Control method of underwater robot, underwater robot, and readable storage medium

Abstract

This application discloses a control method for an underwater robot, an underwater robot, and a readable storage medium. The control method includes: recording observation information of the underwater robot at an observation point; the observation information includes at least first attitude information, first water depth information, first distance information, and first image information; calculating the direction of the impact force when the underwater robot is subjected to an external force; and guiding the underwater robot back to and locking onto the observation point position based on the observation information, the direction of the impact force, and the multibeam sonar reflection signal of the underwater robot's forward-facing sonar device. Compared with the prior art, this application not only avoids task interruption or data loss caused by the underwater robot's positional deviation due to external forces, but also enables automatic recovery of interrupted tasks, ensuring operational stability.

Description

Technical Field

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

[0002] With the continuous advancement of technology, observing the ocean using intelligent underwater robots has become a mainstream trend. When underwater robots observe target objects, they usually need to conduct fixed-point observations at predetermined locations. However, due to the extremely complex environment of the ocean, the observation process is easily affected by external forces (such as the force of water currents, the impact force of marine life, etc.).

[0003] In existing technologies, underwater robots have limited thrust from their propellers, making it difficult to maintain stability under extreme conditions (such as extreme currents). This can lead to roll, pitch, or yaw, as well as positional shifts and attitude instability. Furthermore, the lack of a direct and effective method for underwater robots to return to their observation point location can cause observation equipment (such as cameras and sonar) to fail to align with the target, affecting data acquisition quality or even interrupting the mission. Summary of the Invention

[0004] The main objective of this application is to provide a control method for an underwater robot, an underwater robot, and a readable storage medium, aiming to solve the problem in the prior art where underwater robots cannot automatically return to the observation point position, thus affecting the operation task.

[0005] To address the aforementioned technical problems, this application proposes a control method for an underwater robot, the control method comprising:

[0006] Record the observation information of the underwater robot at the observation point; the observation information includes at least first attitude information, first water depth information, first distance information, and first image information;

[0007] When the underwater robot is subjected to an external force impact, the direction of the external force impact is calculated;

[0008] Based on the observation information, the direction of the external force impact, and the multibeam sonar reflection signal of the underwater robot's forward sonar device, the underwater robot is guided to return and lock onto the location of the observation point.

[0009] Optionally, the step of guiding the underwater robot to return and lock the observation point position based on the observation information, the direction of the external force impact, and the multibeam sonar reflection signal of the underwater robot's forward sonar device includes:

[0010] The attitude of the underwater robot is adjusted based on the first attitude information;

[0011] The underwater robot is controlled to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal.

[0012] The underwater robot is guided to lock onto the location of the observation point by combining the information from the first image.

[0013] Optionally, the step of guiding the underwater robot to return and lock the observation point position based on the observation information, the direction of the external force impact, and the multibeam sonar reflection signal of the underwater robot's forward sonar device includes:

[0014] The underwater robot is controlled to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal.

[0015] The attitude of the underwater robot is adjusted based on the first attitude information;

[0016] The underwater robot is guided to lock onto the location of the observation point by combining the information from the first image.

[0017] Optionally, the step of guiding the underwater robot to lock the location of the observation point using the first image information includes:

[0018] Real-time acquisition of second image information;

[0019] The acquired second image information is compared with the first image information;

[0020] Determine whether the matching degree is greater than or equal to a set threshold; when the matching degree is greater than or equal to the set threshold, determine it as the observation point position, and control the underwater robot to hover.

[0021] Optionally, the step of controlling the underwater robot to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal includes:

[0022] The depth of the underwater robot is adjusted based on the first water depth information;

[0023] The distance between the underwater robot and the observed target is adjusted based on the real-time acquired multibeam sonar reflection signal;

[0024] When the distance between the underwater robot and the observation target meets the first distance information, the underwater robot is controlled to move towards the observation point position according to the direction of the external force impact.

[0025] Optionally, the step of controlling the underwater robot to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal includes:

[0026] Obtain the second water depth information of the underwater robot;

[0027] The distance between the underwater robot and the observed target is adjusted based on the real-time acquired multibeam sonar reflection signal;

[0028] When the distance between the underwater robot and the observation target meets the first distance information, the depth of the underwater robot is adjusted according to the first water depth information, and the underwater robot is controlled to maintain a fixed distance observation of the observation target during the depth adjustment process;

[0029] After the depth adjustment is completed, the underwater robot is controlled to move towards the observation point position based on the direction of the external force impact.

[0030] Optionally, the step of controlling the underwater robot to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal includes:

[0031] Obtain the second water depth information of the underwater robot;

[0032] Control the underwater robot to travel in the opposite direction of the impact direction of the external force;

[0033] Determine whether the depth parameter of the underwater robot's current depth and the distance parameter between the underwater robot and the observed target simultaneously satisfy the first water depth information and the first distance information;

[0034] When either the depth parameter or the distance parameter reaches the target value first, the other parameter is adjusted separately until the depth parameter and the distance parameter satisfy the first water depth information and the first distance information.

[0035] Optionally, in the step of adjusting the distance between the underwater robot and the observation target based on the real-time acquired multibeam sonar reflection signal, when the distance between the underwater robot and the observation target is greater than a set threshold, the underwater robot is controlled to operate at a first operating speed; when the distance is less than the set threshold, the underwater robot is controlled to operate at a second operating speed; the first operating speed is greater than the second operating speed.

[0036] To address the aforementioned technical problems, this application also provides an underwater robot, comprising: a memory, a processor, and a control program for the underwater robot stored in the memory and executable on the processor, wherein the control program for the underwater robot is configured to implement the steps of the underwater robot control method described above.

[0037] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a control program for an underwater robot. When executed by a processor, the control program implements the steps of the underwater robot control method described above.

[0038] Compared with existing technologies, the underwater robot observation method provided in this application firstly records the observation information of the underwater robot at the observation point, providing a reference for the underwater robot's return or repeated observation of the target, thus avoiding mission interruption or data loss due to positional deviation caused by external forces. Secondly, by calculating the impact direction of the external force, it provides a directional basis for the underwater robot's automatic return. In addition, by combining the observation information and multi-beam sonar reflection signals, it is possible to effectively guide the underwater robot, that is, to control the underwater robot to gradually return to the observation point and then accurately lock the observation point position; thereby realizing automatic recovery of interrupted tasks and ensuring the stability of operations. Attached Figure Description

[0039] 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.

[0040] in:

[0041] Figure 1 A flowchart illustrating the control method for the underwater robot provided in this application;

[0042] Figure 2 A schematic diagram illustrating a scenario where the underwater robot provided in this application moves under the influence of an external force;

[0043] Figure 3 for Figure 1 A detailed flowchart of an embodiment of step S13;

[0044] Figure 4 For Figure 1 A detailed flowchart of another embodiment of step S13;

[0045] Figure 5 for Figure 3 In step S132 or Figure 4 A detailed flowchart of an embodiment of step S131';

[0046] Figure 6 For the corresponding Figure 5 A schematic diagram illustrating the adjustment process;

[0047] Figure 7 for Figure 3 In step S132 or Figure 4 A detailed flowchart of another embodiment of step S131';

[0048] Figure 8 For the corresponding Figure 7 A schematic diagram illustrating the adjustment process;

[0049] Figure 9 for Figure 3 In step S132 or Figure 4 A detailed flowchart of another embodiment of step S131';

[0050] Figure 10 For the corresponding Figure 9 A schematic diagram illustrating a scenario of the adjustment process;

[0051] Figure 11 for Figure 3 In step S133 or Figure 4 Detailed flowchart of step S133';

[0052] Figure 12 This is a schematic diagram of the structure of an embodiment of the underwater robot provided in this application. Detailed Implementation

[0053] 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.

[0054] 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.

[0055] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0056] 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.

[0057] In this application, the term "exemplary" is used to mean "serving 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 embodiments, 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.

[0058] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0059] Please see Figure 1 , Figure 1This is a flowchart illustrating the first embodiment of the control method for an underwater robot provided in this application. This control method can be applied to an underwater robot equipped with at least a forward-facing sonar device, a camera device, an inertial measurement unit (IMU), a downward-facing Doppler velocimeter (DVL), a magnetometer, and a depth sensor. It enables the underwater robot to detect multiple parameters such as speed, distance, images of objects in front, yaw angle, and depth. The forward-facing sonar device can be understood as: a sonar device fixedly mounted on the underwater device and aligned with the camera device; or a sonar device movably mounted on the underwater device via an auxiliary device (such as a gimbal, bracket, etc.), which, after angle adjustment, can maintain alignment with the camera device; the sonar device can emit at least three beams of sonar signals and receive reflected sonar signals; in a preferred embodiment, the forward-facing sonar device can specifically be a forward-facing DVL. The underwater robot includes, but is not limited to, autonomous underwater vehicles (AUVs), remotely operated underwater vehicles (ROVs), and autonomous / remote-controlled underwater vehicles (ARVs). It can also be underwater detection equipment, underwater submarine equipment, or other underwater operation equipment. This application does not limit this.

[0060] like Figure 1 As shown, the control method for the underwater robot provided in this embodiment includes the following steps:

[0061] S11. Record the observation information of the underwater robot at the observation point.

[0062] When an underwater robot performs fixed-point observation, it can determine whether its current position has reached the predetermined distance based on the forward ranging distance detected by the multi-beam sonar reflection signal of the forward DVL (Directional Volume Range). If the forward ranging distance between the underwater robot's current position and the observed target is less than the predetermined distance, the underwater robot moves away from the observed target to bring the forward ranging distance to the predetermined distance; if the forward ranging distance between the underwater robot's current position and the observed target is greater than the predetermined distance, the underwater robot moves towards the observed target to bring the forward ranging distance to the predetermined distance.

[0063] Furthermore, the underwater robot can also determine whether its observation attitude needs to be adjusted based on the angle values ​​detected by the multibeam sonar reflection signal of the forward DVL or the IMU sensor. The observation attitude includes, but is not limited to, the underwater robot's heading angle and pitch angle.

[0064] If an underwater robot is subjected to external impacts during fixed-point observation, such as the impact of water flow or the force of aquatic organisms, it may cause changes in its observation posture, depth in the water, distance from the observed target, or detected image, indicating that the underwater robot has undergone a change in posture.

[0065] In one specific embodiment, the underwater robot is considered to be subjected to an external force and has undergone a change in pose if it detects at least one of the following conditions:

[0066] The underwater robot's IMU sensor detects changes in the robot's angle values ​​(e.g., changes in the robot's acceleration and angular velocity), the underwater robot's depth sensor detects changes in the robot's depth in the water (e.g., moving above or below the observation point), the sonar device detects changes in the distance between the underwater robot and the observation target (moving away from or closer to the observation target), and the camera device detects changes in the image.

[0067] A change in pose indicates that the underwater robot has deviated from its fixed observation position. It is necessary to control the underwater robot to return to the original observation point and adjust it back to the original posture. Therefore, it is essential to pre-record the underwater robot's observation pose (i.e., observation information) at the observation point to provide a data foundation for its subsequent return.

[0068] In this embodiment, the observation information acquired at the observation point location includes at least first attitude information, first water depth information, first distance information, and first image information. The combination of these observation information can uniquely locate the observation point. Specifically, the first attitude information is the attitude determined by sensors such as an IMU when the underwater robot performs fixed-point observation at the observation point; the first water depth information is the depth value obtained by a depth sensor when the underwater robot is at the observation point; the first distance information is the distance between the underwater robot and the observation target at the observation point, which can be determined by forward ranging distance detected by the multi-beam sonar reflection signal of forward DVL (Directional Variation), i.e., the fixed-range distance mentioned above; and the first image information is the image information of the observation target captured by the underwater robot's camera device at the observation point. It is understood that the above observation information can provide a reference for the underwater robot's subsequent return or repeated observation of the observation target.

[0069] S12. When the underwater robot is subjected to an external force impact, calculate the direction of the impact force.

[0070] Please refer to the following: Figure 2This is a schematic diagram of a scenario where an underwater robot moves under the action of an external force, as provided in this application. In this step, after the underwater robot is impacted by an external force at position A and shifts to position B, the direction of the external force impact can be calculated based on the underwater robot's running speed, attitude change information, and depth change relative to the seabed and the observed target obtained from the forward DVL and downward DVL. This direction of the external force impact can provide the underwater robot with a direction for automatic return.

[0071] In this embodiment, the underwater robot is equipped with at least four vector thrusters. By adjusting the output power of each vector thruster, the underwater robot can be provided with multiple degrees of freedom of movement, thus enabling it to resist the impact of external forces (such as water currents). When the underwater robot is impacted by an external force, it can resist the force by controlling the power output of each vector thruster. However, when the external force exceeds the total thrust of the underwater robot, the underwater robot will experience positional shifts and attitude changes. But as the external force diminishes, the underwater robot will eventually reach a critical position where the total thrust and the external force are balanced.

[0072] S13. Based on the observation information, the direction of the external impact, and the multibeam sonar reflection signal of the underwater robot's forward sonar device, guide the underwater robot back and lock the position of the observation point.

[0073] Based on the observation information, the specific location of the underwater robot at the observation point is determined. Combined with the direction of the external impact, the approximate direction for the underwater robot to return to the observation point is obtained. By combining the multi-beam sonar reflection signal, the underwater robot can maintain a fixed distance observation of the target. Further fine-tuning of the underwater robot using observation information (such as the first image information) accurately locks onto the observation point location. Therefore, by integrating the above information, the underwater robot can be effectively guided back to the observation point to continue observing the target.

[0074] Regarding the scheme of combining the above-mentioned multiple pieces of information to guide the underwater robot to lock the location of the observation point, this application specifically provides the following two methods:

[0075] First option: Please refer to Figure 3 ,for Figure 1 A detailed flowchart of an embodiment of step S13, which includes:

[0076] S131. Adjust the current attitude of the underwater robot based on the first attitude information;

[0077] Understandably, when subjected to external impact, the underwater robot's attitude changes. A second attitude at a critical position can be obtained using IMUs and magnetometers. Combining this with the robot's first attitude information at the observation point, the robot's attitude is adjusted based on the differences between the second and first attitude information (such as pitch and yaw angles). During this adjustment process, the robot's attitude is monitored in real-time using IMUs and magnetometers until the first attitude requirement is met.

[0078] By adjusting the attitude of the underwater robot, it is possible to make it easier for the underwater robot to detect the observation target at the critical position, thus providing a basic guarantee for the underwater robot to lock the position of the observation point.

[0079] It should be understood that after the underwater robot's attitude is adjusted, its attitude remains unchanged during the process of returning from the critical position to the observation point.

[0080] S132. Based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal, control the underwater robot to move closer to the observation point.

[0081] In this step, the underwater robot is guided towards the observation point by the direction of the external impact force. This direction of movement is not limited to the opposite direction of the external impact force or the opposite direction of the direction component of the external impact force that meets the conditions on the horizontal plane. Combining the first water depth information and the real-time water depth information of the underwater robot, it can be guided to move towards the depth direction matching the observation point. Furthermore, by combining the multi-beam sonar reflection signal, the distance relationship between the underwater robot and the observation target can be monitored and adjusted in real time to ensure that the distance between the underwater robot and the observation target meets the first distance information. Combining the above three pieces of information allows the underwater robot to gradually move from the critical position towards the observation point. It should be noted that since the direction of the external impact force is a vector direction, the direction it provides in the horizontal plane may have a direction component. In the case of two direction components, it is necessary to select the direction component that will not substantially affect the distance between the underwater robot and the observation target, based on the underwater robot's orientation.

[0082] Step S133: Combine the first image information to guide the underwater robot to lock the location of the observation point.

[0083] After step S132, the underwater robot can move to the vicinity of the observation point. The position of the underwater robot can be further adjusted by combining the first image information of the observation point, so that the current second image information of the underwater robot's camera device matches the first image information, thereby ensuring that the underwater robot returns to the observation point and continues to monitor that position.

[0084] The second option: Please refer to [link / reference] Figure 4 ,for Figure 1 A detailed flowchart of another embodiment of step S13, which includes:

[0085] S131': Based on the direction of the external impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal, control the underwater robot to move closer to the observation point. The specific process is described in the explanation of step S132, and will not be repeated here.

[0086] S132' Adjust the attitude of the underwater robot according to the first attitude information; the specific process is described in the explanation of step S131, and will not be repeated here.

[0087] S133': Combining the information from the first image, guide the underwater robot to lock onto the location of the observation point. The specific process is detailed in the description of step S133 and will not be repeated here.

[0088] The difference between the two solutions is that, when subjected to external impact, Figure 3 The proposed solution involves first adjusting the underwater robot's attitude, and then returning to the observation point in that adjusted attitude. Figure 4 The illustrated approach involves first controlling the underwater robot to return to the vicinity of the observation point, then adjusting the robot's attitude, and finally making fine adjustments to align with the observation point's location. In practical applications, one of these approaches can be selected based on specific requirements.

[0089] in, Figure 3 In step S132 or Figure 4 The solutions provided in step S131' may include the following three:

[0090] First option: Please refer to Figure 5 ,for Figure 3 In step S132 or Figure 4 A detailed flowchart of an embodiment of step S131';

[0091] The steps for controlling the underwater robot to approach the observation point based on the direction of the external impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal include:

[0092] S51. Adjust the depth of the underwater robot based on the first water depth information;

[0093] This involves adjusting the underwater robot's water depth to the depth at the observation point. During the adjustment process, the current water depth of the underwater robot can be monitored in real time through a depth sensor, and the underwater robot can be controlled to maintain its depth when it reaches the first water depth information.

[0094] S52. Adjust the distance between the underwater robot and the observed target based on the real-time acquired multibeam sonar reflection signal;

[0095] This forward-facing DVL can emit at least three acoustic signals. Based on the relationship between the time of return of the acoustic signals and the velocity of the sound waves, the distance between the underwater robot and the observation target can be calculated. The distance between the underwater robot and the observation target can be adjusted in real time to ensure that the underwater robot maintains the distance required for fixed-distance observation.

[0096] In this step, when the distance between the underwater robot and the observation target is greater than a set threshold, the underwater robot is controlled to operate at a first operating speed; when the distance between the underwater robot and the observation target is less than the set threshold, the underwater robot is controlled to operate at a second operating speed; wherein, the first operating speed is greater than the second operating speed. That is to say, when the distance between the underwater robot and the observation target is greater than the set threshold, the underwater robot's thruster outputs more power, outputting a higher first operating speed, which can increase the underwater robot's travel speed while ensuring the underwater robot's safety; when the distance is less than the set threshold, the underwater robot's thruster outputs less power, outputting a lower second operating speed, thereby ensuring the underwater robot's operational safety.

[0097] S53. When the distance between the underwater robot and the observation target meets the first distance information, the underwater robot is controlled to move towards the observation point position according to the direction of the external force impact.

[0098] That is, when the first distance information is satisfied between the underwater robot and the observation target, the control direction of the underwater robot is determined according to the opposite direction of the external force impact direction or the opposite direction of the direction component of the external force impact direction that meets the conditions on the horizontal plane, in order to compensate for the positional deviation of the underwater robot caused by the external force impact. It can be understood that since the distance between the underwater robot and the observation target has been adjusted in step S52, when there are multiple direction components of the external force impact direction on the horizontal plane, the direction component that will not affect the distance between the underwater robot and the observation target should be the one to be actually executed.

[0099] In a specific application scenario, please combine Figure 6 As shown, Figure 6 For the corresponding Figure 5 A schematic diagram of the adjustment process; where position A is the observation point; position B is the critical position where the underwater robot, after being impacted by an external force, reaches a stable state following adjustment. Figure 5The provided method involves first adjusting the depth of the underwater robot based on the first water depth information, so that the underwater robot moves to an underwater depth that matches the observation point position, i.e., position C. Then, adjusting the distance between the underwater robot and the observation target based on the multibeam sonar reflection signal, so that the distance between the two satisfies the first distance information, i.e., moving the underwater robot to position point D. Finally, controlling the movement of the underwater robot based on the opposite direction of the direction component of the external force impact direction on the horizontal plane that meets the conditions, so as to gradually approach the observation point position.

[0100] The second option: Please refer to [link / reference] Figure 7 ,for Figure 3 In step S132 or Figure 4 A detailed flowchart of another embodiment of step S131';

[0101] The steps for controlling the underwater robot to approach the observation point based on the direction of the external impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal include:

[0102] S71. Obtain the second water depth information of the underwater robot;

[0103] The second water depth information is the water depth information of the underwater robot at the critical position, which can be obtained through a depth sensor.

[0104] S72. Adjust the distance between the underwater robot and the observation target based on the real-time acquired multi-beam sonar reflection signal; emit at least three sound wave signals through the sonar equipment to adjust the distance between the underwater robot and the observation target in real time, so that the underwater robot meets the distance required for fixed-distance observation. The specific process is described in the explanation of step S52 and will not be repeated here.

[0105] S73. When the distance between the underwater robot and the observation target meets the first distance information, the depth of the underwater robot is adjusted according to the first water depth information, and the underwater robot is controlled to maintain a fixed distance observation of the observation target during the depth adjustment process.

[0106] That is, when the set adjustment conditions are met, the water depth where the underwater robot is located is adjusted to the same water depth as the observation point, and the distance between the robot and the observation target is maintained as the first distance information during the water depth adjustment process.

[0107] S74. After the depth adjustment is completed, control the underwater robot to move towards the observation point position based on the direction of the external force impact.

[0108] That is, when the depth of the underwater robot is adjusted to the first water depth, the control direction of the underwater robot is determined according to the opposite direction of the external force impact direction or the opposite direction of the direction component of the external force impact direction that meets the conditions on the horizontal plane, so as to compensate for the positional deviation of the underwater robot caused by the external force impact.

[0109] In a specific application scenario, please combine Figure 8 As shown, position A is the observation point; position B is the critical position where the underwater robot, after being impacted by an external force and adjusted, reaches a stable state. According to... Figure 7 The provided method first adjusts the distance between the underwater robot and the observation target based on the multibeam sonar reflection signal, ensuring the distance satisfies the first distance information, i.e., moving the underwater robot to position point C. Then, based on the first water depth information, the depth of the underwater robot is adjusted so that it moves to an underwater depth corresponding to the observation point position, i.e., position D. Finally, the underwater robot is controlled to move in the opposite direction of the direction component of the external force impact direction on the horizontal plane that meets the conditions, gradually approaching the observation point position A. The description of the direction component of the external force impact direction that meets the conditions on the horizontal plane is as described above and will not be repeated here.

[0110] The third option: Please refer to [the relevant document / reference]. Figure 9 ,for Figure 3 In step S132 or Figure 4 Detailed flowchart of another embodiment of step S131';

[0111] The steps for controlling the underwater robot to approach the observation point based on the direction of the external impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal include:

[0112] S91. Obtain the second water depth information of the underwater robot;

[0113] The second water depth information is the water depth information of the underwater robot at the critical position.

[0114] S92: Controls the underwater robot to move in the opposite direction of the impact of the external force;

[0115] The main purpose of this step is to simultaneously adjust the distance between the underwater robot and the observation target, as well as the depth of the underwater robot, based on the first distance information and the first water depth information. The distance between the underwater robot and the observation target is determined based on the multi-beam sonar reflection signal provided in real time by the forward DVL. The depth information of the underwater robot is determined based on the real-time measurement of the depth sensor.

[0116] S93: Determine whether the depth parameter of the underwater robot and the distance parameter between the underwater robot and the observed target simultaneously satisfy the first water depth information and the first distance information; if yes, the process ends directly; otherwise, proceed to step S94.

[0117] S94. When either the depth parameter or the distance parameter reaches the target value first, the other parameter is adjusted separately until the depth parameter and the distance parameter satisfy the first water depth information and the first distance information.

[0118] Understandably, if the depth parameter reaches the first water depth information first, then during the process of adjusting the distance parameter separately, the depth parameter needs to maintain the first water depth information; similarly, if the distance parameter reaches the first distance information first, then during the process of adjusting the depth parameter separately, the distance parameter needs to maintain the first distance information.

[0119] In a specific application scenario, please refer to Figure 10 , for the corresponding Figure 9 This is a schematic diagram of a scenario involving the adjustment process; specifically, an example where the depth parameter is adjusted first. Position A is the observation point; position B is the critical position where the underwater robot, after being impacted by an external force, reaches a stable state following adjustment. Figure 9 The provided method involves adjusting the underwater robot from position C to position D in the opposite direction of the external force impact direction. Then, the robot is controlled to move in the opposite direction of the direction component of the external force impact direction on the horizontal plane that meets certain conditions, gradually approaching the observation point position A. It is understandable that there may be cases where the distance parameter is adjusted first, or where the depth and distance parameters are adjusted simultaneously. Furthermore, the description of the direction component of the external force impact direction that meets certain conditions on the horizontal plane is as described above and will not be repeated here.

[0120] The above describes three methods for guiding an underwater robot to the observation point. To ensure the underwater robot can completely return to the observation point, it is also necessary to combine this with real-time image information acquired by the underwater robot to accurately lock onto the observation point's location. Please refer to [link / reference]. Figure 11 ,for Figure 3 In step S133 or Figure 4 The detailed flowchart of step S133', which combines the first image information to guide the underwater robot to lock the location of the observation point, includes:

[0121] S111, Real-time acquisition of second image information;

[0122] Specifically, the second image information is acquired in real time using a camera device.

[0123] S112. Compare the acquired second image information with the first image information;

[0124] Since the underwater robot is already quite close to the observation point, the location of the observation point can be accurately identified through image matching technology.

[0125] S113. Determine whether the matching degree is greater than or equal to the set threshold; if not, return to step S112; if yes, proceed to step S114.

[0126] Specifically, feature points are marked in the first image information, and then feature points are compared in the second image information. Due to the special nature of the underwater environment (such as the presence of floating objects), the matching degree is not required to be completely identical to the first image information. Instead, a simplified confirmation is made by setting a threshold. That is, when the image matching degree between the second image information and the first image information is greater than or equal to the set threshold (such as 95%), the two images can be considered to match, thereby confirming and locking the location of the observation point.

[0127] S114. Confirm the current location as the observation point location and control the underwater robot to hover.

[0128] After this step, it can be confirmed that the underwater robot has completely returned to its position before the impact, and therefore the work interrupted by the impact can continue. This work can be a pre-set task or other tasks controlled by the user in real time.

[0129] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0130] Compared with existing technologies, the underwater robot observation method provided in this application firstly records the observation information of the underwater robot at the observation point, providing a reference for the underwater robot's return or repeated observation of the target, thus avoiding mission interruption or data loss due to positional deviation caused by external forces. Secondly, by calculating the impact direction of the external force, it provides a directional basis for the underwater robot's automatic return. In addition, by combining the observation information and multi-beam sonar reflection signals, it is possible to effectively guide the underwater robot, that is, to control the underwater robot to gradually return to the observation point and then accurately lock the observation point position; thereby realizing automatic recovery of interrupted tasks and ensuring the stability of operations.

[0131] Reference Figure 12 The diagram below provides a structural schematic of an underwater robot for embodiments of this application.

[0132] The underwater robot may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0133] Those skilled in the art will understand that Figure 12 The structure shown does not constitute a limitation on the underwater robot and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0134] like Figure 12 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a control program for an underwater robot.

[0135] exist Figure 12 In the underwater robot shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the underwater robot of this application can be set in the underwater robot. The underwater robot calls the underwater robot control program stored in the memory 1005 through the processor 1001 and executes the above-mentioned underwater robot control method.

[0136] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0137] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0138] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0139] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A control method for an underwater robot, characterized in that, The control method includes: Record the observation information of the underwater robot at the observation point; the observation information includes at least first attitude information, first water depth information, first distance information, and first image information; When the underwater robot is subjected to an external force impact, the direction of the external force impact is calculated; Based on the observation information, the direction of the external force impact, and the multibeam sonar reflection signal of the underwater robot's forward sonar device, the underwater robot is guided to return and lock onto the location of the observation point.

2. The control method according to claim 1, characterized in that, The step of guiding the underwater robot to return and lock the position of the observation point based on the observation information, the direction of the external force impact, and the multibeam sonar reflection signal of the underwater robot's forward sonar device includes: The attitude of the underwater robot is adjusted based on the first attitude information; The underwater robot is controlled to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal. The underwater robot is guided to lock onto the location of the observation point by combining the information from the first image.

3. The control method according to claim 1, characterized in that, The step of guiding the underwater robot to return and lock the position of the observation point based on the observation information, the direction of the external force impact, and the multibeam sonar reflection signal of the underwater robot's forward sonar device includes: The underwater robot is controlled to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal. The attitude of the underwater robot is adjusted based on the first attitude information; The underwater robot is guided to lock onto the location of the observation point by combining the information from the first image.

4. The control method according to claim 2 or 3, characterized in that, The step of guiding the underwater robot to lock the location of the observation point by combining the first image information includes: Real-time acquisition of second image information; The acquired second image information is compared with the first image information; Determine whether the matching degree is greater than or equal to a set threshold; when the matching degree is greater than or equal to the set threshold, determine it as the observation point position, and control the underwater robot to hover.

5. The control method according to claim 4, characterized in that, The step of controlling the underwater robot to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal includes: The depth of the underwater robot is adjusted based on the first water depth information; The distance between the underwater robot and the observed target is adjusted based on the real-time acquired multibeam sonar reflection signal; When the distance between the underwater robot and the observation target meets the first distance information, the underwater robot is controlled to move towards the observation point position according to the direction of the external force impact.

6. The control method according to claim 4, characterized in that, The step of controlling the underwater robot to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal includes: Obtain the second water depth information of the underwater robot; The distance between the underwater robot and the observed target is adjusted based on the real-time acquired multibeam sonar reflection signal; When the distance between the underwater robot and the observation target meets the first distance information, the depth of the underwater robot is adjusted according to the first water depth information, and the underwater robot is controlled to maintain a fixed distance observation of the observation target during the depth adjustment process; After the depth adjustment is completed, the underwater robot is controlled to move towards the observation point position based on the direction of the external force impact.

7. The control method according to claim 4, characterized in that, The step of controlling the underwater robot to approach the observation point based on the direction of the external force impact, the first water depth information, the first distance information, and the multibeam sonar reflection signal includes: Obtain the second water depth information of the underwater robot; Control the underwater robot to travel in the opposite direction of the impact direction of the external force; Determine whether the depth parameter of the underwater robot's current depth and the distance parameter between the underwater robot and the observed target simultaneously satisfy the first water depth information and the first distance information; When either the depth parameter or the distance parameter reaches the target value first, the other parameter is adjusted separately until the depth parameter and the distance parameter satisfy the first water depth information and the first distance information.

8. The control method according to any one of claims 5-7, characterized in that, In the step of adjusting the distance between the underwater robot and the observation target based on the real-time acquired multibeam sonar reflection signal, when the distance between the underwater robot and the observation target is greater than a set threshold, the underwater robot is controlled to run at a first operating speed; when the distance between the underwater robot and the observation target is less than the set threshold, the underwater robot is controlled to run at a second operating speed; wherein, the first operating speed is greater than the second operating speed.

9. An underwater robot, characterized in that, The underwater robot includes: a memory, a processor, and a control program for the underwater robot stored in the memory and executable on the processor, the control program being configured to implement the steps of the underwater robot control method 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 robot, which, when executed by a processor, implements the steps of the underwater robot control method as described in any one of claims 1 to 8.

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