Underwater robot load power control method and system, underwater robot, storage medium and electronic equipment

Abstract

The invention provides an underwater robot load power control method and system, an underwater robot, a storage medium and electronic equipment. The control method comprises the following steps: acquiring first control data of the underwater robot; under the condition that the first control data meets a first preset condition, determining that the underwater robot is in a first environment; the first control data comprises a first operation frequency of the underwater robot, and the first preset condition is that the first control frequency is smaller than a first preset threshold value within a first preset time period; and sending a first load power adjusting instruction to the load of the underwater robot to control the load power of the load to be the first preset load power. According to the invention, the load power of the underwater robot is controlled to be the first preset load power by determining that the underwater robot is in the first environment, so that the heating value of the load is reduced, and the load of the underwater robot is prevented from being damaged due to overheating when the underwater robot is placed on the shore for operation due to misoperation of an operator.

Description

Technical Field

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

[0002] Underwater robots are often equipped with loads such as lighting, manipulators, motors, and sonars. These loads need to be cooled to reduce load power during operation, thereby avoiding damage to the loads due to overheating.

[0003] The inventor of the present application has found that the existing technology mainly solves the heat dissipation problem of the load by heat conduction. For example, when the underwater robot is in an underwater environment, the heat generated by the load can be conducted into the water, thereby dissipating the heat of the load. However, the inventor has found that if the underwater robot is in an air environment, there is no way to dissipate the heat of the load through the water environment. Therefore, in an air environment, if the underwater robot is placed on shore for operation due to the operator's misoperation, the load may be damaged due to overheating.

[0004] 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

[0005] The present application provides a method and system for controlling the load power of an underwater robot, an underwater robot, a storage medium and an electronic device, which are used to solve the above-mentioned technical problem that if the underwater robot is placed on shore for operation in an air environment due to an operator's misoperation, the load may be damaged due to overheating.

[0006] According to one aspect of the present application, the present application provides a method for controlling the load power of an underwater robot. The control method includes: obtaining first control data of the underwater robot; determining that the underwater robot is in a first environment when the first control data meets a first preset condition; the first control data includes a first operating frequency of the underwater robot, and the first preset condition is that within a first preset time period, the first control frequency is less than a first preset threshold; and issuing a first load power adjustment instruction to the load of the underwater robot to control the load power of the load to be the first preset load power.

[0007] According to another aspect of the present application, the present application also provides a control system for the load power of an underwater robot. The control system can execute the control method for the load power of an underwater robot of the present application. The control system includes a control module, a data processing module and a power regulation module. The control module sends the first control data of the underwater robot to the data processing module. The data processing module obtains the first control data of the underwater robot, and determines that the underwater robot is in a first environment when the first control data meets a first preset condition. The first control data includes a first operating frequency of the underwater robot. The first preset condition is that within a first preset time period, the first control frequency is less than a first preset threshold. When the underwater robot is in the first environment, the power regulation module sends a first load power adjustment instruction to the load of the underwater robot to control the load power of the load to be the first preset load power.

[0008] According to another aspect of the present application, the present application also provides an underwater robot, wherein the underwater robot comprises the above-mentioned underwater robot load power control system.

[0009] According to another aspect of the present application, the present application further 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 method for controlling the load power of an underwater robot of the present application is implemented.

[0010] According to another aspect of the present application, the present application also 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 control method of the underwater robot load power of the present application.

[0011] Beneficial Effects

[0012] The control method of the underwater robot load power provided by the present application determines that the underwater robot is in a first environment, such as an air environment, when it is determined that the first control data of the underwater robot meets the first preset condition. In the air environment, the load power of the underwater robot is controlled to be the first preset load power to reduce the heat generated by the load, thereby preventing the load of the underwater robot from being damaged due to overheating when the underwater robot is placed on shore for operation due to the operator's misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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.

[0014] Figure 1 A schematic flow chart of a method 1000 for controlling the load power of an underwater robot according to an embodiment of the present application is shown;

[0015] Figure 2 A schematic flow chart of a method 2000 for controlling the load power of an underwater robot according to an embodiment of the present application is shown;

[0016] Figure 3 A schematic flow chart of a method 3000 for controlling the load power of an underwater robot according to an embodiment of the present application is shown;

[0017] Figure 4 A schematic flow chart of a method 4000 for controlling load power of an underwater robot according to an embodiment of the present application is shown;

[0018] Figure 5 A schematic diagram showing load heat dissipation of an underwater robot according to an embodiment of the present application is shown;

[0019] Figure 6 A schematic diagram of the structure of a control system according to an embodiment of the present application is shown.

[0020] Description of reference numerals:

[0021] Data processing module 11; depth sensing module 12; control module 13; power regulation module 14; load 15; power supply module 16. 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. Obviously, the described embodiments are part of the embodiments of the present application, 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] According to an exemplary embodiment, the load of the underwater robot described in the present application may be a lighting lamp, a manipulator, a motor, a sonar, a DVL (Doppler Velocity Log), etc. The load power may be the operating power of the above components.

[0028] The present application will be described in detail below in conjunction with the accompanying drawings.

[0029] Figure 5 It shows that when the underwater robot is in the underwater environment, the load is cooled by the underwater environment.

[0030] Figure 1 FIG. 1 is a flow chart showing a method 1000 for controlling the load power of an underwater robot according to an embodiment of the present application. Figure 1 As shown, the method 1000 for controlling the load power of an underwater robot includes S110 - S130 .

[0031] Exemplarily, the underwater robot load power control method 1000 may be executed by an underwater robot load power control system having computing capabilities.

[0032] According to an example embodiment, in S110 , the control system acquires first manipulation data of the underwater robot.

[0033] For example, when the underwater robot is in an air environment, it does not need to perform underwater operations, so the operator does not need to control the underwater robot in the air environment. When the underwater robot is in an underwater environment and performs underwater operations, the operator needs to control the underwater robot in the underwater environment. Therefore, the present application can characterize whether the user operates the underwater robot by detecting the control data of the underwater robot, and then judge the environment in which the underwater robot is located.

[0034] The first control data may be generated during the operation of the underwater robot by the operator. For example, the first control data may be generated during the operation of the control handle or the control console by the operator and sent by the control handle or the control console. The control system is electrically connected to the control handle or the control console so as to obtain the first control data.

[0035] In S120, the control system determines that the underwater robot is in the first environment when the first control data meets the first preset condition. The first control data includes a first operating frequency of the underwater robot. The first preset condition may be that the first control frequency is less than a first preset threshold value within a first preset time period. For example, the first operating frequency may be the number of operations completed per unit time by the operator when operating the underwater robot to perform an operation.

[0036] Optionally, the first environment is an air environment.

[0037] For example, the first preset threshold may be 0.02 Hz, and the first preset time period may be 300 s. If the first operating frequency of the underwater robot is less than 0.02 Hz within 300 s, the control system determines that the first control data meets the first preset condition.

[0038] In S130, the control system sends a first load power adjustment instruction to the load of the underwater robot to control the load power of the load to be a first preset load power.

[0039] For example, when it is determined that the underwater robot is in an air environment, the control system may send a first load power adjustment instruction to the load to adjust the load power of the load to a first preset load power.

[0040] The first preset load power can be customized according to user needs.

[0041] Exemplarily, the rated power of the load is P. The first preset load power may be 0% to 50% of the rated power P. For example, when the first preset load power is 0, the load is in an off state.

[0042] According to the above embodiment, when it is determined that the first control data of the underwater robot meets the first preset condition, it is determined that the underwater robot is in the first environment, such as the air environment. In the air environment, the load power of the underwater robot is controlled to be the first preset load power to reduce the heat generated by the load, thereby preventing the load of the underwater robot from being damaged due to overheating when the underwater robot is placed on shore for operation due to misoperation by the operator.

[0043] Figure 2 The flowchart of the underwater robot load power control method 2000 of the present application is shown. The underwater robot load power control method 2000 includes S210-S260. S210-S230 are the same as S110-S130 described above, and will not be repeated here.

[0044] In S240, the control system obtains second control data of the underwater robot.

[0045] In S250, the control system determines that the underwater robot is in a second environment when the second manipulation data meets a second preset condition.

[0046] Optionally, the second environment is an underwater environment.

[0047] The second preset condition may be that within a second preset time period, the second control frequency is greater than a second preset threshold. For example, the second preset threshold may be the same as the first preset threshold, and the second preset threshold may be 0.02 Hz. The second preset time period may be the same as the first preset time period, and the second preset time is 300 s. The second control data includes the second control frequency of the underwater robot.

[0048] In S260, the control system sends a second load power adjustment instruction to the load of the underwater robot to control the load power of the load to be a second preset load power.

[0049] For example, when it is determined that the underwater robot is in an underwater environment, the control system may send a second load power adjustment instruction to the load to adjust the load power of the load to a second preset load power. For example, the rated power of the load is P. The second preset load power may be the rated power P, and the load power is restored to the rated power.

[0050] The second preset load power can be customized according to user needs.

[0051] According to the above embodiment, when it is determined that the first control data of the underwater robot meets the first preset condition, it is determined that the underwater robot is in the first environment, such as the air environment. In the air environment, the load power of the underwater robot is controlled to be the first preset load power to reduce the heat generated by the load, so as to avoid damage to the load of the underwater robot due to overheating when the underwater robot is placed on the shore for operation due to the operator's misoperation. When it is determined that the second control data of the underwater robot meets the second preset condition, it is determined that the underwater robot is in the second environment, such as the underwater environment. In the underwater environment, the load power of the underwater robot is controlled to be the second preset load power, such as the rated power of the load, so that the underwater robot can resume work.

[0052] Figure 3 The flowchart of the underwater robot load power control method 3000 of the present application is shown. The underwater robot load power control method 3000 includes S310-S340. S310 and S320 are the same as S110 and S120 mentioned above, and S340 is the same as S130 mentioned above, which will not be repeated here.

[0053] In S330, the control system sends a calibration instruction to the depth sensing module to calibrate the depth sensing module.

[0054] For example, when the underwater robot is in an air environment, it is considered that the underwater robot is at a depth of 0. In S320, after determining that the underwater robot is in an air environment, the control system may send a calibration instruction to the depth sensor module to calibrate the depth sensor module 12, and determine that the depth of the underwater robot in the air environment is 0.

[0055] Exemplarily, the depth sensing module 12 may be a depth sensor.

[0056] For example, in the underwater robot load power control method 3000, the execution order of S330 and S340 is not limited. S330 may be executed first, and then S340; or S340 may be executed first, and then S330; or S330 and S340 may be executed simultaneously.

[0057] According to the above embodiment, when it is determined that the first control data of the underwater robot meets the first preset condition, it is determined that the underwater robot is in a first environment, such as an air environment. After determining that the underwater robot is in the air environment, the depth sensor of the underwater robot is calibrated, thereby improving the accuracy of the depth data of the underwater robot read by the depth sensor. The load power of the load is lowered to the first preset load power to reduce the heat generated by the load, thereby preventing the load of the underwater robot from being damaged due to overheating when the underwater robot is placed on the shore for operation due to misoperation by the operator.

[0058] Figure 4 The flowchart of the underwater robot load power control method 4000 of the present application is shown. The underwater robot load power control method 4000 includes S410-S470. S410-S440 are the same as S310-S340 mentioned above, and will not be repeated here.

[0059] In S450, the control system acquires depth data of the underwater robot.

[0060] For example, after S430 and S440, the underwater robot can resume underwater operation, and the control system can obtain the depth data of the underwater robot after calibration.

[0061] In S460, the control system determines that the underwater robot is in the second environment when the depth data meets the third preset condition.

[0062] For example, the second environment may be an underwater environment. The third preset condition may be that within a third preset time period, the depth data is greater than a third preset threshold. The third preset time period may be 10 seconds. The third preset threshold may be 0.1 m.

[0063] The third preset condition can be customized according to user needs.

[0064] In S470, the control system sends a third load power adjustment instruction to the load to control the load power to be a third preset load power. The third preset load power can be customized according to user needs.

[0065] For example, when the control system determines that the depth data of the underwater robot is greater than 0.1 m for 10 consecutive seconds, it can be determined that the underwater robot is in an underwater environment. The control system can send a third load power adjustment instruction to the load to adjust the load power to a third preset load power. For example, the third load preset power can be the rated power P of the load.

[0066] According to the above embodiment, when it is determined that the first control data of the underwater robot meets the first preset condition, it is determined that the underwater robot is in a first environment, such as an air environment. After determining that the underwater robot is in an air environment, the depth sensor of the underwater robot is calibrated, thereby improving the accuracy of the depth data of the underwater robot read by the depth sensor. The load power of the load is lowered to the first preset load power to reduce the heat generated by the load, thereby avoiding damage to the load of the underwater robot due to overheating when the underwater robot is placed on shore for operation due to misoperation of the operator. When the depth data meets the third preset condition, it is determined that the underwater robot is in an underwater environment, and then the load power is adjusted to the third preset load power, such as the third preset load power is the rated power of the load. The underwater robot resumes work.

[0067] Figure 6 The schematic diagram of the structure of the control system of the embodiment of the present application is shown. The control system is used to execute the above-mentioned control method of the load power of the underwater robot.

[0068] like Figure 6 As shown, the control system includes a data processing module 11, a depth sensing module 12, a control module 13, a power regulation module 14, a load 15 and a power supply module 16.

[0069] According to an exemplary embodiment, the control module 13 sends first manipulation data of the underwater robot to the data processing module 11 .

[0070] For example, the first control data may be generated during the operation of the underwater robot by the operator. For example, the first control data may be generated during the operation of the control handle or the control console by the operator and sent by the control handle or the control console. The control module 13 may include a control handle or a control console.

[0071] The data processing module 11 obtains the first control data, and determines that the underwater robot is in the first environment when the first control data meets the first preset condition. The first control data includes a first operating frequency of the underwater robot. The first preset condition is that within a first preset time period, the first control frequency is less than a first preset threshold. For example, the first operating frequency can be the number of operations completed per unit time by the operator when operating the underwater robot to perform operations.

[0072] Optionally, the first environment is an air environment.

[0073] For example, the first preset threshold may be 0.02 Hz, and the first preset time period may be 300 s. If the first operating frequency of the underwater robot is less than 0.02 Hz within 300 s, the data processing module 14 may determine that the first control data meets the first preset condition.

[0074] The power regulating module 14 sends a first load power regulating instruction to the load 15 when the underwater robot is in the first environment, so as to control the load power of the load 15 to be a first preset load power.

[0075] For example, when it is determined that the underwater robot is in an air environment, the power regulating module 14 may send a first load power regulating instruction to the load 15 to regulate the load power of the load 15 to a first preset load power.

[0076] The first preset load power can be customized according to user needs.

[0077] Exemplarily, the rated power of the load 15 is P. The first preset load power may be 0% to 50% of the rated power P. For example, when the first preset load power is 0, the load 15 is in an off state.

[0078] Alternatively, if Figure 6 As shown, the control system further includes a power supply module 16 for supplying power to the underwater robot.

[0079] According to the above embodiment, when it is determined that the first control data of the underwater robot meets the first preset condition, it is determined that the underwater robot is in the first environment, such as the air environment. In the air environment, the load power of the underwater robot is controlled to be the first preset load power to reduce the heat generated by the load, thereby preventing the load of the underwater robot from being damaged due to overheating when the underwater robot is placed on shore for operation due to misoperation by the operator.

[0080] According to another embodiment of the present application, the present application provides an underwater robot including the above-mentioned control system.

[0081] The above-mentioned underwater robot can be an underwater booster, an underwater cable-controlled robot, an underwater cleaning robot, a marine power-assisted robot, etc.

[0082] According to another embodiment of the present application, the present application provides a non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the above-mentioned method for controlling the load power of the underwater robot can be implemented.

[0083] According to another embodiment 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 above-mentioned underwater robot load power control method.

[0084] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention 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 principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling the load power of an underwater robot, characterized in that: include: Acquiring first control data of the underwater robot; When the first control data meets a first preset condition, determining that the underwater robot is in a first environment; The first control data includes a first operating frequency of the underwater robot, and the first preset condition is that within a first preset time period, the first control frequency is less than a first preset threshold; A first load power adjustment instruction is issued to the load of the underwater robot to control the load power of the load to be a first preset load power.

2. The control method according to claim 1, characterized in that: After sending a first load power adjustment instruction to the load of the underwater robot to control the load power to be a first preset load power, the control method further includes: Acquiring second control data of the underwater robot; When the second control data meets the second preset condition, determining that the underwater robot is in the second environment; wherein the second control data includes a second operating frequency of the underwater robot, and the second preset condition is that within a second preset time period, the second control frequency is greater than a second preset threshold; A second load power adjustment instruction is issued to the load of the underwater machine to control the load power of the load to be a second preset load power.

3. The control method according to claim 1, characterized in that: In the case where the first control data meets the first preset condition, after determining that the underwater robot is in the first environment, the control method further includes: A calibration instruction is sent to the depth sensing module to calibrate the depth sensing module.

4. The control method according to claim 3, characterized in that: After sending a first load power adjustment instruction to the load of the underwater robot to control the load power to be a first preset load power, the control method further includes: Acquiring depth data of the underwater robot; When the depth data meets a third preset condition, determining that the underwater robot is in a second environment; wherein the third preset condition is that within a third preset time period, the depth data is greater than a third preset threshold; A third load power adjustment instruction is issued to the load to control the load power to be a third preset load power.

5. The control method according to claim 2, characterized in that: The first environment is an air environment, and the second environment is an underwater environment.

6. A control system for the load power of an underwater robot, characterized in that: The control system is used to execute the control method according to any one of claims 1 to 5, and the control system includes: The control module sends the first control data of the underwater robot to the data processing module; The data processing module acquires first control data of the underwater robot, and determines that the underwater robot is in a first environment when the first control data meets a first preset condition; the first control data includes a first operating frequency of the underwater robot, and the first preset condition is that within a first preset time period, the first control frequency is less than a first preset threshold; The power regulating module sends a first load power regulating instruction to the load of the underwater robot when the underwater robot is in a first environment, so as to control the load power of the load to be a first preset load power.

7. An underwater robot, characterized in that: Comprising a control system as claimed in claim 6.

8. 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 control method according to any one of claims 1 to 5 is implemented.

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 control method as described in any one of claims 1 to 5.

Images