Underwater motion control system of bionic fish robot

Abstract

The invention discloses an underwater motion control system of a bionic fish robot, relates to the technical field of underwater motion control of robots, and solves the technical problems that an existing underwater robot is incomplete in perception, inflexible in control and not optimized in energy efficiency in a complex environment. According to the method, the flow velocity vector and the turbulence intensity of the underwater environment are synchronously measured, a quantitative classification standard based on the flow velocity amplitude and the turbulence intensity is established, accurate recognition of a complex flow field is achieved, clear input is provided for a subsequent control strategy, the propulsive efficiency is adjusted in real time according to the environment state, and power integration and real-time efficiency calculation are combined. According to the method, parameter optimization or mode switching is triggered, control lag caused by a fixed threshold value is avoided, intelligent switching of obstacle avoidance strategies is achieved through double-threshold-value judgment of an obstacle distance and a preset distance, a close-range threat triggers a repulsive force enhancement algorithm, an inertial navigation correction algorithm is adopted in a middle-long distance, turbulence intensity and relative flow velocity are brought into an obstacle avoidance model, and the obstacle avoidance accuracy is improved. And the overall obstacle avoidance probability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater motion control of robots, and specifically to an underwater motion control system for a bionic fish robot. Background Art

[0002] Currently, autonomous underwater robots are usually designed as near-buoyancy neutral bodies with low speeds. However, with the demands in aspects such as maritime search and rescue, rapid underwater environment assessment, response to major emergencies such as major marine environmental pollution, and deep-sea resource development.

[0003] According to the patent application with the publication number CN118112918A, a motion control method for an autonomous underwater robot is disclosed, including the following steps: First, collect the depth, pitch angle, and rudder angle of a variable-speed and variable-load autonomous underwater robot through different sensors, and construct an improved Hebb learning rule using the pitch angle error signal, the differential signal of the pitch angle error, and the desired rudder angle signal output by the depth-pitch cascade controller; Second, design a depth-pitch cascade control method to achieve closed-loop control of depth and pitch angle, and calculate the required rudder force for closed-loop motion control; Finally, complete the motion control of the autonomous underwater robot by calculating the action effect of the bow and stern horizontal rudders and performing rudder angle allocation on them.

[0004] However, when the existing underwater robot motion control system is in use, traditional single sensors are difficult to obtain the three-dimensional flow velocity field and turbulence intensity in real time and accurately, resulting in the inability to accurately identify the environmental state, and the lack of a propulsion parameter adjustment mechanism linked to environmental parameters, causing low energy utilization efficiency of the fixed-frequency drive mode in different flow fields. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides an underwater motion control system for a bionic fish robot, which solves the problems of incomplete perception, inflexible control, and non-optimized energy efficiency of existing underwater robots in complex environments.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: An underwater motion control system for a bionic fish robot, including: An underwater environmental state recognition unit, which analyzes the obtained underwater environmental parameters, calculates the corresponding environmental flow velocity and turbulence intensity, generates environmental state information according to the environmental state classification standard, and transmits it to the robot propulsion efficiency analysis unit at the same time; A robot propulsion efficiency analysis unit, which is used to obtain environmental state information and determine the propulsion efficiency threshold, calculate the real-time propulsion efficiency of the robot, compare the two, generate propulsion efficiency optimization information or motion control information, and transmit them respectively at the same time; A robot motion control unit is used to analyze the obtained motion control information, identify obstacles on the motion route, generate an obstacle avoidance signal, and then compare the distance of the obstacle with a preset distance to generate a repulsive force increase signal or an inertial navigation correction signal; Analyze the inertial navigation correction signal, determine the tangent angle and the original angle between the robot and the obstacle, sum the two to obtain a correction angle, generate angle correction information, analyze the repulsive force increase signal, calculate and increase the repulsive force to generate repulsive force increase information, and transmit it to the robot control information display unit; A propulsion efficiency optimization control unit is used to analyze the obtained propulsion efficiency optimization information, calculate the relative flow velocity and further obtain the Reynolds number, correct the drag coefficient of the robot at the same time, calculate the corresponding drag, calculate the increased drag and thrust compensation in combination with the turbulence intensity, calculate the adjusted power at the same time, generate propulsion efficiency optimization information, and transmit it to the robot control information display unit.

[0007] As a further solution of the present invention, it further includes a robot control information display unit, which is used to transmit the obtained angle correction information, repulsive force increase information, and propulsion efficiency optimization information to the corresponding control end, and generate a control instruction through the control end to control the robot.

[0008] As a further solution of the present invention, the specific way for the underwater environment state recognition unit to generate environment state information is as follows: The robot obtains the underwater environment flow velocity Ue through a Doppler current meter, collects the instantaneous flow velocity signal u(t) using a hot-wire probe, and calculates the average flow velocity and the root mean square of the pulsating velocity , where T is the sampling time, and calculates the turbulence intensity I of the underwater environment according to the formula ; Determine the obtained environmental flow velocity Ue and turbulence intensity I according to the comprehensive environmental state classification standard, and generate environmental state information.

[0009] As a further solution of the present invention, the specific way for the robot propulsion efficiency analysis unit to generate propulsion efficiency optimization information or motion control information is as follows: Real-time monitor the voltage U 电 and current I 电 of the drive motor through a wattmeter, and calculate the total power P according to the formula 电 = U 电 × I 电 , integrate the battery discharge curve or the change of capacitor energy, obtain the total input energy within time t and record it as E 总 , according to the formula P 总 = E 总 / t Total input efficiency P of the computer robot 总 , where t is the discharge time, and then according to the formula calculate the real-time propulsion efficiency, determine the propulsion efficiency threshold based on the environmental state information, and compare it with the total input efficiency P 总 ; If <propulsion efficiency threshold, generate propulsion efficiency optimization information and transmit it to the propulsion efficiency optimization control unit. If >propulsion efficiency threshold, generate motion control information and transmit it to the robot motion control unit.

[0010] As a further solution of the present invention, the specific way for the robot motion control unit to analyze the obtained motion control information is as follows: The robot obtains the motion route, identifies it with the help of an underwater high-definition camera and lidar, and judges whether there are obstacles on the route. If there are, generate an obstacle avoidance signal. If not, generate normal monitoring information and transmit it to the display unit; Analyze the obstacle avoidance signal, obtain the obstacle distance D1, and compare it with the preset distance Dy set by the operator. If D1 < Dy, generate a repulsive force increase signal. If D1 > Dy, generate an inertial navigation correction signal.

[0011] As a further solution of the present invention, the specific way for the robot motion control unit to analyze the inertial navigation correction signal is as follows: Obtain the obstacle position and establish a spatial coordinate system, determine its coordinates, draw a line connecting the robot as the starting point and the obstacle as the ending point, calculate the original angle between the line and the coordinate system, and the tangent angle between the robot and the obstacle. The sum of the two is used as the correction angle, and accordingly, navigation correction is performed and angle correction information is generated and transmitted to the display unit.

[0012] As a further solution of the present invention, the specific way for the robot motion control unit to analyze the repulsive force increase signal is as follows: According to the formula calculate the increased repulsive force F rep , where F rep is the repulsive force coefficient, is the vector of D1. Taking the calculated increased repulsive force as the standard, generate repulsive force increase information and transmit it to the robot control information display unit.

[0013] As a further solution of the present invention, the specific way for the propulsion efficiency optimization control unit to analyze the obtained propulsion efficiency optimization information is as follows: Obtain the environmental flow velocity Ue, turbulence intensity I, and fluid density , meanwhile, obtain the robot parameters, specifically including the flow-facing area A, the propulsion speed V, the drag coefficient Cd, the propulsion coefficient C T and the input power P in , the transmission efficiency and the motor efficiency , then according to the formula calculate the relative flow velocity U rel , meanwhile, according to the formula calculate the Reynolds number, where is the hydrodynamic viscosity of the fluid, and L is the characteristic length of the robot.

[0014] As a further solution of the present invention, the specific manner in which the propulsion efficiency optimization control unit generates the propulsion efficiency optimization information is as follows: According to the formula correct the drag coefficient, where C d0 is the drag coefficient under no turbulence or low turbulence intensity, and k is an empirical constant related to the shape of the object and the flow regime, and according to the formula calculate the drag F of the water flow on the robot d , and this drag is opposite to the movement direction of the robot, then calculate the additional drag caused by the turbulence intensity I, and calculate the additional drag according to the formula to obtain the additional drag , where is the compensation coefficient, and further calculate the thrust compensation according to the obtained additional drag , calculate the thrust compensation according to the formula to obtain the thrust compensation , meanwhile, calculate the adjusted power according to the formula to obtain the adjusted power ; Generate the propulsion efficiency optimization information based on the thrust compensation and the adjusted power, and transmit it to the robot control information display unit.

[0015] The present invention provides an underwater motion control system for a bionic fish robot. Compared with the prior art, it has the following beneficial effects: The present invention uses an acoustic Doppler velocimeter (ADV) and a hot-wire probe to cooperate to achieve the synchronous measurement of the flow velocity vector and the turbulence intensity in the underwater environment, improve the overall measurement accuracy, establish a quantitative classification standard based on the flow velocity amplitude and the turbulence intensity, realize the accurate identification of complex flow fields, provide clear inputs for subsequent control strategies, adjust the propulsion efficiency target in real time according to the environmental state, combine power integration and real-time efficiency calculation, trigger parameter optimization or mode switching, and avoid control lag caused by fixed thresholds.

[0016] The present invention realizes the intelligent switching of the obstacle avoidance strategy through the dual-threshold judgment of the obstacle distance and the preset distance. The repulsive force enhancement algorithm is triggered by short-distance threats, and the inertial navigation correction algorithm is adopted for medium and long distances. The turbulence intensity and relative flow velocity are incorporated into the obstacle avoidance model to improve the overall obstacle avoidance probability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a block diagram of the control system principle of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. Embodiment 1

[0019] Please refer to Figure 1 , this application provides an underwater motion control system for a bionic fish robot, including an underwater environment state recognition unit, a robot propulsion efficiency analysis unit, a propulsion efficiency optimization control unit, a robot operation control unit, and a robot control information display unit, and in combination with Figure 1 it can be known that the above functional units are unidirectionally electrically connected.

[0020] The underwater environment state recognition unit is used to obtain underwater environment parameters, identify the current underwater environment state according to the underwater environment parameters, generate environment state information, and transmit it to the robot propulsion efficiency analysis unit at the same time. The specific recognition method is as follows: A compact three-dimensional ultrasonic Doppler velocimeter (such as Nortek Vectrino+) is installed in the streamlined fairing of the robot head, with a measurement range of 0 to 5 m / s and an accuracy of ±1% reading + 1 mm / s, and can output the environmental flow velocity vector Ue in real time ; A micro constant-temperature hot-wire probe (such as TSI1261 type, probe diameter 50 μm) is integrated on the surface of the robot flank (0.3L from the head, L is the body length) to avoid the influence of body flow disturbance, and at the same time determine the sampling strategy, where the sampling strategy includes the sampling frequency and sampling time, and the sampling frequency f s = 1000 Hz, sampling time T = 10 s; Then, the instantaneous flow velocity signal u(t) collected by the hot wire is denoised, including low-pass filtering and trend item removal, as follows: Low-pass filtering: A Butterworth filter is used, with a cut-off frequency f c = 400 Hz to eliminate high-frequency electronic noise; Trend term removal: The DC drift is removed by polynomial fitting (such as a 5th-degree polynomial) to obtain a pulsating signal , where is the average flow velocity, and the specific calculation formula ; Then, the turbulent flow characteristic parameters are calculated as follows: ; and is not equal to 0. At the same time, when < 0.01 m / s, the turbulence intensity is calculated with a denominator of 0.01; A two-dimensional classification system based on the flow velocity amplitude |Ue| and the turbulence intensity I is established as shown in the following table: ; The calculated ambient flow velocity and turbulence intensity are compared with it to determine the ambient state, and at the same time, ambient state information is generated, and then it is transmitted to the robot propulsion efficiency analysis unit.

[0021] Robot propulsion efficiency analysis unit. This unit is used to set a propulsion efficiency threshold according to the obtained ambient state information, and at the same time compare the real-time propulsion efficiency of the robot with it and transmit it to the robot motion control unit. The specific analysis method is as follows: The voltage U of the motor is monitored in real time by a power meter 电 and the current I 电 , and the instantaneous power P is calculated 电 = U 电 × I 电 , and the battery discharge curve or the change in capacitor energy is integrated to obtain the cumulative input energy within a period of time T , and at the same time, according to the formula P 总 = E total / t, the total input efficiency is calculated; is defined as the ratio of the useful power of the propulsion system (the power to overcome resistance) to the total input power: , and the real-time propulsion efficiency is calculated according to the formula , where F 推 is the robot propulsion force, V is the robot speed. Specifically, the calculation method of the propulsion force is , where is the density of water, A jet is the wake jet area, V 2 jet is the water flow velocity. Based on the ambient state (such as flow velocity, turbulence intensity), preset target efficiency values (for example, still water environment threshold = 60%, turbulent environment threshold = 45%), and the two are compared; If the real-time propulsion efficiency Greater than the propulsion efficiency threshold, generate propulsion efficiency optimization information; otherwise, generate motion control information.

[0022] The robot motion control unit first deeply analyzes the obtained motion control information. By integrating the data of the underwater high-definition camera and the lidar, the motion route of the robot is accurately obtained. These two sensors cooperate with each other. The underwater high-definition camera is responsible for obtaining visual image information, and the lidar uses the principle of laser ranging to provide accurate distance data.

[0023] During the process of identifying the motion route, the system will judge whether there are obstacles on the route. If an obstacle is detected, the motion control unit will immediately generate an obstacle avoidance signal; if no obstacle is detected, normal monitoring information will be generated and transmitted to the robot control information display unit so that the operator can understand the running state of the robot in real time.

[0024] After generating the obstacle avoidance signal, the motion control unit further analyzes and processes it to obtain detailed obstacle information. This information covers key parameters such as the position, shape, and distance of the obstacle. Among them, the obstacle position is determined by sensor data fusion and spatial positioning algorithms; the shape can be identified by means of image processing and point cloud data processing techniques; the distance is directly measured by ranging sensors such as lidar.

[0025] After obtaining the obstacle distance D1, the system compares it with the preset distance Dy set by the operator. If D1 < Dy, it indicates that the obstacle is relatively close and there is a risk of collision. At this time, the motion control unit generates a repulsive force increase signal. If D1 > Dy, an inertial navigation correction signal is generated. Next, these two signals are deeply analyzed respectively.

[0026] When receiving the inertial navigation correction signal, the motion control unit first extracts the position information of the obstacle and establishes a corresponding spatial coordinate system based on this. Through precise coordinate calculation methods, the position coordinates of the obstacle in this coordinate system are determined.

[0027] Subsequently, a connection line is determined with the current position of the robot as the starting point and the position of the obstacle as the end point. Through geometric calculation methods such as trigonometric functions, the angle between this connection line and the coordinate axes of the spatial coordinate system is obtained, denoted as the original angle. At the same time, the tangent angle between the robot and the obstacle is calculated. The sum of the tangent angle and the original angle is denoted as the correction angle.

[0028] Based on the correction angle, the motion control unit corrects the navigation of the robot and generates angle correction information, which is finally transmitted to the robot control information display unit to provide relevant data for navigation correction to the operator.

[0029] When analyzing the repulsive force increasing signal, the motion control unit calculates the increased repulsive force F according to a specific repulsive force calculation formula where F rep is the repulsive force coefficient, rep is the vector of D1, which represents the rate of change and the direction of change of the distance D1 in space, and the direction is from the robot to the obstacle, used to determine the direction of the repulsive force. At the same time, taking the calculated increased repulsive force as a standard, the repulsive force increasing information is generated and transmitted to the robot control information display unit.

[0030] The robot control information display unit is used to perform corresponding control on the robot according to the obtained angle correction information and repulsive force increasing information. Embodiment 2

[0031] As Embodiment 2 of the present invention, it is implemented on the basis of Embodiment 1, and the difference from Embodiment 1 is as follows: The propulsion efficiency optimization control unit is used to analyze the obtained propulsion efficiency optimization information, and through analyzing the current underwater environmental state and combining the current real-time propulsion efficiency of the robot for comprehensive analysis and adjustment. The specific adjustment method is as follows: Obtain the environmental flow velocity Ue, turbulence intensity I, and fluid density , and at the same time obtain the robot parameters, specifically including the flow-facing area A, propulsion velocity V, drag coefficient Cd, propulsion coefficient C T and input power P in , transmission efficiency and motor efficiency . Then, according to the formula calculate the relative flow velocity U rel , and here it represents the calculation method when the two directions are the same. If the directions are opposite, the relative flow velocity . If there is an included angle , vector synthesis is required. . At the same time, according to the formula calculate the Reynolds number, where is the hydrodynamic viscosity of the fluid, and L is the characteristic length of the robot; . Then, according to the formula correct the drag coefficient, where C d0 is the drag coefficient under no turbulence or low turbulence intensity, and k is an empirical constant related to the object shape and flow regime. And according to the formula calculate the resistance F of the water flow to the robot d , and this resistance is opposite to the direction of the robot's movement. Then, calculate the increased resistance caused by the turbulence intensity I, and calculate the increased resistance according to the formula , where​ is a compensation coefficient, and its specific value is set according to the actual situation. Further, based on the obtained increased resistance calculate the thrust compensation according to the formula the thrust compensation is calculated , and at the same time according to the formula the adjusted power is calculated ; Generate propulsion efficiency optimization information based on the thrust compensation and the adjusted power, and transmit it to the robot control information display unit.

[0032] The robot control information display unit is used to adjust the robot according to the obtained propulsion efficiency optimization information.

[0033] Embodiment 3, as Embodiment 3 of the present invention, focuses on combining the implementation processes of Embodiment 1 and Embodiment 2.

[0034] For some data in the above formula, only their numerical values are taken for calculation, and parameter units are not substituted for calculation. At the same time, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0035] The above embodiments are only used to illustrate the technical method of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A bionic fish robot underwater motion control system, characterized in that: Including: An underwater environment state recognition unit, which analyzes the obtained underwater environment parameters, calculates the corresponding environmental flow velocity and turbulence intensity, generates environmental state information according to the environmental state classification standard, and transmits it to the robot propulsion efficiency analysis unit at the same time; A robot propulsion efficiency analysis unit, which is used to obtain environmental state information and determine the propulsion efficiency threshold, calculate the real-time propulsion efficiency of the robot, compare the two, generate propulsion efficiency optimization information or motion control information, and transmit the two respectively; A robot motion control unit, which analyzes the obtained motion control information, identifies obstacles on the motion route, generates an obstacle avoidance signal, and then compares the distance between the obstacle and the preset distance to generate a repulsive force increase signal or an inertial navigation correction signal; Analyze the inertial navigation correction signal, determine the tangent angle and the original angle between the robot and the obstacle, sum the two to obtain the correction angle, generate angle correction information, analyze the repulsive force increase signal, calculate the increased repulsive force to generate the repulsive force increase information, and transmit it to the robot control information display unit; A propulsion efficiency optimization control unit, which analyzes the obtained propulsion efficiency optimization information, calculates the relative flow velocity and further obtains the Reynolds number, corrects the drag coefficient of the robot at the same time, calculates the corresponding drag, calculates the increased drag and thrust compensation in combination with the turbulence intensity, calculates the adjusted power at the same time, generates the propulsion efficiency optimization information, and transmits it to the robot control information display unit.

2. The underwater motion control system of a bionic fish robot according to claim 1, characterized in that: It also includes a robot control information display unit, which is used to transmit the obtained angle correction information, repulsive force increase information and propulsion efficiency optimization information to the corresponding control terminal, and generate a control instruction through the control terminal to control the robot.

3. The underwater motion control system of a bionic fish robot according to claim 1, characterized in that: The specific way for the underwater environment state recognition unit to generate environmental state information is: The robot obtains the underwater environmental flow velocity Ue through the Doppler flow meter, collects the instantaneous flow velocity signal u(t) using the hot wire probe, and calculates the average flow velocity. and pulsation velocity RMS , where T is the sampling time, and according to the formula The turbulence intensity I of the underwater environment is calculated; Determine the obtained environmental flow velocity Ue and turbulence intensity I according to the comprehensive environmental state classification standard, and generate environmental state information.

4. The underwater motion control system of a bionic fish robot according to claim 1, characterized in that: The specific way for the robot propulsion efficiency analysis unit to generate propulsion efficiency optimization information or motion control information is: The voltage U of the drive motor is monitored in real time by a power meter 电 and current I 电 , and calculate the total power P according to the formula 电 =U 电 ×I 电 , integrate the battery discharge curve or capacitor energy change, and obtain the total input energy within time t, recorded as E 总 According to the formula P 总 =E 总 / tCalculate the robot's total input efficiency P 总 , where t is the discharge time, then according to the formula The real-time propulsion efficiency is calculated, and the propulsion efficiency threshold is determined based on the environmental status information and compared with the total input efficiency P 总 Compare; like < propulsion efficiency threshold, then the propulsion efficiency optimization information is generated and transmitted to the propulsion efficiency optimization control unit. > propulsion efficiency threshold, motion control information is generated and transmitted to the robot motion control unit.

5. The underwater motion control system of a bionic fish robot according to claim 1, characterized in that: The specific way for the robot motion control unit to analyze the obtained motion control information is: The robot obtains the motion route, identifies it with the help of an underwater high-definition camera and lidar, and judges whether there are obstacles on the route. If there are, it generates an obstacle avoidance signal. If not, it generates normal monitoring information and transmits it to the display unit; Analyze the obstacle avoidance signal, obtain the distance D1 of the obstacle, compare it with the preset distance Dy set by the operator. If D1 < Dy, generate a repulsive force increase signal. If D1 > Dy, generate an inertial navigation correction signal.

6. The underwater motion control system of a bionic fish robot according to claim 1, characterized in that: The specific way for the robot motion control unit to analyze the inertial navigation correction signal is: Obtain the position of the obstacle and establish a space coordinate system, determine its coordinates, draw a line from the robot as the starting point and the obstacle as the ending point, calculate the original angle between the line and the coordinate system, and the tangent angle between the robot and the obstacle. The sum of the two is used as the correction angle, and the navigation is corrected accordingly and the angle correction information is generated and transmitted to the display unit.

7. The underwater motion control system of a bionic fish robot according to claim 1, characterized in that: The specific method in which the robot motion control unit analyzes the repulsive force increase signal is: According to the formula The calculated increase in repulsive force F rep , where F rep is the repulsion coefficient, The vector of D1 is used as the standard to generate the repulsive force increase information and transmit it to the robot control information display unit.

8. The underwater motion control system of a bionic fish robot according to claim 1, characterized in that: The specific manner in which the propulsion efficiency optimization control unit analyzes the acquired propulsion efficiency optimization information is as follows: Obtain environmental flow velocity Ue, turbulence intensity I and fluid density , and obtain the robot parameters at the same time, including the flow area A, propulsion speed V, resistance coefficient Cd, propulsion coefficient C T And the input power P in , Transmission efficiency and motor efficiency , then according to the formula Calculate the relative flow velocity U rel , and according to the formula The Reynolds number is calculated as is the fluid dynamic viscosity, and L is the characteristic length of the robot.

9. The underwater motion control system of a bionic fish robot according to claim 1, characterized in that: The specific method for the propulsion efficiency optimization control unit to generate the propulsion efficiency optimization information is as follows: According to the formula Correction is made to the drag coefficient, where C d0 is the drag coefficient without turbulence or at low turbulence intensity, k is an empirical constant related to the shape of the object and the flow state, and is calculated according to the formula Calculate the resistance F of the water flow on the robot d , and the resistance is opposite to the direction of robot movement. Then calculate the increased resistance caused by turbulence intensity I, according to the formula Calculated increase in resistance ,in is the compensation coefficient, and the resistance is further increased according to the obtained Calculate thrust compensation according to the formula Calculated thrust compensation , and according to the formula Calculate the adjusted power ; Propulsion efficiency optimization information is generated based on thrust compensation and adjusted power and transmitted to the robot control information display unit.

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