A method and system for throwing a water rescue device with autonomous correction of the robot's pose

Abstract

The present application relates to the field of rescue equipment control, and provides a water rescue device throwing method and system with autonomous correction of robot posture. The method comprises: obtaining relative position information and relative speed information between a rescue robot and a falling target, calculating a combined speed vector through a speed barrier method to obtain target approach parameters; based on the target approach parameters, calculating an expected heading angle and an expected speed through an improved integral line-of-sight guidance algorithm to obtain a posture adjustment instruction set; inputting the posture adjustment instruction set into a double closed-loop motion control system to correct the posture of the rescue robot, and obtaining an optimal posture of the throwing device relative to the falling target; based on the distance between the rescue robot and the falling target under the optimal posture, when the distance meets the throwing condition, triggering the throwing device to perform a life buoy ejection operation. The present application improves the accuracy and efficiency of water rescue.

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