Motion control method and device of underwater robot, electronic equipment and storage medium

Abstract

The invention provides a motion control method and device of an underwater robot, electronic equipment and a storage medium. The motion control method comprises the following steps: acquiring current motion information of the underwater robot and predetermined target motion information; the current motion information comprises current depth information, current attitude information and current direction information; determining a motion deviation value of the underwater robot based on the current motion information and the target motion information; determining the motion control quantity of the underwater robot based on the motion deviation value; regulating and controlling a lateral thruster, a longitudinal thruster and a vertical thruster of the underwater robot based on the motion control quantity; and controlling the movement of the underwater robot based on the regulated lateral propellers, the regulated longitudinal propellers and the regulated vertical propellers. According to the mode, the lateral thruster, the longitudinal thruster and the vertical thruster of the underwater robot are regulated and controlled by integrating information in the aspects of depth, posture and direction, so that motion control over the underwater robot is achieved, and the accuracy of motion control is improved.

Description

Technical Field

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

[0002] Underwater robots can be used for resource exploration and development, as well as to replace manual tasks and operations. By accurately controlling the motion of underwater robots, not only can underwater robots perform operations more efficiently and reduce resource waste, but they can also complete tasks more stably and accurately, reduce errors and risks in human operations, reduce dependence on manpower, and reduce operating costs. Therefore, accurate motion control of underwater robots is an issue that needs to be solved urgently. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a motion control method, device, electronic device and storage medium for an underwater robot, which realizes the motion control of the underwater robot by regulating the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot through comprehensive information on depth, posture and direction, thereby improving the accuracy of motion control.

[0004] In the first aspect, an embodiment of the present invention provides a motion control method for an underwater robot, the method comprising: obtaining current motion information and predetermined target motion information of the underwater robot; the current motion information comprises: current depth information, current posture information and current direction information; the target motion information is determined based on a predetermined motion map; the motion deviation of the underwater robot is determined based on the current motion information and the target motion information; the motion deviation comprises: depth deviation, posture deviation and direction deviation; the motion control amount of the underwater robot is determined based on the motion deviation; the motion control amount comprises: lateral thruster control amount, longitudinal thruster control amount and vertical thruster control amount; the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot are regulated based on the motion control amount; the motion of the underwater robot is controlled based on the regulated lateral thrusters, regulated longitudinal thrusters and regulated vertical thrusters.

[0005] In a preferred embodiment of the present invention, the target motion information includes: target depth information, target attitude information and target direction information; the target direction information includes: target distance, target speed and target heading angle; the target motion information is determined by: obtaining a pre-set motion map, and performing path planning on the motion map to obtain a cruising path of the underwater robot; discretizing the cruising path to obtain a plurality of ordered navigation target points; determining the target distance, target heading angle and target depth information based on the current position of the underwater robot and the next target point corresponding to the current position; determining the target speed based on the target distance through a pre-set distance-speed comparison table; and using the roll angle and pitch angle of the underwater robot in a balanced state as target attitude information.

[0006] In a preferred embodiment of the present invention, the motion deviation of the underwater robot is determined based on the current motion information and the target motion information, including: comparing the current motion information with the target motion information to determine the motion deviation of the underwater robot.

[0007] In a preferred embodiment of the present invention, the directional deviation includes: a speed deviation and a heading angle deviation. The motion control amount of the underwater robot is determined based on the motion deviation, including: determining the lateral thruster control amount based on the heading angle deviation; determining the longitudinal thruster control amount based on the speed deviation; and determining the vertical thruster control amount based on the depth deviation and the posture deviation.

[0008] In a preferred embodiment of the present invention, a vertical thruster control quantity is determined based on a depth deviation and an attitude deviation, including: obtaining a first control output quantity through a depth controller based on the depth deviation; obtaining a second control output quantity through a cascade PID attitude controller based on the attitude deviation; and superimposing the first control output quantity and the second control output quantity to obtain a vertical thruster control quantity.

[0009] In a preferred embodiment of the present invention, the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot are regulated based on the motion control quantity, including: regulating the lateral thrusters through a heading controller based on the lateral thruster control quantity; regulating the longitudinal thrusters through a speed controller based on the longitudinal thruster control quantity; and regulating the vertical thrusters through a depth controller and a cascade PID attitude controller based on the vertical thruster control quantity.

[0010] In a preferred embodiment of the present invention, the current depth information is acquired through a depth sensor, the current posture information is acquired through a posture sensor, and the current direction information is acquired through a speed sensor and a posture sensor.

[0011] In a second aspect, an embodiment of the present invention further provides a motion control device for an underwater robot, the device comprising: an information acquisition module, used to acquire current motion information and predetermined target motion information of the underwater robot; the current motion information comprises: current depth information, current posture information and current direction information; the target motion information is determined based on a predetermined motion map; a motion deviation determination module, used to determine the motion deviation of the underwater robot based on the current motion information and the target motion information; the motion deviation comprises: depth deviation, posture deviation and direction deviation; a control determination module, used to determine the motion control amount of the underwater robot based on the motion deviation; the motion control amount comprises: lateral thruster control amount, longitudinal thruster control amount and vertical thruster control amount; a control module, used to control the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot based on the motion control amount; a motion control module, used to control the motion of the underwater robot based on the regulated lateral thrusters, regulated longitudinal thrusters and regulated vertical thrusters.

[0012] In a third aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the motion control method of the underwater robot of the first aspect mentioned above.

[0013] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the motion control method of the underwater robot of the first aspect mentioned above.

[0014] The embodiments of the present invention bring the following beneficial effects:

[0015] The embodiment of the present invention provides a motion control method, device, electronic device and storage medium of an underwater robot, which can obtain the current motion information and predetermined target motion information of the underwater robot, determine the motion deviation of the underwater robot based on the current motion information and the target motion information, determine the motion control amount of the underwater robot based on the motion deviation, regulate the lateral thruster, longitudinal thruster and vertical thruster of the underwater robot based on the motion control amount, and control the motion of the underwater robot based on the regulated lateral thruster, regulated longitudinal thruster and regulated vertical thruster. This method realizes the motion control of the underwater robot by regulating the lateral thruster, longitudinal thruster and vertical thruster of the underwater robot through comprehensive information on depth, posture and direction, thereby improving the accuracy of motion control.

[0016] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0017] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A flow chart of a motion control method for an underwater robot provided by an embodiment of the present invention;

[0020] Figure 2 A flow chart of another motion control method for an underwater robot provided by an embodiment of the present invention;

[0021] Figure 3 A schematic structural diagram of a motion control device for an underwater robot provided by an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Underwater robots have great advantages in the following aspects:

[0025] 1. Resource exploration and development: Underwater robots can be used for resource exploration and development. Through precise motion control, underwater robots can operate more efficiently and reduce resource waste.

[0026] 2. Improve operational efficiency: Precise motion control enables underwater robots to complete tasks more stably and accurately, reducing errors and risks in human operations.

[0027] 3. Reduce production costs: Automated underwater robots can reduce dependence on manpower and reduce operating costs, especially in high-risk and harsh environments.

[0028] Therefore, precise motion control of underwater robots is an urgent problem to be solved.

[0029] Based on this, the embodiment of the present invention provides a motion control method, device, electronic device and storage medium of an underwater robot, which can obtain the current motion information and predetermined target motion information of the underwater robot, determine the motion deviation of the underwater robot based on the current motion information and the target motion information, determine the motion control amount of the underwater robot based on the motion deviation, regulate the lateral thruster, longitudinal thruster and vertical thruster of the underwater robot based on the motion control amount, and control the motion of the underwater robot based on the regulated lateral thruster, regulated longitudinal thruster and regulated vertical thruster. This method realizes the motion control of the underwater robot by regulating the lateral thruster, longitudinal thruster and vertical thruster of the underwater robot through comprehensive information on depth, posture and direction, thereby improving the accuracy of motion control.

[0030] To facilitate understanding of this embodiment, a motion control method for an underwater robot disclosed in an embodiment of the present invention is first introduced in detail.

[0031] Example 1

[0032] The embodiment of the present invention provides a motion control method for an underwater robot. Figure 1 Flow chart of a motion control method of an underwater robot provided by an embodiment of the present invention. Figure 1 As shown, the motion control method of the underwater robot may include the following steps:

[0033] Step S101, obtaining current motion information of the underwater robot and predetermined target motion information.

[0034] The current motion information includes: current depth information, current posture information and current direction information; the target motion information is determined based on a pre-set motion map.

[0035] Among them, the current depth information is collected by the depth sensor, the current posture information is collected by the posture sensor, and the current direction information is collected by the speed sensor and the posture sensor.

[0036] The target motion information includes: target depth information, target attitude information and target direction information; the target direction information includes: target distance, target speed and target heading angle.

[0037] Specifically, the target motion information can be determined by: obtaining a pre-set motion map, and performing path planning on the motion map to obtain a cruising path of the underwater robot; discretizing the cruising path to obtain a plurality of ordered navigation target points; determining the target distance, target heading angle, and target depth information based on the current position of the underwater robot and the next target point corresponding to the current position; determining the target speed based on the target distance through a pre-set distance-speed comparison table; and using the roll angle and pitch angle of the underwater robot in a balanced state as target posture information.

[0038] Among them, a fully covered cruise path can be obtained through a pre-set path planning algorithm, and the cruise path can be discretized into orderly navigation target points.

[0039] Step S102: determining the motion deviation of the underwater robot based on the current motion information and the target motion information.

[0040] The motion deviation includes depth deviation, posture deviation and direction deviation.

[0041] The direction deviation includes speed deviation and heading angle deviation.

[0042] Specifically, determining the motion deviation of the underwater robot based on the current motion information and the target motion information may include: comparing the current motion information with the target motion information to determine the motion deviation of the underwater robot.

[0043] Step S103, determining the motion control amount of the underwater robot based on the motion deviation amount.

[0044] Among them, the motion control amount includes: lateral thruster control amount, longitudinal thruster control amount and vertical thruster control amount.

[0045] Specifically, the motion control amount of the underwater robot is determined based on the motion deviation, including: determining the lateral thruster control amount based on the heading angle deviation; determining the longitudinal thruster control amount based on the speed deviation; and determining the vertical thruster control amount based on the depth deviation and the posture deviation.

[0046] Among them, determining the vertical thruster control quantity based on the depth deviation and the attitude deviation may include: obtaining a first control output quantity through a depth controller based on the depth deviation; obtaining a second control output quantity through a cascade PID attitude controller based on the attitude deviation; and superimposing the first control output quantity and the second control output quantity to obtain the vertical thruster control quantity.

[0047] It should be noted that the control amount can be determined by adjusting the proportional parameter, the integral parameter and the differential parameter to obtain the corresponding output control amount, that is, the control amount.

[0048] Step S104: regulating the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot based on the motion control amount.

[0049] Specifically, regulating the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot based on the motion control quantity can include: regulating the lateral thrusters through a heading controller based on the lateral thruster control quantity; regulating the longitudinal thrusters through a speed controller based on the longitudinal thruster control quantity; and regulating the vertical thrusters through a depth controller and a cascade PID attitude controller based on the vertical thruster control quantity.

[0050] Among them, the steering of the underwater robot is achieved by regulating the lateral thrusters, the forward and backward movement of the underwater robot is achieved by regulating the longitudinal thrusters, and the posture control of the underwater robot at the target depth is achieved by regulating the vertical thrusters.

[0051] Step S105, controlling the movement of the underwater robot based on the regulated lateral thrusters, the regulated longitudinal thrusters, and the regulated vertical thrusters.

[0052] For ease of understanding, Figure 2 This is a motion control framework diagram of an underwater robot provided by an embodiment of the present invention. Figure 2 As shown, the current depth, current attitude, current heading angle, and current speed of the underwater robot can be collected by a depth sensor, an attitude sensor, and a speed sensor, respectively, and compared and adjusted with the predetermined desired state, namely, the target depth, target attitude, target speed, target heading angle, and target position, so as to determine the lateral thruster control amount, the longitudinal thruster control amount, and the vertical thruster control amount. After the target position is determined, the current position is determined by GPS, and then the heading and distance to the next target point are solved by a distance and heading solver. After the distance is determined, the target speed is obtained by referring to the distance-speed comparison table by a speed solver, and then the vertical thruster is regulated by a depth controller and a cascade PID attitude controller based on the vertical thruster control amount, the lateral thruster is regulated by a heading controller based on the lateral thruster control amount, and the longitudinal thruster is regulated by a speed controller based on the longitudinal thruster control amount, so as to realize the motion control of the underwater robot.

[0053] The motion control method of the underwater robot provided by the embodiment of the present invention can obtain the current motion information of the underwater robot and the predetermined target motion information, determine the motion deviation of the underwater robot based on the current motion information and the target motion information, determine the motion control amount of the underwater robot based on the motion deviation, regulate the lateral thruster, longitudinal thruster and vertical thruster of the underwater robot based on the motion control amount, and control the motion of the underwater robot based on the regulated lateral thruster, the regulated longitudinal thruster and the regulated vertical thruster. This method realizes the motion control of the underwater robot by regulating the lateral thruster, longitudinal thruster and vertical thruster of the underwater robot through comprehensive information on depth, posture and direction, thereby improving the accuracy of motion control.

[0054] Example 2

[0055] Corresponding to the above method embodiment, an embodiment of the present invention provides a motion control device for an underwater robot, Figure 3 A schematic diagram of the structure of a motion control device for an underwater robot provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the motion control device of the underwater robot may include:

[0056] The information acquisition module 301 is used to acquire the current motion information of the underwater robot and the predetermined target motion information; the current motion information includes: current depth information, current posture information and current direction information; the target motion information is determined based on a predetermined motion map.

[0057] The motion deviation determination module 302 is used to determine the motion deviation of the underwater robot based on the current motion information and the target motion information; the motion deviation includes: depth deviation, posture deviation and direction deviation.

[0058] The control amount determination module 303 is used to determine the motion control amount of the underwater robot based on the motion deviation amount; the motion control amount includes: the lateral thruster control amount, the longitudinal thruster control amount and the vertical thruster control amount;

[0059] The control module 304 is used to control the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot based on the motion control amount.

[0060] The motion control module 305 is used to control the motion of the underwater robot based on the regulated lateral thrusters, the regulated longitudinal thrusters and the regulated vertical thrusters.

[0061] The motion control device of the underwater robot provided by the embodiment of the present invention can obtain the current motion information of the underwater robot and the predetermined target motion information, determine the motion deviation of the underwater robot based on the current motion information and the target motion information, determine the motion control amount of the underwater robot based on the motion deviation, regulate the lateral thruster, longitudinal thruster and vertical thruster of the underwater robot based on the motion control amount, and control the motion of the underwater robot based on the regulated lateral thruster, the regulated longitudinal thruster and the regulated vertical thruster. This method realizes the motion control of the underwater robot by regulating the lateral thruster, longitudinal thruster and vertical thruster of the underwater robot through comprehensive information on depth, posture and direction, thereby improving the accuracy of motion control.

[0062] In some embodiments, the target motion information includes: target depth information, target posture information and target direction information; the target direction information includes: target distance, target speed and target heading angle; the information acquisition module is also used to obtain a pre-set motion map, and perform path planning on the motion map to obtain the cruising path of the underwater robot; the cruising path is discretized to obtain multiple ordered navigation target points; the target distance, target heading angle and target depth information are determined based on the current position of the underwater robot and the next target point corresponding to the current position; the target speed is determined based on the target distance through a pre-set distance-speed comparison table; the roll angle and pitch angle of the underwater robot in a balanced state are used as target posture information.

[0063] In some embodiments, the motion deviation determination module is further used to compare the current motion information with the target motion information to determine the motion deviation of the underwater robot.

[0064] In some embodiments, the directional deviation includes: a speed deviation and a heading angle deviation. The control quantity determination module is also used to determine the lateral thruster control quantity based on the heading angle deviation; determine the longitudinal thruster control quantity based on the speed deviation; and determine the vertical thruster control quantity based on the depth deviation and the attitude deviation.

[0065] In some embodiments, the control quantity determination module is also used to obtain a first control output quantity through a depth controller based on a depth deviation; obtain a second control output quantity through a cascade PID attitude controller based on an attitude deviation; and superimpose the first control output quantity and the second control output quantity to obtain a vertical thruster control quantity.

[0066] In some embodiments, the control module is also used to control the lateral thruster through a heading controller based on the lateral thruster control amount; to control the longitudinal thruster through a speed controller based on the longitudinal thruster control amount; and to control the vertical thruster through a depth controller and a cascade PID attitude controller based on the vertical thruster control amount.

[0067] In some embodiments, the current depth information is acquired through a depth sensor, the current posture information is acquired through a posture sensor, and the current direction information is acquired through a speed sensor and a posture sensor.

[0068] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0069] Example 3

[0070] The embodiment of the present invention also provides an electronic device for executing the motion control method of the underwater robot; see Figure 4 A structural schematic diagram of an electronic device is shown, which includes a memory 400 and a processor 401, wherein the memory 400 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 401 to implement the above-mentioned motion control method of the underwater robot.

[0071] Further, Figure 4 The electronic device shown further includes a bus 402 and a communication interface 403 , and the processor 401 , the communication interface 403 and the memory 400 are connected via the bus 402 .

[0072] The memory 400 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 403 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 402 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0073] The processor 401 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 401. The above processor 401 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 400, and the processor 401 reads the information in the memory 400 and completes the steps of the method of the above embodiment in combination with its hardware.

[0074] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned underwater robot motion control method. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0075] The computer program product for the motion control method of an underwater robot provided in an embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0076] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0077] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0078] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0079] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0080] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0081] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A motion control method for an underwater robot, characterized in that: The method comprises: Acquire current motion information of the underwater robot and predetermined target motion information; the current motion information includes: current depth information, current posture information and current direction information; the target motion information is determined based on a predetermined motion map; Determine the motion deviation of the underwater robot based on the current motion information and the target motion information; the motion deviation includes: depth deviation, posture deviation and direction deviation; Determining the motion control amount of the underwater robot based on the motion deviation amount; the motion control amount includes: a lateral thruster control amount, a longitudinal thruster control amount and a vertical thruster control amount; Regulating the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot based on the motion control amount; The movement of the underwater robot is controlled based on the regulated lateral thrusters, the regulated longitudinal thrusters and the regulated vertical thrusters.

2. The method according to claim 1, characterized in that The target motion information includes: target depth information, target attitude information and target direction information; the target direction information includes: target distance, target speed and target heading angle; The target motion information is determined in the following manner: Acquire a preset motion map, and perform path planning on the motion map to obtain a cruising path of the underwater robot; Discretizing the cruise path to obtain a plurality of ordered navigation target points; Determine the target distance, the target heading angle and the target depth information based on the current position of the underwater robot and the next target point corresponding to the current position; Determine the target speed based on the target distance through a preset distance-speed comparison table; The roll angle and pitch angle of the underwater robot in a balanced state are used as the target posture information.

3. The method according to claim 1, characterized in that The determining the motion deviation of the underwater robot based on the current motion information and the target motion information includes: The current motion information is compared with the target motion information to determine the motion deviation of the underwater robot.

4. The method according to claim 1, characterized in that: The direction deviation includes: a speed deviation and a heading angle deviation. The method of determining the motion control amount of the underwater robot based on the motion deviation includes: Determining the lateral thruster control amount based on the heading angle deviation amount; Determining the longitudinal thruster control amount based on the speed deviation amount; A vertical thruster control amount is determined based on the depth deviation amount and the attitude deviation amount.

5. The method according to claim 4, characterized in that The determining of the vertical thruster control amount based on the depth deviation amount and the attitude deviation amount includes: Obtaining a first control output through a depth controller based on the depth deviation; Based on the attitude deviation, a second control output is obtained by a cascade PID attitude controller; The first control output and the second control output are superimposed to obtain the vertical thruster control quantity.

6. The method according to claim 5, characterized in that The regulating and controlling the lateral thruster, the longitudinal thruster and the vertical thruster of the underwater robot based on the motion control amount includes: Based on the control amount of the lateral thruster, the lateral thruster is regulated by a heading controller; Based on the longitudinal propeller control amount, the longitudinal propeller is regulated by a speed controller; The vertical thruster is regulated and controlled through the depth controller and the cascade PID attitude controller based on the vertical thruster control amount.

7. The method according to claim 1, characterized in that The current depth information is acquired through a depth sensor, the current posture information is acquired through a posture sensor, and the current direction information is acquired through a speed sensor and the posture sensor.

8. A motion control device for an underwater robot, characterized in that: The device comprises: An information acquisition module is used to acquire the current motion information of the underwater robot and predetermined target motion information; the current motion information includes: current depth information, current posture information and current direction information; the target motion information is determined based on a predetermined motion map; A motion deviation determination module, used to determine the motion deviation of the underwater robot based on the current motion information and the target motion information; the motion deviation includes: depth deviation, posture deviation and direction deviation; A control amount determination module, used to determine the motion control amount of the underwater robot based on the motion deviation amount; the motion control amount includes: a lateral thruster control amount, a longitudinal thruster control amount and a vertical thruster control amount; A control module, used for controlling the lateral thrusters, longitudinal thrusters and vertical thrusters of the underwater robot based on the motion control amount; A motion control module is used to control the motion of the underwater robot based on the regulated lateral thrusters, the regulated longitudinal thrusters and the regulated vertical thrusters.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the motion control method of the underwater robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the motion control method of the underwater robot according to any one of claims 1 to 7.

Images