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

Abstract

The present application provides an underwater robot control method, including: determining that the underwater robot is in a trapped state; determining the 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 the second attitude information of the underwater robot; judging that the attitude of the underwater robot meets the first preset condition based on the first attitude information and the second attitude information, and issuing a second control instruction to control the movement of the underwater robot to get out of the trapped state. The technical solution of the present application controls the underwater robot to enter a vibration state, increases the operation space for the underwater robot to get out of the trapped state, and is conducive to the movement of the underwater robot to get out of the trapped state. The process of controlling the underwater robot to get out of the trapped state does not require human power or other auxiliary equipment, reducing the cost.

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 the speed information of the underwater robot; and determining that the underwater robot is in a trapped state when the speed information meets the 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 the 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 the third preset condition within a continuous second time interval.

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

[0012] According to some embodiments of the present application, determining that the posture of the underwater robot meets the 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 get out of the trapped state includes: determining that the posture of the underwater robot meets 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 get out of the trapped state.

[0013] According to another aspect of the present application, there is also provided an underwater robot. 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 responds to the control instruction and controls the underwater robot to enter a resonance state. 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 send 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 that the posture of the underwater robot meets the first preset condition based on the first posture information and the second posture information, and issue a second control instruction to control the movement of the underwater robot to get out of 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 further 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 the 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 further 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

[0019] In the case of confirming that the underwater robot is in a trapped state, the underwater robot is controlled to enter a vibrating state. Through the resonance effect, the operating space for the underwater robot to get out of the trapped state is increased, which is beneficial for the underwater robot to move to get out of the trapped state, and thus the success rate of the underwater robot getting out of the trapped state is improved. In the technical solution of the present application, the process of controlling the underwater robot to get out of the trapped state does not require human effort or other auxiliary devices, which reduces the cost. By controlling the movement of the underwater robot itself to achieve the underwater robot getting out of the trapped state, there is no need to search for the underwater robot, which shortens the time and thus improves the efficiency. Description of the drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 Shows a schematic flowchart of the underwater robot control method 1000 according to an embodiment of the present application;

[0022] Figure 2 Shows a schematic flowchart of step S110 of the underwater robot control method 1000 according to an embodiment of the present application;

[0023] Figure 3 Shows another schematic flowchart of step S110 of the underwater robot control method 1000 according to an embodiment of the present application;

[0024] Figure 4 Shows another schematic flowchart of step S110 of the underwater robot control method 1000 according to an embodiment of the present application;

[0025] Figure 5 Shows a schematic flowchart of step S150 of the underwater robot control method 1000 according to an embodiment of the present application;

[0026] Figure 6 Shows a schematic structural diagram of an underwater robot according to an embodiment of the present application;

[0027] Figure 7 Shows a schematic diagram of the underwater robot being trapped at the top according to an embodiment of the present application;

[0028] Figure 8 Shows a schematic diagram of the underwater robot being trapped at the bottom according to an embodiment of the present application;

[0029] Figure 9 Shows a schematic structural diagram of a resonance device according to an embodiment of the present application.

[0030] Description of reference numerals:

[0031] Underwater robot 1; Obstacle 2; Attitude detection device 11; Controller 12; Resonance device 13, eccentric pendulum 131; Control module 132; Housing 133. Detailed implementation manners

[0032] Now, example embodiments will be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various 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 thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar parts, and thus their repeated description will be omitted.

[0033] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of these specific details, or can be implemented in other ways, components, materials, devices, etc. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0034] In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. 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 optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0035] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order.

[0036] Combined with the accompanying drawings in the embodiments of the present application, the technical solutions of the present application will be clearly and completely described. The described embodiments are part of the embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0037] Figure 1 The flowchart of the underwater robot control method 1000 according to the embodiment of the present application is shown. As Figure 1 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 for controlling the underwater robot. The controller can be at the underwater robot end or on the remote control platform at the remote end.

[0038] In S110, it is determined that the underwater robot is in a trapped state. For example, the underwater robot can be an AUV (Autonomous Underwater Vehicle), an HUV (Hybrid Underwater Vehicle), etc. The trapped state of the underwater robot can be defined as a state where the underwater robot is restricted by an obstacle and affects its movement. Figure 7 The schematic diagram of the top of the underwater robot being trapped according to the embodiment of the present application is shown. Figure 8 The schematic diagram of the bottom of the underwater robot being trapped according to the embodiment of the present application is shown. For example, the obstacle 2 can be silt, reef, coral, etc. The underwater robot 1 may get stuck in the silt, be stuck by a reef or coral during the operation in the underwater environment, and thus enter the trapped state.

[0039] Exemplarily, the underwater robot 1 can be provided with sensor devices such as sonar, camera, lidar, etc. Through sensors such as sonar, camera, lidar, etc., the environment where the underwater robot 1 is located can be sensed, and thus it can be confirmed that the underwater robot 1 is in a trapped state.

[0040] In S120, the first attitude information of the underwater robot is determined. For example, the attitude information of the underwater robot 1 can include the heading angle, pitch angle, and roll angle of the underwater robot 1. The first attitude information can be the attitude information of the underwater robot 1 when it is in a trapped state.

[0041] In S130, in response to the received first control instruction, the underwater robot is controlled to enter the resonance state. Exemplarily, the first control instruction may be an instruction for the controller to turn on the resonance device. The resonance device may be a device disposed inside the underwater robot 1 that can generate a resonance effect 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 generates a resonance effect with the underwater robot 1, thereby controlling the underwater robot 1 to enter the resonance state.

[0042] In S140, the second attitude information of the underwater robot is determined. Exemplarily, the second attitude information is the attitude information of the underwater robot 1 after entering the resonance state. The underwater robot 1 can acquire the attitude information of the underwater robot 1 in real time after entering the resonance state.

[0043] In S150, based on the first attitude information and the second attitude information, it is determined that the attitude of the underwater robot meets the first preset condition, and a second control instruction is issued to control the movement of the underwater robot to get out of the trapped state. For example, the attitude information of the underwater robot 1 may include information such as the heading angle, pitch angle, and roll angle. The second control instruction may be an instruction for 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 attitude information may be named the first heading angle X1. The pitch angle of the underwater robot 1 included in the first attitude information may be named the first pitch angle Y1. The roll angle of the underwater robot 1 included in the first attitude information may be named the first roll angle Z1. The heading angle of the underwater robot 1 included in the second attitude information may be named the second heading angle X2. The pitch angle of the underwater robot 1 included in the second attitude information may be named the second pitch angle Y2. The roll angle of the underwater robot 1 included in the second attitude information may be named the second roll angle Z2.

[0044] 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).

[0045]

[0046]

[0047]

[0048] Formula (1)

[0049] For example, the first preset condition may be that at least one of the values of R1, R2, and R3 is greater than a preset change range R. R is a value within the range of 0% to 100% defined by the user and is not limited herein. For example, when R = 50%, if at least one of R1, R2, and R3 is greater than 50%, it indicates that the attitude of the underwater robot 1 meets the first preset condition. When the attitude 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 break free from the trapped state through resonance.

[0050] 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. Through the resonance effect, the operating space for the underwater robot to break free from the trapped state is increased, which is beneficial for the underwater robot to move to break free from the trapped state, thereby improving the success rate of the underwater robot in breaking free from the trapped state. The process of controlling the underwater robot to break free from the trapped state does not require human effort or other auxiliary devices, reducing costs. Controlling the underwater robot's own movement to achieve the underwater robot's break free from the trapped state does not require searching for the underwater robot, shortening the time, and thus improving the efficiency.

[0051] Figure 2 FIG. shows a schematic flowchart of step S110 of the underwater robot control method 1000 according to an embodiment of the present application. As Figure 2 shown, step S110 of the underwater robot control method 1000 includes S111 and S112.

[0052] In S111, the speed information of the underwater robot is determined. Exemplarily, the underwater robot 1 may be provided with a combined navigation unit. The combined navigation unit is a navigation device that combines navigation technology and sensors 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 can determine the speed information of the underwater robot 1 through the combined navigation unit.

[0053] In S112, when the speed information meets the second preset condition within a continuous first time interval, it is determined that the underwater robot is in a trapped state. Exemplarily, when the underwater robot 1 operates in an underwater environment, it will move at a set speed S0. When the underwater robot 1 encounters an obstacle 2, the speed will change due to the blocking effect of the obstacle 2, resulting in the actual speed S1 of the underwater robot 1 being inconsistent with the set speed S0. For example, the first time interval is T1. The user can define T1 as a value within 0 - 5 s. The second preset condition may be that within a continuous T1 time, S1 is lower than 10% of S0. When the underwater robot 1 meets the condition that within a continuous T1 time, the actual speed S1 of the underwater robot 1 is less than 10% of the set speed S0, it is characterized that the underwater robot 1 cannot break free from the obstacle 2, and thus it is determined that the underwater robot 1 is in a trapped state.

[0054] Through the above embodiments, by determining that within a continuous T1 time, the speed information of the underwater robot satisfies the second preset condition, it can be further determined that the underwater robot is in a trapped state.

[0055] Figure 3 Another flowchart of step S110 of the underwater robot control method 1000 according to an embodiment of the present application is shown. As Figure 3 shown, step S110 of the underwater robot control method 1000 includes S113 and S114.

[0056] In S113, the distance information between the underwater robot and the obstacle is determined. Exemplarily, the underwater robot 1 may be provided with a lidar. The lidar can measure the distance information between the underwater robot 1 and the obstacle 2.

[0057] In S114, within a continuous second time interval, when the distance information meets the third preset condition, it is determined that the underwater robot is in a trapped state. For example, when the underwater robot 1 operates in an underwater environment, it will move in position. When the underwater robot 1 encounters an obstacle 2, it may be restricted by the obstacle 2 and unable to break away from the obstacle 2.

[0058] 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 - 5 s set by the user. The third preset condition can be that L is less than 0.1 m within a continuous T2 time. That L meets the third preset condition can indicate that the underwater robot 1 cannot break away from the obstacle 2, and thus it is determined that the underwater robot 1 is in a trapped state.

[0059] Through the above embodiments, by determining that within a continuous T2 time, the distance information between the underwater robot and the obstacle satisfies the third preset condition, it can be further determined that the underwater robot is in a trapped state.

[0060] Figure 4 Another flowchart of step S110 of the underwater robot control method 1000 according to an embodiment of the present application is shown. As Figure 4 shown, step S110 of the underwater robot control method 1000 includes S115 and S116.

[0061] In S115, the image information of the obstacle is acquired. Exemplarily, the underwater robot 1 may be provided with an image acquisition device. The image acquisition device can be a camera. The camera can acquire the image information of the obstacle 2.

[0062] In S116, when 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 within the continuous T3 time, the area ratio of the obstacle 2 in the image information is greater than 50%. The image information meeting the fourth preset condition indicates that the underwater robot 1 cannot smoothly break away from the obstacle 2, and thus it is determined that the underwater robot 1 is in a trapped state.

[0063] Through the above embodiments, by determining that within the continuous T3 time, the image information meets the fourth preset condition, it can be further determined that the underwater robot is in a trapped state.

[0064] Figure 5 Fig. shows a schematic flowchart of step S150 of the underwater robot control method 1000 according to an embodiment of the present application. As Figure 5 shown, step S150 of the underwater robot control method 1000 includes S151 - S153.

[0065] In S151, it is determined whether the attitude of the underwater robot meets the first preset condition based on the first attitude information and the second attitude information. The content of S151 has been described in detail in the above S150 and will not be elaborated here.

[0066] In S152, based on the first attitude information and the second attitude information, the movement mode of the underwater robot is determined. Figure 7 Fig. shows a schematic diagram of the underwater robot being trapped at the top according to an embodiment of the present application. Figure 8 Fig. shows a schematic diagram of the underwater robot being trapped at the bottom according to an embodiment of the present application. For example, the movement mode of the underwater robot 1 can be spiral rolling, forward movement, or backward movement. For example, when the first pitch angle Y1 included in the first attitude information is greater than 25° and the second pitch angle Y2 included in the second attitude information is greater than 25°, it can be determined that the top of the underwater robot 1 is trapped, and thus it can be determined that the movement mode of the underwater robot is backward movement. For example, when the first pitch angle Y1 included in the first attitude information is less than - 20° and the second pitch angle Y2 included in the second attitude information is less than - 20°, it can be determined that the bottom of the underwater robot is trapped, and thus it can be determined that the movement mode of the underwater robot is at least one of spiral rolling, forward movement, and backward movement.

[0067] 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 break away from the trapped state.

[0068] Through the above embodiments, by determining that within the continuous T3 time, the image information meets the fourth preset condition, it can be further determined indirectly that the underwater robot is in a trapped state.

[0069] Figure 6 The structural schematic diagram of the underwater robot according to the embodiment of the present application is shown. As Figure 6 shown, the underwater robot 1 includes a controller 12, a resonance device 13, and an attitude detection device 11. For example, the underwater robot 1 can be an AUV (Autonomous Underwater Vehicle), an HUV (Hybrid Underwater Vehicle), etc. The trapped state of the underwater robot 1 can be defined as the state where the underwater robot 1 is restricted by an obstacle and affects its movement.

[0070] When the controller 12 confirms that the underwater robot 1 is in a trapped state, it sends a first control instruction to the resonance device 13. Exemplarily, the underwater robot 1 can be provided with sensor devices such as sonar, cameras, lidar, etc. Through sensors such as sonar, cameras, and lidar, the environment where the underwater robot 1 is located can be sensed, and then it can be determined that the underwater robot 1 is in a trapped state. The controller 12 can receive the sensing information sent by sensors such as sonar, cameras, and lidar, and then determine that the underwater robot 1 is in a trapped state. The controller 12 is also used to receive the first attitude information and the second attitude information, and based on the first attitude information and the second attitude information, determine that the attitude of the underwater robot 1 meets the first preset condition, and send a second control instruction to control the movement of the underwater robot 1 to get out of the trapped state.

[0071] The attitude detection device 11 determines the first attitude information of the underwater robot 1 in a trapped state. Exemplarily, the attitude information of the underwater robot 1 can include the heading angle, pitch angle, and roll angle of the underwater robot 1. The first attitude information is the attitude information of the underwater robot 1 when it is in a trapped state. The attitude detection device 11 is also used to confirm the second attitude information of the underwater robot 1 in a resonance state, and send the first attitude information and the second attitude information to the controller 12. For example, the second attitude information is the attitude information of the underwater robot 1 after entering the resonance state. The underwater robot 1 can obtain the attitude information of the underwater robot 1 after entering the resonance state in real time.

[0072] The resonance device 13, in response to the first control instruction, controls the underwater robot 1 to enter the resonance state.

[0073] Through the above embodiments, in the case of confirming that the underwater robot is in a trapped state, the underwater robot is controlled to enter a vibration state. Through the resonance effect, the operation space for the underwater robot to get out of the trapped state is increased, which is beneficial for the underwater robot to move to get out of the trapped state, and thus the success rate of the underwater robot getting out of the trapped state is improved. The process of controlling the underwater robot to get out of the trapped state does not require human effort or other auxiliary equipment, reducing the cost. Controlling the underwater robot's own movement to achieve getting out of the trapped state does not require searching for the underwater robot, shortening the time, and thus improving the efficiency.

[0074] Figure 9 The structural schematic diagram of the resonance device according to the embodiment of the present application is shown. As Figure 9 shown, the resonance device 13 includes an eccentric pendulum 131, a control module 132 and a housing 133. The eccentric pendulum 131 is arranged inside the housing 133. The control module 132 is arranged below the eccentric pendulum 131. The eccentric pendulum 131 is used to rotate under the control of the control module 132 and generate an eccentric force, so that the resonance device 13 generates vibration through the eccentric force and controls the underwater robot 1 to enter the resonance state.

[0075] Through the above embodiments, the control module controls the eccentric pendulum to rotate to generate an eccentric force, causing the resonance device to vibrate, and then controlling the underwater robot to enter the resonance state.

[0076] According to the exemplary embodiment, the underwater robot 1 can be an autonomous underwater vehicle.

[0077] 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.

[0078] 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 one or more programs are executed by one or more processors, one or more processors implement the underwater robot control method described above.

[0079] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as 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 the controller include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory.

[0080] Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to make the controller implement the same function in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or the structures within the hardware component.

[0081] Finally, it should be noted that the above are only the preferred embodiments of the present application and are not used to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An underwater robot control method, characterized in that, including: Determine that the underwater robot is in a trapped state; Determine the first attitude information of the underwater robot; In response to the received first control instruction, control the underwater robot to enter a resonance state; Determine the second attitude information of the underwater robot; Based on the first attitude information and the second attitude information, determine that the attitude of the underwater robot meets a first preset condition, and issue a second control instruction to control the movement of the underwater robot to get out of the trapped state; wherein, the first preset condition is that the change amplitude of at least one of the heading angle, pitch angle, and roll angle included in the attitude of the underwater robot is greater than a preset change amplitude; The determining that the attitude of the underwater robot meets the first preset condition based on the first attitude information and the second attitude information, and issuing a second control instruction to control the movement of the underwater robot to get out of the trapped state includes: Based on the first attitude information and the second attitude information, determine the movement mode of the underwater robot; Issue the second control instruction generated based on the movement mode to control the underwater robot to move according to the movement mode to get out of the trapped state.

2. The underwater robot control method according to claim 1, characterized in that The determining that the underwater robot is in a trapped state includes: Determine the speed information of the underwater robot; In the case that the speed information meets a second preset condition within a continuous first time interval, determine that the underwater robot is in a trapped state.

3. The underwater robot control method according to claim 1, wherein The determining that the underwater robot is in a trapped state includes: Determine the distance information between the underwater robot and the obstacle; In the case that the distance information meets a third preset condition within a continuous second time interval, determine that the underwater robot is in a trapped state.

4. The underwater robot control method according to claim 1, wherein, The determining that the underwater robot is in a trapped state includes: Obtain the image information of the obstacle; In the case that the image information meets a fourth preset condition within a continuous third time interval, determine that the underwater robot is in a trapped state.

5. An underwater robot, characterized in that, including: A controller, confirm that the underwater robot is in a trapped state and send a first control instruction; A resonance device, in response to the control instruction, control the underwater robot to enter a resonance state; An attitude detection device, determine the first attitude information of the underwater robot in the trapped state, and is also used to confirm the second attitude information of the underwater robot in the resonance state, and send the first attitude information and the second attitude information to the controller; The controller is further configured to receive the first attitude information and the second attitude information, determine that the attitude of the underwater robot satisfies a first preset condition based on the first attitude information and the second attitude information, and issue a second control instruction to control the movement of the underwater robot so as to get out of the trapped state. The first preset condition is that the change amplitude of at least one of the heading angle, pitch angle, and roll angle included in the attitude of the underwater robot is greater than a preset change amplitude. The controller is further configured to determine the movement mode of the underwater robot based on the first attitude information and the second attitude information, and issue the second control instruction generated based on the movement mode to control the underwater robot to move according to the movement mode so as to get out of the trapped state.

6. The underwater robot according to claim 5, wherein The resonance device includes: a housing; an eccentric pendulum, disposed inside the housing; a control module, disposed below the eccentric pendulum.

7. The underwater robot according to claim 5, characterized in that, The underwater robot is an autonomous underwater vehicle.

8. An electronic device, characterized in that, It includes: 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 according to any one of claims 1-4.

9. 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, it implements the underwater robot control method according to any one of claims 1-4.

Images