Underwater robot control platform based on multi-sensor fusion and operation method

Abstract

The invention discloses an underwater robot control platform based on multi-sensor fusion and an operation method, and belongs to the technical field of underwater robot control, the underwater robot control platform comprises an underwater robot body deployed in a water pool, and the underwater robot body communicates with a movable console through a cross-medium communication subsystem; meanwhile, the underwater robot further comprises a visual plane positioning system which is arranged above the pool and transmits plane coordinate information of the underwater robot body to the movable console. According to the method, the positioning precision is improved through a multi-sensor fusion scheme, real-time modification and optimization of the underwater robot controller are realized through cross-medium communication and programmable controller structure design, and the method has an important value for research on the underwater robot control problem; meanwhile, the structure of the controller can be automatically modified, and control algorithm testing and parameter tuning can be flexibly and efficiently carried out.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robot control, and particularly relates to an underwater robot control platform and an operation method based on multi-sensor fusion. Background Art

[0002] Underwater robots have important application values in deep-sea mapping, fishery fishing, pipeline inspection and other fields. However, the underwater robots themselves have model uncertainties, and are affected by underwater undercurrents or other uncertain factors during operation. Under the influence of these negative factors, the underwater robots need to design controllers with strong adaptability to be applied to underwater operation scenarios. In order to verify the effectiveness and practicability of the designed controllers, it is necessary to use an underwater robot experimental platform to test the designed controllers and optimize the parameters. However, the existing underwater robots only use vision or acoustic positioning alone, and the positioning accuracy of this method is low; at the same time, the existing controllers cannot select a suitable programming environment for experiments according to requirements. Summary of the Invention

[0003] In order to solve the problem of low positioning accuracy of existing underwater robots; at the same time, to solve the problem that existing controllers cannot select a suitable programming environment for experiments according to requirements. The present invention provides an underwater robot control platform and an operation method based on multi-sensor fusion, which can improve the positioning accuracy of underwater robots and at the same time allow developers to select the most suitable programming environment for experiments according to their own needs.

[0004] The technical solution adopted by the underwater robot control platform and operation method based on multi-sensor fusion of the present invention is as follows:

[0005] An underwater robot control platform based on multi-sensor fusion, characterized in that: it includes an underwater robot body deployed in a pool, the underwater robot body communicates with a movable console through a cross-media communication subsystem, and also includes a vision plane positioning system arranged above the pool to transmit the plane coordinate information of the underwater robot body to the movable console.

[0006] A further improvement of the technical solution of the present invention is that: color marks are provided on the surface of the underwater robot body, and an underwater pressure-resistant cabin is provided above the centroid of the underwater robot body. An underwater robot core board, a power management board, a thruster drive module and an attitude sensor are arranged in the underwater pressure-resistant cabin. A depth sensor is arranged outside the underwater pressure-resistant cabin above the centroid of the underwater robot body. At the same time, omnidirectional vector thrusters for pushing the underwater robot body to move are arranged around the underwater robot body.

[0007] A further improvement of the above technical solution of the present invention is that the underwater robot body has 6 controllable degrees of freedom. The omnidirectional vector thrusters are controlled by a thruster drive module, and the depth information measured by the depth sensor and the roll, pitch, and yaw information measured by the attitude sensor are transmitted to the mobile console in real time.

[0008] A further improvement of the technical solution of the present invention is that the cross-media communication subsystem includes a zero-buoyancy communication cable with one end connected to the underwater robot body, and a wireless communication repeater is connected to the other end of the zero-buoyancy communication cable.

[0009] A further improvement of the technical solution of the present invention is that the mobile console includes a host computer software for experimenters to input algorithms and optimize parameters.

[0010] A further improvement of the above technical solution of the present invention is that the host computer software has control buttons to send control commands for each degree of freedom of the underwater robot body to test whether each degree of freedom of the underwater robot body can work properly; the host computer software also has a programmable interface for the controller that can be actively input to independently rewrite the control algorithm structure; the host computer software has a "start experiment" button to control the start of the experiment. After the experiment starts, the state data of the underwater robot body will be automatically recorded and saved to a data storage file; at the same time, the host computer software has an "emergency stop" button to urgently stop the experiment in case of an accident, and the host computer software also has a "one-key drawing" button to draw the time series of the state data of the underwater robot body in the data storage file for the presentation and analysis of the experimental results.

[0011] A further improvement of the technical solution of the present invention is that the vision plane positioning system includes a plane positioning camera, an image recognition embedded processor, a wireless transmission module, and an adjustable support frame; among them, the vision plane positioning system transmits the plane coordinate information of the underwater robot body to the mobile console through the wireless transmission module, and at the same time, the mobile console transmits the control signal for each thruster to the underwater robot body through the cross-media communication subsystem.

[0012] A further improvement of the above technical solution of the present invention is that the image recognition embedded processor finds the largest area color block in the visible field of view based on the surface color threshold range of the underwater robot body to obtain the coordinate information p I = [x pix , y pix T of the underwater robot body in the image plane, and the obtained coordinate information is smoothed by a first-order low-pass filter algorithm to obtain the coordinate information p S = [x S , y S ​T , the expression of the first-order low-pass filtering algorithm is as follows:

[0013]

[0014] Among them, Ω is a positive definite diagonal parameter matrix.

[0015] A further improvement of the above technical solution of the present invention is that: the adjustable support frame adopts a telescopic device, and a displacement sensor is installed in the adjustable support frame to measure the extended length of the adjustable support frame, and the proportional relationship between the pixel width and the actual distance is calculated according to the following formula:

[0016]

[0017]

[0018] Among them, z p is the actual depth of the underwater robot body, h0 is the height of the end of the fixed rod of the adjustable support frame from the water surface, h * is the telescopic length of the adjustable support frame, A is the field of view angle of the planar positioning camera, L x , L y is the image size of the planar positioning camera in two horizontal directions, c is the refractive index of water, x S , y S are the coordinates on the image plane of the recognized underwater robot body.

[0019] An operation method of an underwater robot control platform based on multi-sensor fusion, using the above-mentioned underwater robot control platform based on multi-sensor fusion, includes the following steps.

[0020] S1. The experimenter arranges the underwater robot body and the visual planar positioning system and connects the cross-media communication subsystem and the movable console; after turning on all the devices, the experimenter inputs the motion commands in each direction through the buttons on the movable console to test the effectiveness of each motion degree of freedom of the underwater robot body.

[0021] S2. The experimenter manually inputs the initial point of the underwater robot body and the experiment time on the onshore movable console, and the upper computer software in the movable console stores the above information and waits for the next operation.

[0022] S3. The experimenter inputs the designed control algorithm and the desired trajectory through the "controller input area" according to the programming language selected in the drop-down box "Programming Language Selection", and deploys the controller to the mobile console; selects the function to return to the initial point to make the underwater robot body move to the initial point set in S2 in the pool and wait for the start of the experimental task; further, clicks the "Start Experiment" button, and the underwater robot body will automatically run the designed control algorithm to track the trajectory set in S2 until the set experimental time ends. During the experiment, the position, speed, attitude angle, and angular velocity of the underwater robot body are automatically stored in the experimental data storage file;

[0023] S4. Click the "One-key Plot" button to visually display the state information of the underwater robot body during the experiment for analysis;

[0024] S5. Adjust the parameters of the controller and repeat S2 and S3, repeat the experiment and perform parameter tuning.

[0025] Due to the adoption of the above technical solutions, the technical progress achieved by the present invention includes:

[0026] In the present invention, the underwater robot body is positioned by a planar positioning camera, a depth sensor, and an attitude sensor. The positioning scheme uses a visual planar positioning system equipped with a planar positioning camera to automatically identify and calculate the horizontal position of the underwater robot body, and changes the planar positioning range by adjusting the height; uses the depth sensor to obtain the diving depth information of the underwater robot body; uses the attitude sensor to obtain the real-time attitude of the underwater robot body. Compared with the method of using only vision or acoustic positioning alone in the experiment, the positioning accuracy is improved and the cost is reduced.

[0027] The present invention adopts a host computer software that can actively modify the controller structure. The user can use the state information variables fed back by the visual planar positioning system and the cross-media communication subsystem, and actively modify the controller structure through the programming language on the host computer software using a modular input method. It supports interfaces of multiple programming languages, allowing developers to select the most suitable programming environment for experiments according to their own needs, making the experimental preparation work for inputting control algorithms more flexible and efficient, and improving the efficiency of controller parameter debugging and optimization.

[0028] The present invention adopts a cross-media communication subsystem to transmit sensor data from underwater to the onshore console by means of power line carrier and wireless communication conversion, and transmits control signals from the onshore console to the underwater robot body. Greatly simplifies the system deployment process, eliminates the limitations of complex wiring, inflexible deployment, and space limitation in the traditional method of using only wired connection, reduces the difficulty of wiring, and expands the activity range of the onshore mobile console. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the overall structure of a control platform and operation method for an underwater robot based on multi-sensor fusion according to the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the underwater robot body of a control platform and operation method for an underwater robot based on multi-sensor fusion according to the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the cross-media communication subsystem of a control platform and operation method for an underwater robot based on multi-sensor fusion according to the present invention;

[0032] Figure 4 It is a schematic diagram of the structure of the visual plane positioning system of a control platform and operation method for an underwater robot based on multi-sensor fusion according to the present invention;

[0033] Figure 5 It is a schematic diagram of the interface of the upper computer software of a control platform and operation method for an underwater robot based on multi-sensor fusion according to the present invention.

[0034] In the drawings: 1. Underwater robot body; 2. Cross-media communication subsystem; 3. Movable console; 4. Visual plane positioning system; 5. Underwater pressure-resistant cabin; 6. Omnidirectional vector thruster; 7. Underwater robot core board; 8. Power management board; 9. Thruster drive module; 10. Attitude sensor; 11. Depth sensor; 12. Zero-buoyancy communication cable; 13. Wireless communication repeater; 14. Plane positioning camera; 15. Image recognition embedded processor; 16. Wireless transmission module; 17. Adjustable support frame. Specific embodiments

[0035] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. In the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0036] The present invention provides a control platform for an underwater robot based on multi-sensor fusion, as Figure 1 shown, including an underwater robot body 1, a cross-media communication subsystem 2, a movable console 3 and a visual plane positioning system 4.

[0037] Specifically, the underwater robot body 1 is deployed in an experimental pool, and its surface is marked with colors, such as Figure 2As shown in the figure, the main structure includes a subsea pressure-resistant cabin 5 fixed above the centroid of the underwater robot body 1 and multiple groups of omnidirectional vector thrusters 6 on the side wall of the underwater robot body 1. Inside the subsea pressure-resistant cabin 5 above the centroid of the underwater robot body 1, an underwater robot core board 7, a power management board 8, a thruster drive module 9, and an attitude sensor 10 are installed. At the same time, a depth sensor 11 is installed at a position outside the subsea pressure-resistant cabin 5 above the centroid of the underwater robot body 1.

[0038] The above-mentioned subsea pressure-resistant cabin 5 has passed the airtightness test and can meet the pressure resistance of water depths within 100m; the omnidirectional vector thruster 6 includes 8 thrusters, which are distributed according to spatial vectors and can generate thrust or torque in 6 degrees of freedom; the underwater robot core board 7 runs embedded software, which includes a communication subroutine, a thruster drive signal generator, a depth sensor 11 solver, and an attitude sensor 10 solver subroutine; the power management board 8 is responsible for stabilizing the power supply in the robot cabin and supplying electrical energy to the underwater robot core board 7, the depth sensor 11, the attitude sensor 10, and the omnidirectional vector thruster; the attitude sensor 10 collects the information of the magnetometer, accelerometer, and gyroscope and transmits it to the underwater robot core board 7; the depth sensor 11 collects real-time water pressure information and transmits it to the underwater robot core board 7.

[0039] In the present invention, the underwater robot body 1 has 6 controllable degrees of freedom and communicates with the mobile console 3 through the cross-medium communication subsystem 2, and the depth information measured by the depth sensor 11 and the roll, pitch, and yaw information measured by the attitude sensor 10 are real-time fed back to the mobile console 3.

[0040] In the present invention, the cross-medium communication subsystem 2 includes a zero-buoyancy communication cable 12 connected to the underwater robot body 1, and the zero-buoyancy communication cable 12 is also connected to a wireless communication repeater 13. As Figure 3 shown, the zero-buoyancy communication cable 12 contains two power line carrier communication lines, and the sensor and control signals are transmitted through power line carrier up and down; the wireless communication repeater 13 is powered by an internal power supply. The wireless communication repeater 13 includes a power line carrier module responsible for receiving data and converting it into a carrier signal, and a wireless router module for wirelessly transmitting the data and the mobile console.

[0041] In the present invention, the mobile console 3 is a standard computer platform, and a main control host computer software runs on it, and its interface is as Figure 5As shown; the computer platform is a standard computer platform equipped with a wireless network card; the main control host computer software is responsible for collecting and integrating all sensor data, integrating the integrated position, attitude, and their speed and angular velocity information into program modular variables to provide users with the initiative to modify the structure of the controller through programming languages. It supports interfaces of multiple programming languages and allows developers to choose the most suitable programming environment for experiments according to their own needs.

[0042] Specifically, the main control host computer software communicates with the wireless communication repeater 13 of the cross-media communication subsystem 2 in real time through the TCP protocol to exchange data, and at the same time receives the position information of the underwater robot body 1 in the visual plane positioning system 4. There are control buttons in the host computer software to send control instructions for each degree of freedom of the underwater robot body 1 to test whether each degree of freedom of the underwater robot body 1 can work properly. There is also an actively inputtable programming interface for the controller in the host computer software to independently rewrite the control algorithm structure. It supports interfaces of multiple programming languages. By selecting the programming language through the "Programming Language Selection" drop-down box and inputting the controller and the desired trajectory in the "Controller and Desired Trajectory Input Area", the effectiveness of the control algorithm can be verified. There is a "Start Experiment" button in the host computer software to control the start of the experiment. After the experiment starts, it will automatically record and save the state data of the underwater robot body 1 into a data storage file. At the same time, there is an "Emergency Stop" button in the host computer software to urgently stop the experiment in case of an accident. In addition, there is a "One-key Plot" button in the host computer software to plot the time series of the state data of the underwater robot body 1 in the data storage file for the presentation and analysis of the experimental results.

[0043] In the present invention, the visual plane positioning system 4 is arranged above the pool, as Figure 4 shown, including a plane positioning camera 14, an image recognition embedded processor 15, a wireless transmission module 16, and an adjustable support frame 17; the plane positioning camera 14 is a high-frame-rate distortion-free camera, which is connected to the embedded processor through USB and provides high-frame-rate image data; the image recognition embedded processor 15 converts the image space into the HSV space and sets the marker color threshold to identify the coordinate information p I = [x pix , y pix T of the underwater robot body in the image plane, and smooths the obtained coordinate information through a first-order low-pass filter algorithm to obtain the coordinate information p S = [x S , y S T for feedback. The expression of the above first-order low-pass filter algorithm is as follows:

[0044]

[0045] Among them, Ω is a positive definite diagonal parameter matrix.

[0046] Meanwhile, in the present invention, the adjustable support frame 17 adopts a telescopic device. A displacement sensor is installed inside the adjustable support frame 17 to measure the extended length of the adjustable support frame 17, and the proportional relationship between the pixel width and the actual distance is calculated according to the following formula:

[0047]

[0048] Among them, z p is the actual depth of the underwater robot body 1, h0 is the height from the end of the fixed rod of the adjustable support frame 17 to the water surface, h * is the telescopic length of the adjustable support frame 17, A is the field of view angle of the planar positioning camera 14, L x , L y is the image size of the planar positioning camera 14 in two horizontal directions, c is the refractive index of water, x S , y S are the coordinates on the image plane of the recognized underwater robot body 1.

[0049] Furthermore, through the above proportional relationship, the actual spatial coordinate information of the underwater robot body 1 is calculated, and then sent to the mobile console 3 through the wireless transmission module 16.

[0050] In the present invention, the vision planar positioning system 4 transmits planar coordinate information to the mobile console 3 through the wireless transmission module 16, and the mobile console 3 transmits control signals for each thruster to the underwater robot body 1 through the cross-media communication subsystem 2.

[0051] The present invention also provides an operation method for an underwater robot control platform based on multi-sensor fusion, including the following steps:

[0052] S1. Power on and self-check: The experimenter arranges the underwater robot body 1 and the vision planar positioning system 4 and connects the cross-media communication subsystem 2 and the mobile console 3; after turning on all the devices, the experimenter inputs movement instructions in all directions through the buttons on the mobile console 3 to test the effectiveness of each movement degree of freedom of the underwater robot body 1. If each degree of freedom can operate normally, then proceed to the next step.

[0053] S2. Set the initial point and experiment time: The experimenter manually inputs the initial point of the underwater robot body 1 and the experiment time on the onshore mobile console 3, and the upper computer software in the mobile console 3 stores the above information and waits for the next operation.

[0054] S3. Modify the controller structure and conduct experiments: The experimenter inputs the designed control algorithm and the desired trajectory through the "Controller Input Area" according to the programming language selected in the drop-down box "Programming Language Selection", and deploys the controller to the mobile console 3; Select the function to return to the initial point to make the underwater robot body 1 move to the initial point set in S2 in the pool and wait for the start of the experimental task; Further, click the "Start Experiment" button, and the underwater robot body 1 will automatically run the designed control algorithm to track the trajectory set in S2 until the set experimental time ends. During the experiment, the position, velocity, attitude angle, and angular velocity of the underwater robot body 1 are automatically stored in the experimental data storage file. Additionally, if the underwater robot body 1 encounters a collision or other abnormal phenomena during the experiment, click the "Emergency Stop" button in the host computer software to stop the experiment and repeat this step.

[0055] S4. Plot the data: Click the "One-key Plot" button to visually display the state information of the underwater robot body 1 during the experiment for analysis.

[0056] S5. Adjust the parameters and repeat the experiment: Adjust the parameters of the controller and repeat S2 and S3, repeat the experiment and conduct parameter optimization.

[0057] In summary, the present invention helps the experimenter conduct experiments on the underwater robot body 1, and effectively realizes the experimental algorithm verification and parameter optimization work with low cost and high efficiency.

[0058] In the above embodiment, the present invention provides an underwater robot control platform and operation method based on multi-sensor fusion. In the present invention, the underwater robot body is positioned by a planar positioning camera, a depth sensor, and an attitude sensor. The positioning scheme uses a vision planar positioning system equipped with a planar positioning camera to automatically identify and calculate the horizontal position of the underwater robot body, and changes the planar positioning range by adjusting the height; uses the depth sensor to obtain the diving depth information of the underwater robot body; uses the attitude sensor to obtain the real-time attitude of the underwater robot body. Compared with the method of using vision or acoustic positioning alone in the experiment, the positioning accuracy is improved and the cost is reduced. At the same time, the present invention adopts a host computer software that can actively modify the controller structure. The user can feedback the state information variables through the vision planar positioning system and the cross-media communication subsystem, and actively modify the structure of the controller through the programming language on the host computer software using a modular input method. It supports interfaces of multiple programming languages, allowing developers to select the most suitable programming environment for experiments according to their own needs, making the experimental preparation work for inputting the control algorithm more flexible and efficient, and improving the efficiency of controller parameter debugging and optimization.

[0059] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various variations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope of the present invention. The technical content claimed by the present invention has been fully recorded in the claims.

Claims

1. An underwater robot control platform based on multi-sensor fusion, characterized by: The invention comprises an underwater robot body (1) deployed in a water pool, wherein the underwater robot body (1) communicates with a movable control console (3) via a cross-medium communication subsystem (2), and also comprises a visual plane positioning system (4) arranged above the water pool and transmitting the plane coordinate information of the underwater robot body (1) to the movable control console (3).

2. The underwater robot control platform based on multi-sensor fusion according to claim 1, characterized in that: The surface of the underwater robot body (1) is provided with color markings, and an underwater pressure-resistant chamber (5) is provided above the center of mass of the underwater robot body (1), an underwater robot core board (7), a power management board (8), a thruster drive module (9) and a posture sensor (10) are provided in the underwater pressure-resistant chamber, a depth sensor (11) is provided outside the underwater pressure-resistant chamber (5) above the center of mass of the underwater robot body (1), and omnidirectional vector thrusters (6) are provided around the underwater robot body (1) to propel the underwater robot body to move.

3. The underwater robot control platform based on multi-sensor fusion according to claim 2, characterized in that: The underwater robot body (1) has six controllable degrees of freedom, controls the omnidirectional vector thruster (6) through a thruster drive module (9), and transmits depth information measured by a depth sensor (11) and roll, pitch and yaw information measured by a posture sensor (10) to a movable control console (3) in real time.

4. The underwater robot control platform based on multi-sensor fusion according to claim 1, characterized in that: The cross-medium communication subsystem (2) comprises a zero-buoyancy communication cable (12) connected to the underwater robot body (1) at one end, and a wireless communication repeater (13) connected to the other end of the zero-buoyancy communication cable (12).

5. The underwater robot control platform based on multi-sensor fusion according to claim 1, characterized in that: The movable control console (3) comprises upper computer software for experimenters to input algorithms and adjust parameters.

6. The underwater robot control platform based on multi-sensor fusion according to claim 5, characterized in that: The host computer software has control buttons corresponding to sending control instructions for each degree of freedom of the underwater robot body (1), which is used to test whether each degree of freedom of the underwater robot body (1) can work normally; the host computer software also has a programming interface that can actively input a programming interface for the controller, which is used to independently rewrite the control algorithm structure; the host computer software has a "start experiment" button for controlling the start of the experiment, and after the experiment starts, it will automatically record and save the state data of the underwater robot body (1) in the data storage file; at the same time, the host computer software has an "emergency stop" button for emergency stopping the experiment when an unexpected event occurs, and the host computer software also has a "one-key drawing" button for drawing the time series of the state data of the underwater robot body (1) in the data storage file for presentation and analysis of the experimental results.

7. The underwater robot control platform based on multi-sensor fusion according to claim 1, characterized in that: The visual plane positioning system (4) comprises a plane positioning camera (14), an image recognition embedded processor (15), a wireless transmission module (16) and an adjustable support frame (17); wherein the visual plane positioning system (4) transmits the plane coordinate information of the underwater robot body (1) to the movable control console (3) via the wireless transmission module (16), and at the same time, the movable control console (3) transmits the control signal for each thruster to the underwater robot body (1) via the cross-media communication subsystem (2).

8. The underwater robot control platform based on multi-sensor fusion according to claim 7, characterized in that: The image recognition embedded processor (15) searches for the color block with the largest area in the visible field of view based on the surface color threshold range of the underwater robot body (1), and obtains the coordinate information p of the underwater robot body (1) on the image plane. I =[x pix ,y pix ] T The coordinate information is smoothed by a first-order low-pass filtering algorithm to obtain the coordinate information p for feedback. S =[x S ,y S ] T , the first-order low-pass filtering algorithm expression is as follows: Where Ω is a positive definite diagonal parameter matrix.

9. The underwater robot control platform based on multi-sensor fusion according to claim 7, characterized in that: The adjustable support frame (17) adopts a telescopic device, and a displacement sensor is installed in the adjustable support frame (17) to measure the extended length of the adjustable support frame (17), and calculate the proportional relationship between the pixel width and the actual distance according to the following formula: Among them, z p is the actual depth of the underwater robot body (1), h0 is the height of the end of the fixed rod of the adjustable support frame (17) from the water surface, and h * is the telescopic length of the adjustable support frame (17), A is the field of view of the plane positioning camera (14), L x , L y is the image size of the plane positioning camera (14) in the horizontal direction, c is the refractive index of water, x S ,y S are the identified coordinates of the underwater robot body (1) on the image plane.

10. An operating method of an underwater robot control platform based on multi-sensor fusion, characterized in that: Using an underwater robot control platform based on multi-sensor fusion as described in any one of claims 1 to 9 comprises the following steps: S1. The experimenter arranges the underwater robot body (1) and the visual plane positioning system (4) and connects the cross-media communication subsystem (2) and the movable control console (3); after turning on all the equipment, the experimenter inputs movement instructions in various directions through the buttons on the movable control console (3) to test the effectiveness of each degree of freedom of movement of the underwater robot body (1); S2, the experimenter manually inputs the initial point of the underwater robot body (1) and the experiment time on the mobile control console (3) on land, and the upper computer software in the mobile control console (3) stores the above information and waits for the next operation; S3. The experimenter inputs the designed control algorithm and expected trajectory through the "controller input area" according to the programming language selected in the drop-down box "programming language selection", and deploys the controller to the movable console (3); selects the return to initial point function to make the underwater robot body (1) move in the pool to the initial point set in S2 and wait for the experiment task to start; further, clicks the "start experiment" button, and the underwater robot body (1) automatically runs the designed control algorithm to track the trajectory set in S2 until the end of the set experiment time, and the position speed, attitude angle and angular velocity of the underwater robot body (1) in the experiment are automatically stored in the experiment data storage file; S4. Click the "One-click drawing" button to intuitively display the state information of the underwater robot body (1) in the experiment through graphics for analysis; S5. Adjust the controller parameters and repeat S2 and S3. Repeat the experiment and perform parameter tuning.

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