module 132, so that the resonance device 13 generates vibrations through the eccentric force and controls the underwater robot 1 to enter a resonance state.

[0063] Through the above embodiment, the control module controls the rotation of the eccentric pendulum to generate an eccentric force, so that the resonance device vibrates, and then the underwater robot is controlled to enter a resonance state.

[0064] According to example embodiments, the underwater robot 1 may be an autonomous underwater vehicle.

[0065] According to another aspect of the present application, the present application provides a non-volatile computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the underwater robot control method described above is implemented.

[0066] According to another aspect of the present application, the present application provides an electronic device. The electronic device includes one or more processors and a storage device. The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the underwater robot control method described above.

[0067] The controller may be implemented in any suitable manner. For example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller may also be implemented as part of the control logic of the memory.

[0068] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0069] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling an underwater robot, characterized in that: include: Determining that the underwater robot is in a trapped state; Determining first posture information of the underwater robot; In response to the received first control instruction, controlling the underwater robot to enter a resonance state; Determining second posture information of the underwater robot; Based on the first posture information and the second posture information, it is determined that the posture of the underwater robot meets a first preset condition, and a second control instruction is issued to control the underwater robot to move so as to escape from the trapped state.

2. The underwater robot control method according to claim 1, characterized in that: Determining that the underwater robot is in a trapped state includes: Determining speed information of the underwater robot; When the speed information meets the second preset condition within the continuous first time interval, it is determined that the underwater robot is in a trapped state.

3. The underwater robot control method according to claim 1, characterized in that: Determining that the underwater robot is in a trapped state includes: Determining distance information between the underwater robot and an obstacle; When the distance information meets the third preset condition within the second consecutive time interval, it is determined that the underwater robot is in a trapped state.

4. The underwater robot control method according to claim 1, characterized in that: Determining that the underwater robot is in a trapped state includes: Obtain image information of obstacles; When the image information meets a fourth preset condition within a third consecutive time interval, it is determined that the underwater robot is in a trapped state.

5. The underwater robot control method according to claim 1, characterized in that: The step of judging that the posture of the underwater robot meets a first preset condition based on the first posture information and the second posture information, and issuing a second control instruction to control the underwater robot to move so as to escape from the trapped state comprises: Determining, based on the first posture information and the second posture information, that the posture of the underwater robot meets a first preset condition; Determining a motion mode of the underwater robot based on the first posture information and the second posture information; The second control instruction generated based on the movement mode is issued to control the underwater robot to move according to the movement mode to escape from the trapped state.

6. An underwater robot, characterized in that: include: The controller confirms that the underwater robot is in a trapped state and sends a first control instruction; A resonance device, in response to the control instruction, controls the underwater robot to enter a resonance state; a posture detection device for determining first posture information of the underwater robot in a trapped state, and for confirming second posture information of the underwater robot in a resonant state, and sending the first posture information and the second posture information to the controller; The controller is also used to receive the first posture information and the second posture information, determine based on the first posture information and the second posture information whether the posture of the underwater robot meets a first preset condition, and issue a second control instruction to control the movement of the underwater robot to escape from the trapped state.

7. The underwater robot according to claim 6, characterized in that: The resonance device comprises: case; An eccentric pendulum, disposed inside the housing; The control module is arranged below the eccentric pendulum.

8. The underwater robot according to claim 6, characterized in that: The underwater robot is an autonomous underwater vehicle.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the underwater robot control method as described in any one of claims 1-5.

10. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the underwater robot control method as described in any one of claims 1-5 is implemented.

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