Underwater equipment control method, underwater equipment and computer readable storage medium

Abstract

The invention provides a control method of underwater equipment, the underwater equipment and a computer storage medium. The control method comprises the following steps: adjusting the underwater equipment to an anti-flow attitude according to underwater environment information around the underwater equipment; establishing a coordinate system matched with the underwater equipment in the anti-flow attitude; after the view angle is switched, the target object is confirmed, and the orientation of the current main camera relative to the underwater equipment is determined; vector direction calculation is carried out according to the orientation of the main camera and the coordinate system; and controlling the underwater equipment to keep the anti-flow posture to move along the vector direction. Therefore, in the moving process of the underwater equipment, the anti-flow posture is kept, the underwater equipment moves in the most stable posture, and the stability of the underwater equipment can be guaranteed.

Description

Technical Field

[0001] This application relates to the field of underwater robot technology, and in particular to a control method for underwater equipment, underwater equipment, and a computer-readable storage medium. Background Technology

[0002] Currently, underwater equipment operating in the deep sea is typically equipped with cameras to capture information about the underwater environment, facilitating control by personnel. Multiple cameras can be configured to broaden the field of view, allowing personnel to switch between them to obtain visual information from different directions. In existing technology, the target object is identified by switching camera perspectives, and then the underwater equipment's attitude is adjusted to control its movement.

[0003] In this method, the underwater equipment's direction of movement is based on the main camera; that is, when the viewing angle changes, its forward direction needs to remain consistent with the direction of the main camera after the switch. Therefore, the existing technology only considers the relationship between the underwater equipment's orientation and the main camera, without taking into account the influence of the surrounding environment. The underwater equipment, after adjusting its forward direction, may be affected by water flow and other environmental factors, leading to instability and affecting its operation. Summary of the Invention

[0004] This application provides a control method for underwater equipment, underwater equipment, and a computer-readable storage medium, which can maintain the optimal anti-current posture of the underwater equipment to ensure its stability.

[0005] This application provides a control method for an underwater device, the control method comprising:

[0006] The underwater equipment is adjusted to an anti-current posture based on the underwater environment information around it. The underwater equipment has the strongest ability to resist the impact of water flow in the anti-current posture.

[0007] Establish a coordinate system that matches the underwater equipment in the current-resistant posture;

[0008] After switching perspectives, the target object is confirmed, and the orientation of the main camera relative to the underwater device is determined.

[0009] The vector direction is calculated based on the orientation of the main camera and the coordinate system.

[0010] The underwater equipment is controlled to maintain its current-resistant posture and move along the vector direction.

[0011] In one embodiment, the step of calculating the vector direction based on the orientation of the main camera and the coordinate system further includes:

[0012] The axis vectors corresponding to the orientation on the three coordinate axes of the coordinate system;

[0013] The direction of the vector is determined based on the three axis vectors.

[0014] In one embodiment, prior to the step of determining the orientation of the current main camera relative to the underwater device, the method further includes:

[0015] Select the target operation location on the target object;

[0016] The orientation of the main camera is adjusted so that the target working position is located in the center of the main camera's field of view.

[0017] In one embodiment, after the step of controlling the underwater device to maintain the current-resistant posture along the vector direction, the method further includes:

[0018] Once the underwater equipment enters the operating range of the target object, the state of the underwater equipment is adjusted.

[0019] In one embodiment, the step of adjusting the state of the underwater equipment after it enters the operating range of the target object includes:

[0020] The distance between the underwater device and the target object is acquired in real time.

[0021] When the distance between the underwater device and the target object is less than or equal to a first distance, the underwater device is controlled to hover.

[0022] In one embodiment, after the step of controlling the underwater device to hover when the distance between the underwater device and the target object is less than or equal to a first distance, the method further includes:

[0023] Determine whether the current anti-current posture is consistent with the operational posture;

[0024] If the judgment result is negative, the attitude of the underwater equipment is adjusted to the working attitude.

[0025] In one embodiment, the step of adjusting the state of the underwater equipment after it enters the operating range of the target object includes:

[0026] The distance between the underwater device and the target object is acquired in real time.

[0027] When the distance between the underwater device and the target object is less than or equal to a first distance, the underwater device is controlled to move between the first distance and a second distance; wherein the first distance is greater than the second distance.

[0028] In one embodiment, in the step of adjusting the underwater device to an anti-current posture based on the underwater environment information around the underwater device, the underwater environment information is detected in real time, and the anti-current posture of the underwater device is adjusted in real time.

[0029] This application, in another aspect, provides an underwater device, the underwater device comprising: a memory, a processor, and a control program for the underwater device stored in the memory and executable on the processor, wherein the control program for the underwater device, when executed by the processor, implements the steps of the control method for the underwater device as described above.

[0030] In another aspect, this application provides a computer-readable storage medium storing a control program for an underwater device, which, when executed by a processor, implements the steps of the control method for the underwater device as described above.

[0031] This application provides a control method for underwater equipment, the underwater equipment itself, and a computer storage medium. The control method includes adjusting the underwater equipment to an anti-current posture based on underwater environmental information surrounding the equipment; establishing a coordinate system matching the underwater equipment in the anti-current posture; confirming a target object after a viewpoint switch and determining the orientation of the main camera relative to the underwater equipment; calculating a vector direction based on the orientation of the main camera and the coordinate system; and controlling the underwater equipment to maintain the anti-current posture while moving along the vector direction. Therefore, this application adjusts the underwater equipment to an anti-current posture before movement, calculates the vector direction after confirming the target object, and then maintains the anti-current posture while moving along the vector direction, allowing the underwater equipment to move in the most stable posture, thereby ensuring the stability of the underwater equipment. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating the control method for underwater equipment provided in an embodiment of this application;

[0034] Figure 2 yes Figure 1 Detailed flowchart of step S3;

[0035] Figure 3 yes Figure 1 Detailed flowchart of step S4;

[0036] Figure 4 This is a schematic diagram of the orientation of the main camera in one embodiment of this application, corresponding to the axis component in the coordinate system;

[0037] Figures 5-7 It is a schematic diagram of the trajectory of underwater equipment moving according to the vector direction;

[0038] Figure 8 This is a flowchart illustrating a control method for an underwater equipment system according to another embodiment of this application;

[0039] Figure 9 This is an embodiment provided by this application. Figure 8 Detailed flowchart of step S6';

[0040] Figure 10 This is another embodiment provided by this application. Figure 8 Detailed flowchart of step S6';

[0041] Figure 11 This is a schematic diagram of the underwater equipment system provided in the embodiments of this application. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0045] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0046] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0047] Please see Figure 1 , Figure 1 This is a flowchart illustrating a control method for an underwater device provided in an embodiment of this application. Figure 1 As shown, the control method includes the following steps:

[0048] S1. Adjust the underwater equipment to an anti-current posture based on the underwater environment information around the underwater equipment;

[0049] Among them, the current-resistant posture refers to the posture in which underwater equipment has the strongest resistance to the impact of water flow in the current underwater environment.

[0050] Underwater environmental information can include information such as the direction and velocity of water flow. Since water flow impacts underwater equipment, if the impact area between the underwater equipment and the direction of water flow is too large, it will have a significant impact on the stability of the underwater equipment.

[0051] Underwater equipment can acquire the direction and velocity of water flow using pressure sensors and velocity meters. Based on this information, it can adjust its attitude to achieve current resistance. In addition to adjusting the equipment's attitude, thrusters mounted on the underwater device are also needed to maintain this current-resistant posture. Specifically, the underwater equipment has pairs of thrusters on at least two opposite sides. Adjusting the output power of each thruster allows for hovering and movement of the equipment.

[0052] Furthermore, since the structural characteristics of underwater equipment, such as its appearance, also affect its resistance to current, the current-resistant attitude of the underwater equipment can be adjusted by combining underwater environmental information and the structural characteristics of the underwater equipment. For example, the underwater equipment can be rotated so that the direction of the length of the underwater equipment is the same as the direction of the water flow, and the underwater equipment can be flipped at a certain angle to minimize the area of ​​the underwater equipment on a certain cross-section of the water flow, thereby bearing the least amount of water flow and stabilizing the attitude of the underwater equipment.

[0053] Since the direction and velocity of water flow can be affected by various factors, such as water depth, water temperature, and seabed topography, this step can detect underwater environmental information in real time and adjust the anti-current attitude of the underwater equipment accordingly, ensuring that the underwater equipment remains in a stable state.

[0054] S2. Establish a coordinate system that matches the underwater equipment in its current-resistant posture;

[0055] Specifically, a coordinate system can be established with the center of the underwater equipment in its current-resistant posture as the origin, and three directions perpendicular to the equipment body and not parallel to it as the three coordinate axes. For example, with the center of the underwater equipment's body in its current-resistant state as the origin of the coordinate system, the length, width, and height directions of the underwater equipment's body can be used as the X-axis, Y-axis, and Z-axis of the coordinate system, respectively.

[0056] S3. After switching perspectives, confirm the target object and determine the orientation of the main camera relative to the underwater equipment.

[0057] Underwater equipment may include at least two cameras. For example, when two cameras are included, one camera may be fixedly mounted on the main body of the underwater equipment, with a shooting angle facing forward of the equipment. The other camera can be oriented relative to the main body, such as through a linkage structure or gimbal combined with control commands. When the underwater equipment includes multiple cameras, each camera may have a different orientation or an adjusted orientation.

[0058] Users on shore can send commands via terminal devices to switch between different cameras or adjust multiple cameras to observe the underwater environment from different directions, thereby enabling more precise control of the underwater equipment. Simultaneously, they can also control the adjustable cameras to adjust the shooting angle for capturing target objects.

[0059] Please see Figure 2 ,for Figure 1 Detailed flowchart of step S3; step S3 includes:

[0060] S31. When the viewing angle changes, the viewing angle duration is timed once.

[0061] S32. Determine whether the time exceeds the set time threshold; if yes, proceed to step S33; otherwise, end the process.

[0062] S33. Confirm that the viewpoint switch is complete;

[0063] The steps S31-S33 above are to prevent accidental triggering. Therefore, when a change in view occurs, the view duration is timed once. When the duration exceeds the set time threshold, it can be determined that the view switch is what the user expects.

[0064] S34. Select the target object;

[0065] Users can confirm the target on the terminal device based on the video image provided by the current main camera. For example, users can manually select the target on the terminal device display screen according to the set size.

[0066] S35. Adjust the orientation of the main camera so that the selected target object is located in the center of the main camera's field of view.

[0067] This step can also be performed by the user sending commands via a mobile terminal to adjust the posture of the main camera. Alternatively, the mobile terminal or camera can automatically adjust its posture based on the target work position selected by the user.

[0068] The target object is located in the center of the main camera's field of view, which not only facilitates the user's observation of the displayed image and enables precise control of the underwater equipment to operate on the target object, but also serves as a preliminary basis for subsequent vector direction calculations in this solution.

[0069] S36. Confirm the orientation of the main camera based on its current installation location and / or posture adjustment.

[0070] Once the target object is identified, its orientation relative to the underwater equipment can be determined based on the current status of the main camera. The current main camera is the camera corresponding to the current viewpoint. If the main camera corresponding to the current viewpoint is fixedly installed, the orientation can be determined directly based on its installation position. If the main camera corresponding to the current viewpoint is adjustable, the orientation can be determined by combining its installation position and the angle information of adjustment components, such as linkage structures or gimbals.

[0071] In this embodiment, the target object can be the object that the underwater equipment needs to operate on or a specific operating area on the object. For example, if the underwater equipment's task is to detect the degree of corrosion on the bottom of a ship, the target object can be defined as the hull or a specific area on the hull.

[0072] S4. Calculate the vector direction based on the orientation of the main camera and the coordinate system;

[0073] Please refer to the following: Figure 3 ,for Figure 1 Detailed flowchart of step S4; step S4 includes:

[0074] S41. Obtain the axis vectors corresponding to the orientation of the main camera on the three coordinate axes of the coordinate system;

[0075] The current orientation of the main camera is represented in the coordinate system established in step S2. This orientation can be expressed as axis components along the three coordinate axes. Specifically, it can be determined by extending a line from the camera's center point and finding its intersection with a reference plane on the coordinate axis. In some cases, the intersection of the extended line from the main camera's center point with the origin is not at the origin. In such cases, a translation operation is needed to move the intersection to the origin to obtain its axis vector at the origin, thus confirming the vector direction.

[0076] See Figure 4 This is a schematic diagram of the orientation of the main camera in one embodiment, corresponding to the axis components in the coordinate system. For example, after the current orientation of the main camera is translated, it is decomposed into x1, y1, and z1 components in the coordinate system. The decomposition on the x and y axes is positive, and the decomposition on the z axis is negative. Therefore, the axis vectors corresponding to the three coordinate axes are x1, y1, and -z1, respectively.

[0077] S42. Determine the vector direction based on the three axis vectors.

[0078] exist Figure 4 In one embodiment, the vector direction can be determined as (x1, y1, -z1) based on the three axis vectors.

[0079] S5. Control the underwater equipment to maintain its anti-current posture and move along the vector direction.

[0080] Combination Figure 4 In this embodiment, the underwater device is controlled to move according to the vector direction (x1, y1, -z1) calculated in step S42 while maintaining an anti-current attitude. The movement trajectory diagrams of the underwater device in each plane are shown in the respective references. Figure 5-7 ,in, Figure 5 It is the trajectory of the underwater equipment in the XZ plane of the coordinate system. Figure 6 It is the trajectory of the underwater equipment in the YZ plane of the coordinate system. Figure 7 It is the trajectory of underwater equipment in the XY plane of the coordinate system.

[0081] It is understandable that the calculated vector direction will differ depending on the switching perspective, thus enabling the underwater device to move in different vector directions. However, during movement, the underwater device's attitude should always remain in an anti-current state to ensure its stability. Furthermore, due to the uncertainty of water flow in the underwater environment, the underwater device may experience changes in its optimal anti-current attitude during vector movement. In other embodiments, the anti-current attitude of the underwater device can be dynamically adjusted in real time based on the water flow impact experienced during movement, and the adjusted anti-current attitude can be used to continue subsequent vector movement.

[0082] The underwater equipment can move according to control commands sent by the user's mobile terminal. In some cases, the underwater equipment can respond to the control command with a delay. However, if no control command is received within a preset time, such as within a preset time after a viewpoint switch, the underwater equipment can automatically generate the control command.

[0083] Underwater equipment often needs to perform tasks in underwater environments, such as observing, sampling, and measuring a location. Please refer to [link / reference needed]. Figure 8 This is a flowchart illustrating an underwater equipment control method according to another embodiment of this application; the control method includes:

[0084] S1' Adjust the underwater equipment to an anti-current posture based on the underwater environment information around the underwater equipment;

[0085] S2' Establish a coordinate system that matches the underwater equipment in its current-resistant posture;

[0086] S3' After switching perspectives, confirm the target object and determine the orientation of the main camera relative to the underwater equipment;

[0087] S4' Calculate the vector direction based on the orientation of the main camera and the coordinate system.

[0088] S5' Control the underwater equipment to maintain its current-resistant posture and move along the vector direction;

[0089] The above steps S1'-S5' correspond to respectively Figure 1 S1-S5 will not be elaborated upon here, and... Figure 1 Compared to the provided control method, this control method also includes:

[0090] S6' When the underwater equipment enters the working range of the target object, adjust the status of the underwater equipment.

[0091] This step is used to combine the actual operational needs of the underwater equipment. That is, when the underwater equipment enters the working range of the target object, it can carry out operations on the target object or carry out preparatory work before the operation. Therefore, the status of the underwater equipment needs to be adjusted.

[0092] Please see Figure 9 This is provided as an embodiment of the present application. Figure 8 Detailed flowchart of step S6'; step S6' includes:

[0093] Step S61: Obtain the distance between the underwater equipment and the target object in real time.

[0094] Underwater equipment can be equipped with distance measuring devices, such as sonar devices or Doppler logs (DVL).

[0095] S62. Determine if the distance is less than or equal to the first distance; if yes, proceed to step S63; if no, return to step S61.

[0096] The first distance is the operating distance, meaning that the underwater equipment can perform operations on the target object within the first distance range.

[0097] S63. Control underwater equipment to hover;

[0098] Since the operational conditions have been met, the underwater equipment will automatically deactivate its vector operation mode and remain in a hovering state. This is a preparatory step before commencing operations.

[0099] S64. Determine if the current posture is the working posture; if not, proceed to step S65; if yes, proceed to step S66.

[0100] The current-resistant posture minimizes the impact of water flow on underwater equipment. However, when underwater equipment operates on a target object, a specific operating posture is required to ensure that the tools on board can directly operate at the work site. For example, when detecting the degree of corrosion on the hull of a ship, if the current-resistant posture of the underwater equipment is not directly facing the hull, the detection results will be affected. Therefore, the posture of the underwater equipment can be adjusted to the operating posture to ensure the accuracy of the results. If the current-resistant posture of the underwater equipment matches the operating posture, it can directly operate on the target object.

[0101] S65. Adjust the attitude of the underwater equipment to the working position;

[0102] The adjusted working posture should be understood as the posture with the best anti-flow effect under the premise of meeting the working requirements.

[0103] S66. Control underwater equipment to perform operations.

[0104] See Figure 10 This is another embodiment provided by this application. Figure 8 Detailed flowchart of S6'; this step S6C includes:

[0105] S61': Real-time acquisition of the distance between the underwater equipment and the target object;

[0106] The specific steps for this operation are as described above and will not be repeated here.

[0107] S62' Determine if the distance is less than or equal to the first distance; if yes, proceed to step S63'; if no, return to step S61'.

[0108] S63' Control the underwater equipment to move between the first distance and the second distance.

[0109] The first distance should be greater than the second distance. The second distance can be set as a safe distance between the underwater equipment and the target object, meaning that the underwater equipment will not collide with the target object when moving. This step allows operators to make targeted selections of the actual work location and also enables the execution of other tasks such as target measurement and tracking.

[0110] In a preferred embodiment, if the underwater device detects an obstacle during movement, it can further determine whether the obstacle is movable or fixed. If it is movable, the underwater device can be controlled to hover, waiting for the movable obstacle to move away before resuming movement. Alternatively, the state of the underwater device can be controlled based on the direction of movement of the movable obstacle. Specifically, if the direction of movement of the movable obstacle is the same as the direction of movement of the underwater device, and the movable obstacle is in front of the underwater device (i.e., closer to the target object), the underwater device can be controlled to hover for a preset time before resuming movement, or the movement speed of the underwater device can be controlled to be less than the movement speed of the movable obstacle. If the direction of movement of the movable obstacle is the same as the direction of movement of the underwater device, and the movable obstacle is behind the underwater device (i.e., further away from the target object), the movement speed of the underwater device can be controlled to be greater than or equal to the movement speed of the movable obstacle. If the direction of movement of the movable obstacle is different from the direction of movement of the underwater device, the underwater device can be controlled to hover or adjust its movement direction to avoid the movable obstacle.

[0111] If it is a fixed obstacle, the distance between the fixed obstacle and the target object can be further measured to see if it is greater than the preset crossing distance. If it is greater than or equal to the crossing distance, the underwater equipment is controlled to move to the position of the fixed obstacle and pass between the fixed obstacle and the target object. If it is less than the crossing distance, the underwater equipment is controlled to move around the fixed obstacle until it reaches a position where it can operate on the target object.

[0112] Furthermore, this application also proposes an underwater device, which includes a memory, a processor, and a control program for the underwater device stored in the memory and executable on the processor. When executed by the processor, the control program implements the steps of the underwater device control method described in the above embodiments. Please refer to [link to specific details]. Figure 11 , Figure 11 This is a schematic diagram of the structure of an underwater device according to an embodiment of this application. The underwater device may include: a processor 1001, such as a CPU, a memory 1003, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The memory 1003 may be a high-speed RAM or a stable memory (non-volatile memory), such as a disk storage device. Optionally, the memory 1003 may also be a storage device independent of the aforementioned processor 1001.

[0113] The memory 1003, serving as a computer storage medium, may include an operating system and control programs for the underwater equipment. The processor 1001 can call the control programs for the underwater equipment stored in the memory 1003 and perform the following operations:

[0114] Adjust the underwater device to an anti-current posture based on the underwater environment information around the underwater device; establish a coordinate system that matches the underwater device in the anti-current posture; after switching perspectives, confirm the target object and determine the orientation of the current main camera relative to the underwater device; calculate the vector direction based on the orientation of the main camera and the coordinate system; control the underwater device to maintain the anti-current posture and move along the vector direction.

[0115] Furthermore, the processor 1001 can call the control program of the underwater device stored in the memory 1003, and also perform the following operations:

[0116] Obtain the axis vectors corresponding to the orientation on the three coordinate axes of the coordinate system; determine the vector direction based on the three axis vectors.

[0117] Furthermore, the processor 1001 can call the control program of the underwater device stored in the memory 1003, and also perform the following operations:

[0118] The target work position on the target object is selected; the posture of the main camera is adjusted so that the target work position is located in the center of the main camera's field of view.

[0119] Furthermore, the processor 1001 can call the control program of the underwater device stored in the memory 1003, and also perform the following operations:

[0120] Once the underwater equipment enters the operating range of the target object, the state of the underwater equipment is adjusted.

[0121] Furthermore, the processor 1001 can call the control program of the underwater device stored in the memory 1003, and also perform the following operations:

[0122] The distance between the underwater device and the target object is acquired in real time; when the distance between the underwater device and the target object is less than or equal to a first distance, the underwater device is controlled to hover.

[0123] Furthermore, the processor 1001 can call the control program of the underwater device stored in the memory 1003, and also perform the following operations:

[0124] Determine whether the current anti-current attitude is suitable for the operation attitude; if the determination result is no, adjust the attitude of the underwater equipment to the operation attitude.

[0125] Furthermore, the processor 1001 can call the control program of the underwater device stored in the memory 1003, and also perform the following operations:

[0126] The distance between the underwater device and the target object is acquired in real time.

[0127] When the distance between the underwater device and the target object is less than or equal to a first distance, the underwater device is controlled to move between the first distance and a second distance; wherein the first distance is greater than the second distance.

[0128] Furthermore, the processor 1001 can call the control program of the underwater device stored in the memory 1003, and also perform the following operations:

[0129] In the step of adjusting the underwater device to an anti-current posture based on the underwater environment information around the underwater device, the underwater environment information is detected in real time, and the anti-current posture of the underwater device is adjusted in real time.

[0130] Furthermore, embodiments of this application also propose a computer-readable storage medium storing a control program for an underwater device. When the control program for the underwater device is executed by a processor, it implements the steps of the control method for the underwater device as described in the above embodiments.

[0131] In summary, this application provides a control method for underwater equipment, the underwater equipment itself, and a computer storage medium. The control method includes adjusting the underwater equipment to an anti-current posture based on information about the surrounding underwater environment; establishing a coordinate system that matches the underwater equipment in the anti-current posture; confirming the target object after a viewpoint switch and determining the orientation of the main camera relative to the underwater equipment; calculating the vector direction based on the orientation of the main camera and the coordinate system; and controlling the underwater equipment to maintain its anti-current posture and move along the vector direction. Therefore, by maintaining an anti-current posture during the movement of the underwater equipment, and moving in the most stable posture, the stability of the underwater equipment can be guaranteed.

[0132] The power supply control device, power supply control method, and power supply system provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for underwater equipment, characterized in that, The control method includes: The underwater equipment is adjusted to an anti-current posture based on the underwater environment information surrounding the underwater equipment. Establish a coordinate system that matches the underwater equipment in the current-resistant posture; After switching perspectives, the target object is confirmed, and the orientation of the main camera relative to the underwater device is determined. The vector direction is calculated based on the orientation of the main camera and the coordinate system. The underwater equipment is controlled to maintain its current-resistant posture and move along the vector direction.

2. The control method according to claim 1, characterized in that, The step of calculating the vector direction based on the orientation of the main camera and the coordinate system further includes: Obtain the axis vectors corresponding to the orientation of the main camera on the three coordinate axes of the coordinate system; The direction of the vector is determined based on the three axis vectors.

3. The control method according to claim 2, characterized in that, The step of confirming the target object and determining the orientation of the main camera relative to the underwater device after switching perspectives includes: When the viewing angle changes, the duration of the viewing angle is timed once. When the timeout exceeds the set time threshold, confirm that the viewpoint switch is complete; Select the target object; The orientation of the main camera is adjusted so that the selected target object is located in the center of the main camera's field of view; The orientation of the main camera is determined based on its current installation position and / or posture adjustment.

4. The control method according to claim 1, characterized in that, After the step of controlling the underwater device to maintain the current-resistant attitude and move along the vector direction, the method further includes: Once the underwater equipment enters the operating range of the target object, the state of the underwater equipment is adjusted.

5. The control method according to claim 4, characterized in that, The step of adjusting the state of the underwater equipment after it enters the operating range of the target object includes: The distance between the underwater device and the target object is acquired in real time. When the distance between the underwater device and the target object is less than or equal to a first distance, the underwater device is controlled to hover.

6. The control method according to claim 5, after the step of controlling the underwater device to hover when the distance between the underwater device and the target object is less than or equal to a first distance, further comprising: Determine whether the current anti-current posture is consistent with the operational posture; If the judgment result is negative, the attitude of the underwater equipment is adjusted to the working attitude.

7. The control method according to claim 4, characterized in that, The step of adjusting the state of the underwater equipment after it enters the operating range of the target object includes: The distance between the underwater device and the target object is acquired in real time. When the distance between the underwater device and the target object is less than or equal to a first distance, the underwater device is controlled to move between the first distance and a second distance; wherein the first distance is greater than the second distance.

8. The control method according to any one of claims 1-7, characterized in that, In the step of adjusting the underwater device to an anti-current posture based on the underwater environment information around the underwater device, the underwater environment information is detected in real time, and the anti-current posture of the underwater device is adjusted in real time.

9. An underwater device, characterized in that, The underwater device includes: a memory, a processor, and a control program for the underwater device stored in the memory and executable on the processor. When the control program for the underwater device is executed by the processor, it implements the steps of the control method for the underwater device as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a control program for an underwater device, which, when executed by a processor, implements the steps of the control method for an underwater device as described in any one of claims 1 to 8.

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