An underwater manipulator autonomous operation control device and method

Abstract

The application provides an underwater manipulator autonomous operation control device and method, and relates to the technical field of manipulator control. A mother ship display control room displays binocular images and manipulator motion states, a submersible control cabin realizes information interaction, a binocular camera electronic cabin receives and processes artificially selected target information to be grabbed, calculates target three-dimensional position information, an operation electronic cabin generates motion planning information and control instructions, and controls the underwater manipulator body to complete target grabbing and transfer. An operator on the mother ship frames an underwater target on the binocular image according to task requirements, and a binocular auxiliary operation device calculates spatial position information of the framed target; a controller board in the operation electronic cabin solves joint target angle positions according to the target position information; by using actual joint angle position information fed back by a joint angle position sensor, the controller board performs closed-loop control on each joint angle position, controls each joint angle position to reach the joint target angle position, and realizes autonomous grabbing of the target by a manipulator end gripper.

Description

Technical Field

[0001] This invention relates to the field of robotic arm control technology, and in particular to an autonomous operation control device and method for an underwater robotic arm. Background Technology

[0002] With the increasing demands for tasks such as marine resource development, deep-sea scientific surveys, underwater facility inspection and maintenance, and underwater emergency rescue, underwater robots are being used more and more widely in marine engineering. Underwater manipulators, as important tools for underwater robots to perform operational tasks, can replace or assist humans in tasks such as grasping, transporting, sampling, deploying, salvaging, inspecting, and operating underwater in-situ equipment. They are a key component in the expansion of underwater robots from environmental observation to operational tasks.

[0003] Currently, underwater robotic arms are mostly controlled via manual teleoperation or preset commands. Manual teleoperation offers advantages such as intuitive control, operator judgment based on on-site images and task requirements, and suitability for complex, unstructured underwater environments. Preset command control, on the other hand, allows the robotic arm to perform some repetitive or regular operations according to predetermined actions. However, manual teleoperation relies heavily on operator experience and real-time judgment, and its efficiency and stability are easily affected by communication conditions, visual conditions, and operator workload. Preset command control struggles to flexibly adjust the operation process based on the underwater target's state and the robotic arm's real-time movement. Furthermore, underwater images are susceptible to changes in lighting, water turbidity, suspended particles, and differences in target appearance, making it prone to unstable target selection when relying solely on visual algorithms for automatic target identification.

[0004] Faced with the increasing demands for underwater operations, both of the aforementioned underwater operation methods have certain limitations. Therefore, developing an autonomous underwater manipulator control device and method that combines the advantages of both methods, utilizes the operator's experience and knowledge to actively select targets from binocular images, and employs mechanized control devices to calculate the target's three-dimensional spatial position and control the underwater manipulator's motion has become an urgent problem to be solved. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an autonomous operation control device and method for underwater manipulators, which solves the problem that existing underwater manipulators lack coordination among target information acquisition, target positioning, motion planning, manipulator motion control, and joint status feedback during autonomous operation, making it difficult to form a complete closed-loop operation control process.

[0006] The specific technical solution of the present invention is as follows:

[0007] On the one hand, an autonomous operation control device for an underwater manipulator includes: a mother ship display and control room, a submersible control room, an operation power room, an operation electronics room, an underwater manipulator body, a binocular camera electronics room, a left eye camera, and a right eye camera;

[0008] The left and right cameras acquire binocular image information of the underwater operation area. The binocular image information is transmitted to the binocular camera electronic cabin and the submersible control cabin, respectively, and then transmitted to the mother ship's display and control room for display via the submersible control cabin.

[0009] The mother ship's display and control room is used to display binocular image information and the motion status information of the underwater manipulator. The operator performs a box selection operation on the binocular image information displayed in the mother ship's display and control room to select the target to be captured, generate the target selection information, and send the target selection information to the binocular camera electronic cabin through the submersible control cabin.

[0010] The submersible control cabin is communicatively connected to the mother ship's display and control room, the operation electronics room, and the binocular camera electronics room, respectively, to realize data forwarding and information interaction between the mother ship's display and control room and the operation electronics room and the binocular camera electronics room; wherein, the submersible control cabin communicates with the mother ship's display and control room through underwater and surface fiber optic links, and communicates with the operation electronics room and the binocular camera electronics room through network communication.

[0011] The operational energy compartment is connected to the operational electronics compartment and is used to provide 24V DC power to the autonomous operation controller and the autonomous operation planner. The operational energy compartment also provides 24V and 48V DC power to the underwater manipulator body and 24V power to the binocular camera electronics compartment through the operational electronics compartment.

[0012] The operational electronic cabin includes an autonomous operation planner, an autonomous operation controller, and a serial-to-network module. The autonomous operation planner is communicatively connected to both the binocular camera electronic cabin and the autonomous operation controller. It interacts with the binocular camera electronic cabin via serial communication, receives the target's three-dimensional position information output by the binocular camera electronic cabin, and obtains the initial joint state information of the underwater manipulator. Based on the target's three-dimensional position information and the joint state information of the underwater manipulator, it generates motion planning information and sends the motion planning information to the autonomous operation controller.

[0013] The autonomous operation controller is communicatively connected to the underwater manipulator body and is used to interact with the underwater manipulator body via CAN communication. It receives joint status information fed back by the underwater manipulator body in real time, and generates control commands based on the motion planning information output by the autonomous operation planner, and outputs the control commands to the underwater manipulator body. During the movement of the underwater manipulator body, the autonomous operation controller updates the control commands based on the joint status information fed back in real time, so as to realize closed-loop control of the underwater manipulator body.

[0014] The serial-to-network module is connected to the submersible control cabin and the autonomous operation controller, respectively. It is used to convert the operation control information issued by the submersible control cabin from network communication data into serial communication data and send it to the autonomous operation controller. It is also used to convert the underwater manipulator status information output by the autonomous operation controller from serial communication data into network communication data and send it to the submersible control cabin.

[0015] The underwater manipulator body includes a joint motor driver and an angular position sensor. The joint motor driver is used to perform underwater grasping operations according to the control commands sent by the operation electronic cabin, and the angular position sensor is used to sense the status information of each joint and feed the joint status information back to the operation electronic cabin.

[0016] The binocular camera electronic cabin includes a camera driving module, an image computing module, and a data communication module. The camera driving module is communicatively connected to the left eye camera, the right eye camera, and the image computing module, respectively. It is used to provide 24V DC power to the left eye camera and the right eye camera, and to interact with the left eye camera and the right eye camera through network communication. It receives binocular image information acquired by the left eye camera and the right eye camera, and sends the binocular image information to the image computing module.

[0017] The image calculation module is connected to the data communication module and the camera driving module respectively. It is used to receive binocular image information acquired by the left and right cameras and target selection information transmitted by the data communication module. Based on the target selection information, it performs three-dimensional position calculation on the underwater operation target in the binocular image to obtain the target's three-dimensional position information.

[0018] The data communication module is communicatively connected to the submersible control cabin, the operation electronics cabin, and the image computing module, respectively. It is used to receive binocular image information output by the image computing module and send the binocular image information to the submersible control cabin via network communication. It is also used to receive target selection information sent by the submersible control cabin and send the target selection information to the image computing module. Furthermore, it is used to receive target three-dimensional position information output by the image computing module and send the target three-dimensional position information to the operation electronics cabin via serial communication.

[0019] On the other hand, an autonomous operation control method for an underwater manipulator, implemented through the aforementioned autonomous operation control device for an underwater manipulator, includes the following steps:

[0020] Step 1: System initialization, establish communication connections between the mother ship display and control room, the submersible control room, the operation electronics room, the underwater manipulator body, the binocular camera electronics room, and the left and right cameras, and power the operation electronics room, the underwater manipulator body, and the binocular camera electronics room through the operation power room, and control the underwater manipulator body to move to the initial pose.

[0021] Step 2: The left and right cameras acquire binocular image information of the underwater operation area and transmit the binocular image information to the binocular camera electronic cabin, and then to the mother ship's display and control room via the submersible control cabin;

[0022] Step 3: The operator selects the target to be captured based on the binocular image information displayed in the mother ship's control room, generates target selection information, and sends it to the binocular camera electronic cabin via the submersible control cabin; the binocular camera electronic cabin calculates the target's three-dimensional position information based on the selected target information.

[0023] In step 3, the binocular camera electronic cabin receives binocular image information and target selection information acquired by the left and right cameras through the image calculation module. Based on the target selection information, it determines the target area in the binocular image and performs three-dimensional position calculation on the target area to obtain the target three-dimensional position information of the target.

[0024] Step 4: The binocular camera electronic cabin sends the target's three-dimensional position information to the autonomous operation planner in the operation electronic cabin. The autonomous operation planner uses the target's three-dimensional position information as the endpoint of the motion trajectory, and uses this endpoint information to perform inverse kinematics solution to obtain the corresponding motion target values ​​of the six joints of the manipulator. Based on the trapezoidal velocity planning method, the motion planning of the six joints of the underwater manipulator from the initial joint angle values ​​to the target joint angle values ​​is performed, that is, the motion planning information of the six joints is generated.

[0025] Step 5: The autonomous operation controller receives the motion planning information output by the autonomous operation planner and generates control commands by combining the joint status information fed back by the underwater manipulator.

[0026] In step 5, the autonomous operation controller generates joint control commands to drive the movement of the underwater manipulator body based on the motion planning information output by the autonomous operation planner, and updates the control commands based on the real-time feedback of the joint status information of the underwater manipulator body, thereby realizing closed-loop control of the autonomous operation of the underwater manipulator body.

[0027] Step 6: The autonomous operation controller sends control commands to the underwater manipulator via CAN communication, controlling the underwater manipulator to move to the target grasping posture and perform the grasping action;

[0028] Step 7: The operator determines whether the grasp is successful based on the binocular image information displayed in the mother ship's control room and the underwater manipulator's motion status information. If the grasp fails, steps 2-6 are repeated. If the grasp is successful, the autonomous operation controller controls the underwater manipulator to transfer the target into the sampling basket.

[0029] The beneficial effects of adopting the above technical solution are as follows:

[0030] This invention provides an autonomous operation control device and method for an underwater manipulator, which has the following beneficial effects:

[0031] (1) The present invention integrates power supply interface, communication interface and control interface through the operation electronic cabin. The operation energy cabin supplies power to the underwater manipulator body and the binocular camera electronic cabin through the power supply line inside the operation electronic cabin. The operation electronic cabin interacts with the submersible control cabin, the underwater manipulator body and the binocular camera electronic cabin respectively, and sends control commands to the underwater manipulator body, thereby improving the system integration, communication reliability and control coordination of the underwater manipulator autonomous operation control device;

[0032] (2) The present invention acquires binocular image information of the underwater operation area through the left eye camera and the right eye camera, and performs three-dimensional position calculation on the target to be grasped by the binocular camera electronic cabin to obtain the target's three-dimensional position information. The target's three-dimensional position information can be used as input information for the autonomous operation planner to perform motion planning and for the autonomous operation controller to perform grasping control, thereby improving the accuracy of underwater target positioning and robotic arm grasping control.

[0033] (3) The present invention allows the operator to select the target to be grabbed based on the binocular image information displayed in the mother ship's control room, forming the target selection information. Then, the binocular camera electronic cabin performs three-dimensional position calculation on the selected target based on the target selection information, enabling the underwater robot to complete automatic positioning, motion planning and grabbing operations on the basis of manual target selection, reducing the problem of unstable target selection caused by relying entirely on visual algorithms to automatically identify targets in complex underwater visual environments.

[0034] (4) The present invention uses the angular position sensor in the underwater manipulator body to feed back the joint status information, and the autonomous operation controller combines the motion planning information output by the autonomous operation planner to generate joint control commands, thereby realizing the status feedback update and closed-loop control of the underwater manipulator during the grasping and transfer process, which improves the automation, stability and reliability of the underwater manipulator grasping operation. Attached Figure Description

[0035] Figure 1 An overall structural block diagram of the autonomous operation control device for underwater manipulators according to an embodiment of the present invention.

[0036] Figure 2 A structural block diagram of the operational electronic cabin according to an embodiment of the present invention.

[0037] Figure 3 A structural block diagram of the electronic cabin of the binocular camera in an embodiment of the present invention.

[0038] Figure 4 Flowchart of autonomous operation motion control for underwater manipulator according to an embodiment of the present invention. Detailed Implementation

[0039] The specific implementation methods of this application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0040] Example 1:

[0041] An autonomous operation control device for an underwater robotic arm, such as Figure 1 As shown, it includes: mother ship display and control room, submersible control room, operation power room, operation electronics room, underwater manipulator body, binocular camera electronics room, left eye camera and right eye camera;

[0042] The left and right cameras acquire binocular image information of the underwater operation area. The binocular image information is transmitted to the binocular camera electronic cabin and the submersible control cabin, respectively, and then transmitted to the mother ship's display and control room for display via the submersible control cabin.

[0043] The mother ship's display and control room is used to display binocular image information and the motion status information of the underwater manipulator. The operator performs a box selection operation on the binocular image information displayed in the mother ship's display and control room to select the target to be captured, generate the target selection information, and send the target selection information to the binocular camera electronic cabin through the submersible control cabin.

[0044] The submersible control cabin is communicatively connected to the mother ship's display and control room, the operation electronics room, and the binocular camera electronics room, respectively, to realize data forwarding and information interaction between the mother ship's display and control room and the operation electronics room and the binocular camera electronics room; wherein, the submersible control cabin communicates with the mother ship's display and control room through underwater and surface fiber optic links, and communicates with the operation electronics room and the binocular camera electronics room through network communication.

[0045] The operational energy compartment is connected to the operational electronics compartment and is used to provide 24V DC power to the autonomous operation controller and the autonomous operation planner. The operational energy compartment also provides 24V and 48V DC power to the underwater manipulator body and 24V power to the binocular camera electronics compartment through the operational electronics compartment.

[0046] like Figure 2 As shown, the operation electronic cabin includes an autonomous operation planner, an autonomous operation controller, and a serial-to-network module. The autonomous operation planner is communicatively connected to both the binocular camera electronic cabin and the autonomous operation controller. It interacts with the binocular camera electronic cabin via serial communication, receives the target's three-dimensional position information output by the binocular camera electronic cabin, and obtains the initial joint state information of the underwater manipulator. Based on the target's three-dimensional position information and the joint state information of the underwater manipulator, it generates motion planning information and sends the motion planning information to the autonomous operation controller.

[0047] The autonomous operation controller is communicatively connected to the underwater manipulator body and is used to interact with the underwater manipulator body via CAN communication. It receives joint status information fed back by the underwater manipulator body in real time, and generates control commands based on the motion planning information output by the autonomous operation planner, and outputs the control commands to the underwater manipulator body. During the movement of the underwater manipulator body, the autonomous operation controller updates the control commands based on the joint status information fed back in real time, so as to realize closed-loop control of the underwater manipulator body.

[0048] The serial-to-network module is connected to the submersible control cabin and the autonomous operation controller, respectively. It is used to convert the operation control information issued by the submersible control cabin from network communication data into serial communication data and send it to the autonomous operation controller. It is also used to convert the underwater manipulator status information output by the autonomous operation controller from serial communication data into network communication data and send it to the submersible control cabin.

[0049] The underwater manipulator body includes a joint motor driver and an angular position sensor. The joint motor driver is used to perform underwater grasping operations according to the control commands sent by the operation electronic cabin, and the angular position sensor is used to sense the status information of each joint and feed the joint status information back to the operation electronic cabin.

[0050] like Figure 3 As shown, the binocular camera electronic cabin includes a camera driving module, an image computing module, and a data communication module. The camera driving module is communicatively connected to the left eye camera, the right eye camera, and the image computing module, respectively. It is used to provide 24V DC power to the left eye camera and the right eye camera, and to interact with the left eye camera and the right eye camera through network communication. It receives binocular image information acquired by the left eye camera and the right eye camera, and sends the binocular image information to the image computing module.

[0051] The image calculation module is connected to the data communication module and the camera driving module respectively. It is used to receive binocular image information acquired by the left and right cameras and target selection information transmitted by the data communication module. Based on the target selection information, it performs three-dimensional position calculation on the underwater operation target in the binocular image to obtain the target's three-dimensional position information.

[0052] The data communication module is communicatively connected to the submersible control cabin, the operation electronics cabin, and the image computing module, respectively. It is used to receive binocular image information output by the image computing module and send the binocular image information to the submersible control cabin via network communication. It is also used to receive target selection information sent by the submersible control cabin and send the target selection information to the image computing module. Furthermore, it is used to receive target three-dimensional position information output by the image computing module and send the target three-dimensional position information to the operation electronics cabin via serial communication.

[0053] Example 2:

[0054] An autonomous operation control method for an underwater manipulator is implemented through the aforementioned autonomous operation control device for an underwater manipulator, such as... Figure 4 As shown, it includes the following steps:

[0055] Step 1: System initialization, establish communication connections between the mother ship display and control room, the submersible control room, the operation electronics room, the underwater manipulator body, the binocular camera electronics room, and the left and right cameras, and power the operation electronics room, the underwater manipulator body, and the binocular camera electronics room through the operation power room, and control the underwater manipulator body to move to the initial pose.

[0056] Step 2: The left and right cameras acquire binocular image information of the underwater operation area and transmit the binocular image information to the binocular camera electronic cabin, and then to the mother ship's display and control room via the submersible control cabin;

[0057] Step 3: The operator selects the target to be captured based on the binocular image information displayed in the mother ship's control room, generates target selection information, and sends it to the binocular camera electronic cabin via the submersible control cabin; the binocular camera electronic cabin calculates the target's three-dimensional position information based on the selected target information.

[0058] In step 3, the binocular camera electronic cabin receives binocular image information and target selection information acquired by the left and right cameras through the image calculation module. Based on the target selection information, it determines the target area in the binocular image and performs three-dimensional position calculation on the target area to obtain the target three-dimensional position information of the target.

[0059] Step 4: The binocular camera electronic cabin sends the target's three-dimensional position information to the autonomous operation planner in the operation electronic cabin. The autonomous operation planner uses the target's three-dimensional position information as the endpoint of the motion trajectory, and uses this endpoint information to perform inverse kinematics solution to obtain the corresponding motion target values ​​of the six joints of the manipulator. Based on the trapezoidal velocity planning method, the motion planning of the six joints of the underwater manipulator from the initial joint angle values ​​to the target joint angle values ​​is performed, that is, the motion planning information of the six joints is generated.

[0060] Step 5: The autonomous operation controller receives the motion planning information output by the autonomous operation planner and generates control commands by combining the joint status information fed back by the underwater manipulator.

[0061] In step 5, the autonomous operation controller generates joint control commands to drive the movement of the underwater manipulator body based on the motion planning information output by the autonomous operation planner, and updates the control commands based on the real-time feedback of the joint status information of the underwater manipulator body, thereby realizing closed-loop control of the autonomous operation of the underwater manipulator body.

[0062] Step 6: The autonomous operation controller sends control commands to the underwater manipulator via CAN communication, controlling the underwater manipulator to move to the target grasping posture and perform the grasping action;

[0063] Step 7: The operator determines whether the grasp is successful based on the binocular image information displayed in the mother ship's control room and the underwater manipulator's motion status information. If the grasp fails, steps 2-6 are repeated. If the grasp is successful, the autonomous operation controller controls the underwater manipulator to transfer the target into the sampling basket.

[0064] Through the above methods, this embodiment realizes the coordinated control between binocular image-assisted target selection, target 3D position calculation, robotic arm autonomous grasping, grasping result judgment, and target transfer, forming a closed-loop process for autonomous underwater robotic arm operation, and improving the automation level and reliability of underwater robotic arm grasping and transfer operations.

[0065] Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a computer program product.

[0066] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0067] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from the scope and spirit of this disclosure. If such modifications and variations fall within the scope of the methods disclosed herein and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. An autonomous operation control device for an underwater robotic arm, characterized in that, include: Mothership display and control room, submersible control room, operation energy room, operation electronics room, underwater manipulator body, binocular camera electronics room, left eye camera and right eye camera; The left and right cameras acquire binocular image information of the underwater operation area. The binocular image information is transmitted to the binocular camera electronic cabin and the submersible control cabin, respectively, and then transmitted to the mother ship's display and control room for display via the submersible control cabin. The mother ship's display and control room is used to display binocular image information and the motion status information of the underwater manipulator body. The operator performs a box selection operation on the binocular image information displayed in the mother ship's display and control room to select the target to be captured, generate the target selection information, and send the target selection information to the binocular camera electronic cabin through the submersible control cabin. The submersible control cabin is communicatively connected to the mother ship's display and control room, the operation electronic cabin, and the binocular camera electronic cabin, respectively, to realize data forwarding and information interaction between the mother ship's display and control room, the operation electronic cabin, and the binocular camera electronic cabin; wherein, the submersible control cabin communicates with the mother ship's display and control room through an underwater and surface fiber optic link, and communicates with the operation electronic cabin and the binocular camera electronic cabin through network communication. The operational energy compartment is connected to the operational electronics compartment and is used to provide 24V DC power to the autonomous operation controller and the autonomous operation planner. The operational energy compartment also provides 24V and 48V DC power to the underwater manipulator body and 24V power to the binocular camera electronics compartment through the operational electronics compartment.

2. The underwater manipulator autonomous operation control device according to claim 1, characterized in that, The operational electronic cabin includes an autonomous operation planner, an autonomous operation controller, and a serial-to-network module. The autonomous operation planner is communicatively connected to both the binocular camera electronic cabin and the autonomous operation controller. It interacts with the binocular camera electronic cabin via serial communication, receives the target's three-dimensional position information output by the binocular camera electronic cabin, and obtains the initial joint state information of the underwater manipulator. Based on the target's three-dimensional position information and the joint state information of the underwater manipulator, it generates motion planning information and sends the motion planning information to the autonomous operation controller.

3. The underwater manipulator autonomous operation control device according to claim 2, characterized in that, The autonomous operation controller is communicatively connected to the underwater manipulator body and is used to interact with the underwater manipulator body via CAN communication. It receives joint status information fed back by the underwater manipulator body in real time, and generates control commands based on the motion planning information output by the autonomous operation planner, and outputs the control commands to the underwater manipulator body. During the movement of the underwater manipulator body, the autonomous operation controller updates the control commands based on the joint status information fed back in real time, so as to realize closed-loop control of the underwater manipulator body.

4. The underwater manipulator autonomous operation control device according to claim 3, characterized in that, The serial-to-network module is connected to the submersible control cabin and the autonomous operation controller, respectively. It is used to convert the operation control information issued by the submersible control cabin from network communication data into serial communication data and send it to the autonomous operation controller. It is also used to convert the underwater manipulator status information output by the autonomous operation controller from serial communication data into network communication data and send it to the submersible control cabin.

5. The underwater manipulator autonomous operation control device according to claim 4, characterized in that, The underwater manipulator body includes a joint motor driver and an angular position sensor. The joint motor driver is used to perform underwater grasping operations according to the control commands sent by the operation electronic cabin, and the angular position sensor is used to sense the status information of each joint and feed the joint status information back to the operation electronic cabin.

6. The underwater manipulator autonomous operation control device according to claim 5, characterized in that, The binocular camera electronic cabin includes a camera driving module, an image computing module, and a data communication module. The camera driving module is communicatively connected to the left eye camera, the right eye camera, and the image computing module, respectively. It is used to provide 24V DC power to the left eye camera and the right eye camera, and to interact with the left eye camera and the right eye camera through network communication. It receives binocular image information collected by the left eye camera and the right eye camera, and sends the binocular image information to the image computing module. The image calculation module is connected to the data communication module and the camera driving module respectively. It is used to receive binocular image information acquired by the left and right cameras and target selection information transmitted by the data communication module. Based on the target selection information, it performs three-dimensional position calculation on the underwater operation target in the binocular image to obtain the target's three-dimensional position information.

7. The underwater manipulator autonomous operation control device according to claim 6, characterized in that, The data communication module is communicatively connected to the submersible control cabin, the operation electronics cabin, and the image computing module, respectively. It is used to receive binocular image information output by the image computing module and send the binocular image information to the submersible control cabin via network communication. It is also used to receive target selection information sent by the submersible control cabin and send the target selection information to the image computing module. Furthermore, it is used to receive target three-dimensional position information output by the image computing module and send the target three-dimensional position information to the operation electronics cabin via serial communication.

8. A method for autonomous operation control of an underwater manipulator, implemented by the autonomous operation control device for an underwater manipulator as described in claim 1, characterized in that, Includes the following steps: Step 1: System initialization, establish communication connections between the mother ship display and control room, the submersible control room, the operation electronics room, the underwater manipulator body, the binocular camera electronics room, and the left and right cameras, and power the operation electronics room, the underwater manipulator body, and the binocular camera electronics room through the operation power room, and control the underwater manipulator body to move to the initial pose. Step 2: The left and right cameras acquire binocular image information of the underwater operation area and transmit the binocular image information to the binocular camera electronic cabin, and then to the mother ship's display and control room via the submersible control cabin; Step 3: The operator selects the target to be captured based on the binocular image information displayed in the mother ship's control room, generates target selection information, and sends it to the binocular camera electronic cabin via the submersible control cabin; the binocular camera electronic cabin calculates the target's three-dimensional position information based on the selected target information. Step 4: The binocular camera electronic cabin sends the target's three-dimensional position information to the autonomous operation planner in the operation electronic cabin. The autonomous operation planner uses the target's three-dimensional position information as the endpoint of the motion trajectory, and uses this endpoint information to perform inverse kinematics solution to obtain the corresponding motion target values ​​of the six joints of the manipulator. Based on the trapezoidal velocity planning method, the motion planning of the six joints of the underwater manipulator from the initial joint angle values ​​to the target joint angle values ​​is performed, that is, the motion planning information of the six joints is generated. Step 5: The autonomous operation controller receives the motion planning information output by the autonomous operation planner and generates control commands by combining the joint status information fed back by the underwater manipulator. Step 6: The autonomous operation controller sends control commands to the underwater manipulator via CAN communication, controlling the underwater manipulator to move to the target grasping posture and perform the grasping action; Step 7: The operator determines whether the grasp is successful based on the binocular image information displayed in the mother ship's control room and the underwater manipulator's motion status information. If the grasp fails, steps 2-6 are repeated. If the grasp is successful, the autonomous operation controller controls the underwater manipulator to transfer the target into the sampling basket.

9. The autonomous operation control method for an underwater manipulator according to claim 8, characterized in that, In step 3, the binocular camera electronic cabin receives binocular image information and target selection information collected by the left and right cameras through the image calculation module. Based on the target selection information, it determines the target area in the binocular image and performs three-dimensional position calculation on the target area to obtain the target three-dimensional position information of the target.

10. The autonomous operation control method for an underwater manipulator according to claim 8, characterized in that, In step 5, the autonomous operation controller generates joint control commands to drive the movement of the underwater manipulator body based on the motion planning information output by the autonomous operation planner, and updates the control commands based on the real-time feedback of the joint status information of the underwater manipulator body, thereby realizing closed-loop control of the autonomous operation of the underwater manipulator body.

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