Underwater robot control system and method, underwater robot equipment and medium

Abstract

The embodiment of the invention discloses an underwater robot control system and method, underwater robot equipment and a medium, the underwater robot control system comprises at least two side wheels, an underwater propeller and a guide plate, the side wheels are symmetrically mounted at the head of an underwater robot; the underwater propeller and the guide plate are mounted at the tail part of the underwater robot; the underwater robot is used for controlling the power output states of the side wheels, the underwater propeller and the flow guide plate according to the current motion state; the side wheels are used for providing first motion power for the underwater robot in response to a control instruction of the underwater robot; and the underwater propeller and the guide plate are used for providing second motion power for the underwater robot in response to a control instruction of the underwater robot. According to the technical scheme, the flexibility and operation accuracy of the underwater robot can be improved.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of intelligent control, in particular to an underwater robot control system and method, underwater robot equipment and a medium. BACKGROUND

[0002] The underwater robot is an automatic device specially designed for underwater operation environment, and plays a key role in many fields such as ocean exploration, underwater structure maintenance, rescue action and safety monitoring. However, the underwater robot currently generally relies on a pair of propellers installed at the tail to generate propelling force through rotation when moving. However, this propelling method often forms a large arc in the turning path of the robot when completing the turning action, which may affect the flexibility and accuracy of the robot. SUMMARY

[0003] The embodiment of the application provides an underwater robot control system and method, underwater robot equipment and a medium, which can improve the flexibility and operation accuracy of the underwater robot.

[0004] According to an aspect of the application, an underwater robot control system is provided, comprising: at least two side wheels, an underwater propeller and a guide vane, the side wheels being symmetrically installed at the head of the underwater robot; the underwater propeller and the guide vane being installed at the tail of the underwater robot; the underwater robot being configured to control the power output state of the side wheels, the underwater propeller and the guide vane according to the current motion state;

[0005] The side wheels are configured to provide first motion power to the underwater robot in response to the control instruction of the underwater robot;

[0006] The underwater propeller and the guide vane are configured to provide second motion power to the underwater robot in response to the control instruction of the underwater robot.

[0007] According to another aspect of the application, an underwater robot control method is provided, applied to an underwater robot, the underwater robot being configured to control the power output state of side wheels, an underwater propeller and a guide vane in an underwater robot control system according to the current motion state; the method comprises:

[0008] Obtaining the current motion state of the underwater robot;

[0009] Sending a control instruction to the underwater robot control system according to the current motion state of the underwater robot, so as to control the underwater robot control system through the control instruction;

[0010] The side wheels are configured to provide first motion power to the underwater robot in response to the control instruction of the underwater robot;

[0011] The underwater thruster and the flow guide plate are configured to provide second movement power to the underwater robot in response to the control instruction of the underwater robot.

[0012] According to another aspect of the present application, there is provided an underwater robot control device configured to an underwater robot, the underwater robot being configured to control power output states of a side wheel, an underwater thruster and a flow guide plate in an underwater robot control system according to a current movement state; the device comprising:

[0013] a current movement state acquisition module configured to acquire a current movement state of the underwater robot;

[0014] a control system control module of the underwater robot configured to send a control instruction to the underwater robot control system according to the current movement state of the underwater robot, so as to control the underwater robot control system through the control instruction;

[0015] wherein the side wheel is configured to provide first movement power to the underwater robot in response to the control instruction of the underwater robot;

[0016] the underwater thruster and the flow guide plate are configured to provide second movement power to the underwater robot in response to the control instruction of the underwater robot.

[0017] According to another aspect of the present application, there is provided an underwater robot device, the underwater robot device comprising:

[0018] at least one processor; and

[0019] a memory in communication connection with the at least one processor; wherein

[0020] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the underwater robot control method according to any one of the embodiments of the present application.

[0021] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to execute the underwater robot control method according to any one of the embodiments of the present application when executed by the processor.

[0022] According to another aspect of the present application, there is also provided a computer program product comprising a computer program for enabling a processor to execute the underwater robot control method according to any one of the embodiments of the present application when executed by the processor.

[0023] The underwater robot control system provided by the embodiment of the present application comprises at least two side wheels, an underwater propeller and a flow guide plate. The side wheels are symmetrically installed on the head of the underwater robot, and the underwater propeller and the flow guide plate are installed on the tail of the underwater robot. Based on the underwater robot control system, an underwater robot control method applied to the underwater robot can be realized, which comprises obtaining the current motion state of the underwater robot, and sending a control instruction to the underwater robot control system according to the current motion state of the underwater robot, so as to control the underwater robot control system through the control instruction. The side wheels are used to provide the underwater robot with a first motion power in response to the control instruction of the underwater robot; and the underwater propeller and the flow guide plate are used to provide the underwater robot with a second motion power in response to the control instruction of the underwater robot. The above scheme provides the underwater robot with motion powers in different directions through the side wheels located on the head of the underwater robot and the underwater propeller and the flow guide plate located on the tail of the underwater robot, solves the problem of a large turning path radius existing in the prior underwater robot control method, and can improve the flexibility and operation accuracy of the underwater robot.

[0024] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0026] Figure 1 is a schematic diagram of an underwater robot control system provided by the first embodiment of the present application;

[0027] Figure 2 is a power output state of the underwater robot control system in a straight forward motion state provided by the first embodiment of the present application;

[0028] Figure 3 is a power output state of the underwater robot control system in a straight backward motion state provided by the first embodiment of the present application;

[0029] Figure 4 is a power output state of the underwater robot control system in a first direction turning motion state provided by the first embodiment of the present application;

[0030] Figure 5 is a power output state of the underwater robot control system in a second direction turning motion state provided by the first embodiment of the present application;

[0031] Figure 6 This is a flowchart of an underwater robot control method provided in Embodiment 2 of the present invention;

[0032] Figure 7 This is a schematic diagram of an underwater robot control device provided in Embodiment 3 of the present invention;

[0033] Figure 8 This is a structural schematic diagram of an underwater robot device provided in Embodiment 4 of the present invention. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] Example 1

[0037] Figure 1 This is a schematic diagram of an underwater robot control system provided in Embodiment 1 of the present invention, as shown below. Figure 1 As shown, the underwater robot control system 100 includes: at least two side wheels 110, an underwater thruster 120, and a deflector 130. The side wheels 110 are symmetrically mounted on the head of the underwater robot; the underwater thruster 120 and the deflector 130 are mounted on the tail of the underwater robot; the underwater robot is used to control the power output state of the side wheels 110, the underwater thruster 120, and the deflector 130 according to the current motion state.

[0038] The side wheel 110 is used to provide the underwater robot with first motion power in response to the control command of the underwater robot;

[0039] The underwater thruster 120 and the deflector 130 are used to provide a second propulsion to the underwater robot in response to control commands from the underwater robot.

[0040] The underwater robot can be an automated device specifically designed for underwater environments. For example, underwater robots can include, but are not limited to, underwater rescue robots, underwater cleaning robots, and underwater inspection robots that perform tasks in aquatic environments such as rivers, lakes, and oceans. This embodiment of the invention does not limit the specific type of underwater robot. The side wheel 110 can be an auxiliary wheel mounted on the head of the underwater robot. The underwater thruster 120 can be a propulsion device specifically designed for underwater environments. The deflector 130 can be a device used in conjunction with the underwater thruster 120 to optimize the direction of water flow and improve the efficiency of the underwater thruster 120. The current motion state can be the current motion state of the underwater robot, such as, but not limited to, a straight forward motion state, a straight backward motion state, and a turning state. This embodiment of the invention does not limit the specific type of the current motion state. The control command can be a command to control the power output state of the side wheel 110, the underwater thruster 120, and the deflector 130. The power output state can refer to the power performance and state of the side wheel 110, underwater thruster 120, and deflector 130 in the underwater robot control system 100 under different current motion states of the underwater robot. The first motion power can be the power provided by the side wheel 110. The second motion power can be the power provided by the underwater thruster 120 and deflector 130.

[0041] Specifically, the underwater robot control system 100 may include at least two side wheels 110, an underwater thruster 120, and a deflector 130. The side wheels 110 are symmetrically mounted on both sides of the underwater robot's head, and the underwater thruster 120 and deflector 130 are mounted on the underwater robot's tail. It can be understood that, with the underwater robot's forward direction as the reference direction, the front of the underwater robot is its head, and the rear of the underwater robot is its tail.

[0042] The underwater robot can control the power output of its side wheels 110, underwater thrusters 120, and deflectors 130 based on its current motion state. Specifically, the underwater robot can generate control commands based on its current motion state to control the side wheels 110, underwater thrusters 120, and deflectors 130 to assist in its movement. Upon receiving the control commands from the underwater robot, the side wheels 110 can provide the first propulsion to the underwater robot in response to the control commands; the underwater thrusters 120 and deflectors 130 can provide the second propulsion to the underwater robot in response to the control commands.

[0043] In an optional embodiment of the present invention, the underwater robot can also be used to: control the first side wheel 111 to rotate clockwise and control the second side wheel 112 to rotate counterclockwise when the current motion state is determined to be a straight forward motion state; control the current offset of the guide plate 130 to be 0 and control the underwater thruster 120 to push the water flow so that the water flow is discharged from the tail of the device.

[0044] The current offset can be the horizontal offset of the guide vane 130 relative to the center position of the underwater robot, with the center position as the reference point.

[0045] It should be noted that, taking the underwater robot's forward direction as the reference direction, the side wheel located on the left side of the underwater robot can be regarded as the first side wheel, and the side wheel located on the right side of the underwater robot can be regarded as the second side wheel.

[0046] Figure 2 This describes the power output state of an underwater robot control system in a linear forward motion state, as provided in Embodiment 1 of the present invention. Specifically, as shown... Figure 2 As shown, if the underwater robot's current motion is a straight-line forward motion, it can generate control commands to rotate the first side wheel 111 clockwise and the second side wheel 112 counterclockwise to balance the thrust on both sides of the underwater robot, thus ensuring its straight trajectory underwater. Simultaneously, the current offset of the guide vane 130 is controlled to be 0, meaning the guide vane 130 is kept at the center of the underwater robot's tail, and the underwater thruster 120 is controlled to push water towards the robot's tail, causing the water to be discharged from the tail to provide propulsion for the underwater robot.

[0047] In an optional embodiment of the present invention, the underwater robot can also be used to: control the second side wheel 112 to rotate clockwise and control the first side wheel 111 to rotate counterclockwise when the current motion state is determined to be a straight backward motion state; control the current offset of the guide plate 130 to be 0 and control the underwater thruster 120 to draw in water flow so that the water flow is discharged from the head of the device.

[0048] Figure 3 This describes the power output state of an underwater robot control system in a linear backward motion state, as provided in Embodiment 1 of the present invention. Specifically, as... Figure 3As shown, if the underwater robot's current motion state is a straight backward motion, the underwater robot can generate control commands to rotate the first side wheel 111 counterclockwise and the second side wheel 112 clockwise to balance the thrust on both sides of the underwater robot, thus ensuring its straight trajectory underwater. Simultaneously, the current offset of the guide vane 130 is controlled to be 0, i.e., the guide vane 130 is kept at the center of the underwater robot's tail, and the underwater thruster 120 is controlled to draw in water, causing the water to be discharged from the underwater robot's head to provide the underwater robot with backward propulsion. This scheme, by controlling the power output states of the side wheel 110, the underwater thruster 120, and the guide vane 130, enables the underwater robot to move forward or backward in a straight line, improving the precise control of the underwater robot's motion trajectory and thus enhancing the stability of the underwater robot during straight-line motion.

[0049] In an optional embodiment of the present invention, the underwater robot can also be used to: control the first side wheel 111 and the second side wheel 112 to rotate clockwise when the current motion state is determined to be a first-direction turning motion state; control the guide plate 130 to deflect in a second direction; and control the underwater thruster 120 to push the water flow so that the water flow is discharged from the tail of the device in a first direction.

[0050] It should be noted that, taking the underwater robot's forward direction as the reference direction, the left side of the underwater robot can be taken as the first direction, and the right side of the underwater robot as the second direction.

[0051] Figure 4 This refers to the power output state of an underwater robot control system in a first-direction turning motion state, as provided in Embodiment 1 of the present invention. Specifically, as shown... Figure 4 As shown, if the underwater robot's current motion state is a turning motion in the first direction, i.e., turning left, the underwater robot can generate control commands to control the first side wheel 111 and the second side wheel 112 to rotate clockwise, providing a leftward thrust to the underwater robot; at the same time, it controls the guide vane 130 to shift to the right and controls the underwater thruster 120 to push the water flow, so that the water flow is discharged from the left side of the underwater robot's tail, i.e., the water flow is discharged from the left rear side of the underwater robot. According to the principle of action and reaction, it can provide a thrust to the right front of the underwater robot's tail, enabling the underwater robot to quickly complete the turning action.

[0052] In an optional embodiment of the present invention, the underwater robot can also be used to: when the current motion state is determined to be a second-direction turning motion state, control the first side wheel 111 and the second side wheel 112 to rotate in a counterclockwise direction; control the guide plate 130 to deflect in a first direction, and control the underwater thruster 120 to push the water flow so that the water flow is discharged from the tail of the device in a second direction.

[0053] Figure 5 This refers to the power output state of an underwater robot control system in a second-direction turning motion state, as provided in Embodiment 1 of the present invention. Specifically, as shown... Figure 5 As shown, if the underwater robot's current motion state is a turning motion in the second direction, i.e., a right turn, the underwater robot can generate control commands to control both the first side wheel 111 and the second side wheel 112 to rotate counterclockwise, providing a rightward thrust to the underwater robot. Simultaneously, the deflector 130 is controlled to shift to the left, and the underwater thruster 120 is controlled to propel the water flow, causing the water to exit from the right side of the underwater robot's tail, i.e., from the right rear side. Based on the principle of action and reaction, this provides a thrust to the left front of the underwater robot's tail, enabling the underwater robot to quickly complete the turning motion. This scheme, by controlling the power output states of the side wheel 110, the underwater thruster 120, and the deflector 130, achieves rapid turning of the underwater robot, avoiding the defect of large arcs during turns in existing technologies. This allows the underwater robot to move, turn, and avoid obstacles more flexibly in confined spaces, thus significantly improving its flexibility and adaptability to different environments.

[0054] The underwater robot control system of this invention includes at least two side wheels, an underwater thruster, and a deflector. The side wheels are symmetrically mounted on the head of the underwater robot, while the underwater thruster and the deflector are mounted on the tail. The underwater robot controls the power output of the side wheels, underwater thruster, and deflector according to its current motion state. Specifically, the side wheels provide a first motion force to the underwater robot in response to control commands; the underwater thruster and deflector provide a second motion force in response to control commands. This solution provides motion force in different directions to the underwater robot through the side wheels located at the head and the underwater thruster and deflector located at the tail, solving the problem of large turning radius in existing underwater robot control methods and improving the flexibility and operational accuracy of the underwater robot.

[0055] Example 2

[0056] Figure 6This is a flowchart of an underwater robot control method provided in Embodiment 2 of the present invention. This embodiment is applicable to situations where the power output states of the side wheels, underwater thrusters, and deflectors in the underwater robot motion control system are controlled according to the current motion state of the underwater robot. This method can be executed by an underwater robot control method device, which can be implemented by software and / or hardware, and is generally integrated into an electronic device, which can be an underwater robot device. Accordingly, such as Figure 6 As shown, the method includes the following operations:

[0057] S210. Obtain the current motion state of the underwater robot.

[0058] In this embodiment of the invention, before performing motion control on the underwater robot, the current motion state of the underwater robot can be obtained first, so that the underwater robot can control the power output state of the side wheels, underwater thrusters and deflectors in the underwater robot control system according to the current motion state.

[0059] S220. Send a control command to the underwater robot control system according to the current motion state of the underwater robot, so as to control the underwater robot control system through the control command.

[0060] Accordingly, after acquiring the current motion state of the underwater robot, the underwater robot's processor can generate control commands based on the current motion state of the underwater robot and send the control commands to the underwater robot control system to control the underwater robot control system through the control commands.

[0061] Upon receiving a control command, the side wheels in the underwater robot control system can provide the first propulsion to the underwater robot in response to the control command; the underwater thrusters and deflectors in the underwater robot control system can provide the second propulsion to the underwater robot in response to the control command.

[0062] In an optional embodiment of the present invention, the step of sending a control command to the underwater robot control system based on the current motion state of the underwater robot, so as to control the underwater robot control system through the control command, may include: when it is determined that the current motion state is a straight forward motion state, controlling the first side wheel to rotate clockwise and controlling the second side wheel to rotate counterclockwise; controlling the current offset of the guide plate to be 0, and controlling the underwater thruster to push the water flow so that the water flow is discharged from the tail of the device.

[0063] In an optional embodiment of the present invention, the step of sending control commands to the underwater robot control system according to the current motion state of the underwater robot, so as to control the underwater robot control system through the control commands, may further include: when it is determined that the current motion state is a linear backward motion state, controlling the second side wheel to rotate clockwise and controlling the first side wheel to rotate counterclockwise; controlling the current offset of the guide plate to 0, and controlling the underwater thruster to draw in water flow, so that the water flow is discharged from the head of the device.

[0064] In an optional embodiment of the present invention, the step of sending a control command to the underwater robot control system according to the current motion state of the underwater robot, so as to control the underwater robot control system through the control command, may further include: when it is determined that the current motion state is a turning motion state in a first direction, controlling both the first side wheel and the second side wheel to rotate clockwise; controlling the guide plate to deflect in a second direction, and controlling the underwater thruster to push the water flow so that the water flow is discharged from the tail of the device in a first direction.

[0065] In an optional embodiment of the present invention, the step of sending a control command to the underwater robot control system according to the current motion state of the underwater robot, so as to control the underwater robot control system through the control command, may further include: when it is determined that the current motion state is a second-direction turning motion state, controlling both the first side wheel and the second side wheel to rotate counterclockwise; controlling the guide plate to deflect in the first direction, and controlling the underwater thruster to push the water flow, so that the water flow is discharged from the tail of the device in the second direction.

[0066] This invention acquires the current motion state of an underwater robot and sends control commands to its control system based on this state. The control system is then controlled via these commands. Side wheels provide a first propulsion force in response to the control commands, while underwater thrusters and deflectors provide a second propulsion force. This solution, by using side wheels at the robot's head and underwater thrusters and deflectors at its tail to provide propulsion in different directions, solves the problem of large turning radius in existing underwater robot control methods, thus improving the robot's flexibility and operational accuracy.

[0067] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information in this technical solution comply with relevant laws and regulations and do not violate public order and good morals.

[0068] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data comply with the relevant laws, regulations and standards of the relevant regions.

[0069] It should be noted that any arrangement or combination of the technical features in the above embodiments also falls within the protection scope of this invention.

[0070] Example 3

[0071] Figure 7 This is a schematic diagram of an underwater robot control device provided in Embodiment 3 of the present invention, as shown below. Figure 7 As shown, the device is configured on an underwater robot, which controls the power output state of the side wheels, underwater thrusters, and deflectors in the underwater robot's control system based on the current motion state. The device includes: a current motion state acquisition module 310 and an underwater robot control system control module 320, wherein:

[0072] The current motion state acquisition module 310 is used to acquire the current motion state of the underwater robot.

[0073] The control module 320 of the underwater robot's control system is used to send control commands to the underwater robot control system according to the current motion state of the underwater robot, so as to control the underwater robot control system through the control commands.

[0074] The side wheel is used to provide the underwater robot with a first motion power in response to the control command of the underwater robot;

[0075] The underwater thruster and the deflector are used to provide a second propulsion to the underwater robot in response to control commands from the underwater robot.

[0076] This invention acquires the current motion state of an underwater robot and sends control commands to its control system based on this state. The control system is then controlled via these commands. Side wheels provide a first propulsion force in response to the control commands, while underwater thrusters and deflectors provide a second propulsion force. This solution, by using side wheels at the robot's head and underwater thrusters and deflectors at its tail to provide propulsion in different directions, solves the problem of large turning radius in existing underwater robot control methods, thus improving the robot's flexibility and operational accuracy.

[0077] Optionally, the control module 320 of the underwater robot's control system is specifically used to: control the first side wheel to rotate clockwise and control the second side wheel to rotate counterclockwise when the current motion state is determined to be a straight forward motion state; control the current offset of the guide plate to be 0 and control the underwater thruster to push the water flow so that the water flow is discharged from the tail of the device.

[0078] Optionally, the control module 320 of the underwater robot's control system is further configured to: control the second side wheel to rotate clockwise and control the first side wheel to rotate counterclockwise when the current motion state is determined to be a linear backward motion state; control the current offset of the guide plate to be 0 and control the underwater thruster to draw in water flow so that the water flow is discharged from the head of the device.

[0079] Optionally, the control module 320 of the underwater robot's control system is further configured to: when the current motion state is determined to be a first-direction turning motion state, control both the first and second side wheels to rotate clockwise; control the guide plate to shift in a second direction, and control the underwater thruster to push the water flow so that the water flow is discharged from the tail of the device in the first direction.

[0080] Optionally, the control module 320 of the underwater robot's control system is further configured to: control the first and second side wheels to rotate counterclockwise when the current motion state is determined to be a second-direction turning motion state; control the guide plate to deflect in the first direction; and control the underwater thruster to push the water flow so that the water flow is discharged from the tail of the device in the second direction.

[0081] The aforementioned underwater robot control device can execute the underwater robot control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in the underwater robot control method provided in any embodiment of the present invention.

[0082] Since the underwater robot control device described above is capable of executing the underwater robot control method in the embodiments of the present invention, those skilled in the art can understand the specific implementation and various variations of the underwater robot control device in this embodiment based on the underwater robot control method described in the embodiments of the present invention. Therefore, how the underwater robot control device implements the underwater robot control method in the embodiments of the present invention will not be described in detail here. Any device used by those skilled in the art to implement the underwater robot control method in the embodiments of the present invention falls within the scope of protection of this application.

[0083] Example 4

[0084] Figure 8 A schematic diagram of an underwater robotic device 10, which can be used to implement embodiments of the present invention, is shown. The underwater robotic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The underwater robotic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0085] like Figure 8 As shown, the underwater robot device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the underwater robot device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0086] Multiple components in the underwater robot device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the underwater robot device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0087] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as underwater robot control methods.

[0088] In some embodiments, the underwater robot control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the underwater robot device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the underwater robot control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the underwater robot control method by any other suitable means (e.g., by means of firmware).

[0089] Optionally, an underwater robot control method is applied to an underwater robot, wherein the underwater robot controls the power output state of the side wheels, underwater thrusters, and deflectors in the underwater robot control system according to the current motion state; the method may include: acquiring the current motion state of the underwater robot; sending control commands to the underwater robot control system according to the current motion state of the underwater robot, so as to control the underwater robot control system through the control commands; wherein the side wheels are used to provide a first motion power to the underwater robot in response to the control commands of the underwater robot; the underwater thrusters and the deflectors are used to provide a second motion power to the underwater robot in response to the control commands of the underwater robot.

[0090] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0091] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0092] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0093] To provide interaction with a user, the systems and techniques described herein can be implemented on an underwater robotic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the underwater robotic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0094] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0095] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0096] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0097] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An underwater robot control system, characterized in that, include: The underwater robot has at least two side wheels, an underwater thruster, and a deflector. The side wheels are symmetrically mounted on the head of the underwater robot. The underwater thruster and the deflector are mounted on the tail of the underwater robot. The underwater robot is used to control the power output of the side wheels, the underwater thruster, and the deflector according to the current motion state. The side wheel is used to provide the underwater robot with a first motion power in response to the control command of the underwater robot; The underwater thruster and the deflector are used to provide a second propulsion to the underwater robot in response to control commands from the underwater robot.

2. The system according to claim 1, characterized in that, The underwater robot is also used for: When the current motion state is determined to be a straight-line forward motion state, the first side wheel is controlled to rotate clockwise, and the second side wheel is controlled to rotate counterclockwise. The current offset of the guide vane is controlled to be 0, and the underwater thruster is controlled to push the water flow so that the water flow is discharged from the tail of the machine.

3. The system according to claim 1, characterized in that, The underwater robot is also used for: When the current motion state is determined to be a linear backward motion state, the second side wheel is controlled to rotate clockwise, and the first side wheel is controlled to rotate counterclockwise. The current offset of the guide vane is controlled to be 0, and the underwater thruster is controlled to draw in water, so that the water is discharged from the head of the machine.

4. The system according to claim 1, characterized in that, The underwater robot is also used for: When the current motion state is determined to be a turning motion state in the first direction, the first side wheel and the second side wheel are controlled to rotate clockwise. The guide vane is controlled to deflect in the second direction, and the underwater thruster is controlled to propel the water flow so that the water flow is discharged from the tail of the machine in the first direction.

5. The system according to claim 1, characterized in that, The underwater robot is also used for: When the current motion state is determined to be a turning motion state in the second direction, both the first and second side wheels are controlled to rotate counterclockwise. The guide vane is controlled to deflect in a first direction, and the underwater thruster is controlled to propel the water flow, causing the water flow to be discharged from the tail of the machine in a second direction.

6. An underwater robot control method, applied to an underwater robot, characterized in that, The underwater robot is used to control the power output state of the side wheels, underwater thrusters, and deflectors in the underwater robot control system according to the current motion state; the method includes: Obtain the current motion state of the underwater robot; The underwater robot sends control commands to the underwater robot control system based on the current motion state of the underwater robot, so as to control the underwater robot control system through the control commands; The side wheel is used to provide the underwater robot with a first motion power in response to the control command of the underwater robot; The underwater thruster and the deflector are used to provide a second propulsion to the underwater robot in response to control commands from the underwater robot.

7. The method according to claim 6, characterized in that, The step of sending control commands to the underwater robot control system based on the current motion state of the underwater robot, so as to control the underwater robot control system through the control commands, includes: When the current motion state is determined to be a straight-line forward motion state, the first side wheel is controlled to rotate clockwise, and the second side wheel is controlled to rotate counterclockwise. The current offset of the guide vane is controlled to be 0, and the underwater thruster is controlled to push the water flow so that the water flow is discharged from the tail of the machine.

8. The method according to claim 6, characterized in that, The step of sending control commands to the underwater robot control system based on the current motion state of the underwater robot, so as to control the underwater robot control system through the control commands, further includes: When the current motion state is determined to be a linear backward motion state, the second side wheel is controlled to rotate clockwise, and the first side wheel is controlled to rotate counterclockwise. The current offset of the guide vane is controlled to be 0, and the underwater thruster is controlled to draw in water, so that the water is discharged from the head of the machine.

9. The method according to claim 6, characterized in that, The step of sending control commands to the underwater robot control system based on the current motion state of the underwater robot, so as to control the underwater robot control system through the control commands, further includes: When the current motion state is determined to be a turning motion state in the first direction, the first side wheel and the second side wheel are controlled to rotate clockwise. The guide vane is controlled to deflect in the second direction, and the underwater thruster is controlled to propel the water flow so that the water flow is discharged from the tail of the machine in the first direction.

10. The method according to claim 6, characterized in that, The step of sending control commands to the underwater robot control system based on the current motion state of the underwater robot, so as to control the underwater robot control system through the control commands, further includes: When the current motion state is determined to be a turning motion state in the second direction, both the first and second side wheels are controlled to rotate counterclockwise. The guide vane is controlled to deflect in a first direction, and the underwater thruster is controlled to propel the water flow, causing the water flow to be discharged from the tail of the machine in a second direction.

11. An underwater robot device, characterized in that, The underwater robot equipment includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that is executed by the at least one processor to enable the at least one processor to perform the robot control method according to any one of claims 6-10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute and implement the robot control method according to any one of claims 6-10.

13. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by the processor, they implement the robot control method according to any one of claims 6-10.

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