Underwater robot adaptable to curved surfaces and remotely controlled intervention method

Abstract

This invention relates to an underwater robot adaptable to curved surfaces and a remotely controlled intervention method. [Solution] The method includes: analyzing the delay loss situation during water body transmission of underwater environmental data in the same underwater machine dimension to obtain the water body transmission data loss degree; obtaining the underwater terrain signal interference degree based on terrain frequency data and surface frequency data; obtaining the wireless communication interference degree by combining the underwater environmental data, water body transmission data loss degree, and underwater terrain signal interference degree in different underwater machine dimensions; analyzing the difficulty of controlling the remote control signal to the underwater robot based on the wireless communication interference degree and the content of the remote control data of the machine to obtain the difficulty of complete transmission; and further, adaptively packetizing and transmitting the remote control data of the machine.

Description

Technical Field

[0001] The present invention relates to the field of data transmission, and more specifically, to an underwater robot adaptable to a curved surface and a remote control intervention method.

Background Art

[0002] An underwater robot integrates functions such as diving, autonomous scanning cruise, and cleaning, and is a tool that can realize efficient cleaning of underwater fixed objects such as ships and underwater inclined pipes without water interruption. It is extremely widely applied in fields such as marine engineering, maintenance of underwater facilities, and maintenance of port terminals. An underwater robot adaptable to a curved surface is equipped with an adjustable robotic arm, brush, or replaceable housing. During the cleaning process, the robot can receive and process data from sensors such as tactile sensors and distance sensors in real time, and adjust its behavior, such as the expansion and contraction, rotation, etc. of the equipment, by the built-in control system to adapt to the complex underwater environment and the changes of the curved surface. During the process of underwater cleaning, there are also various limitations in the automatic mode. For example, when situations such as changes in task content, damage to equipment, poor cleaning effect, and environmental changes occur, rapid manual intervention is required to ensure the safety of the equipment and the smooth progress of the task.

[0003] However, when an operator conducts mutual transmission of data and information with an underwater robot, the conventional information transmission means is limited by factors such as the underwater environment and transmission distance, and the transmitted data is split into multiple data packets for transmission. As a result, data information cannot be transmitted accurately and timely, and the operator's commands are also difficult to be transmitted to the underwater robot in a timely manner.

Summary of the Invention

[0004] This invention provides an underwater robot adaptable to curved surfaces and a remote control intervention method, solving the conventional problems where conventional information transmission means are limited by factors such as the underwater environment and transmission distance, resulting in transmitted data being divided into multiple data packets, making it difficult to transmit data information accurately and in a timely manner, and making it difficult to transmit operator commands to the underwater robot in a timely manner.

[0005] The remote control intervention method for an underwater robot adaptable to curved surfaces according to the present invention employs the following technical means.

[0006] The method is,

[0007] The steps include acquiring remote control data of different machines of an underwater robot, different terrain degree data, different surface degree data, and several underwater environment data in different underwater machine dimensions,

[0008] The process involves analyzing the delay and loss status of underwater environmental data during water body transmission within the same underwater machine dimension, obtaining the water body transmission data loss degree for each underwater machine dimension, analyzing the complexity of the water body's topographic distribution based on topographic frequency data and surface frequency data, obtaining the underwater topographic signal interference degree of the underwater robot, and comprehensively obtaining the underwater wireless communication interference degree of the underwater robot by combining the underwater environmental data, water body transmission data loss degree, and underwater topographic signal interference degree for different underwater machine dimensions.

[0009] Based on the degree of wireless communication interference and the content of the remote control data of the machine, the difficulty of controlling the underwater robot with remote control signals is analyzed, and the difficulty of completely transmitting the remote control data of each machine is obtained.

[0010] The method includes the step of adaptively segmenting and transmitting remote control data of a machine into packets based on the overall transmission difficulty.

[0011] Preferably, the method for obtaining the degree of data loss in the water body transmission is:

[0012] For any underwater machine dimension, the difference in the amount of time data received by an underwater robot in that dimension is analyzed to obtain the underwater transmission delay loss degree of the underwater environment data. The underwater transmission delay loss degrees of all underwater environment data in the underwater machine dimension are then integrated to obtain the water body transmission data loss degree of the underwater machine dimension.

[0013] Preferably, the method for obtaining the underwater transmission delay loss is:

[0014] The system compares the start and end times of transmission and reception of the same underwater environment data to obtain the delay time of the underwater environment data, compares the data content of transmission and reception of the same underwater environment data to obtain the delay data loss degree of the underwater environment data, and based on the delay time and delay data loss degree, it obtains the underwater transmission delay loss degree of the underwater environment data.

[0015] Preferably, after calculating the degree of loss of the water body transmission data,

[0016] This further includes performing normalization on the degree of data loss during water transmission.

[0017] Preferably, the method for acquiring the underwater topographic signal coherence is:

[0018] By comparing extreme differences between topographic frequency data and surface frequency data, the underwater topographic complexity of the underwater robot is obtained. By analyzing the distribution consistency of the surface frequency data, the surface influence of the underwater robot is obtained. Based on the underwater topographic complexity and surface influence, the underwater topographic signal coherence of the underwater robot is obtained.

[0019] Preferably, the method for obtaining the underwater topographic complexity is:

[0020] For all terrain frequency data, the maximum value of the terrain frequency data is designated as the maximum terrain frequency data, and the minimum value of the terrain frequency data is designated as the minimum terrain frequency data. Similarly, for all surface frequency data, the maximum value of the surface frequency data is designated as the maximum surface frequency data, and the minimum value of the surface frequency data is designated as the minimum surface frequency data.

[0021] The absolute value of the difference between the maximum terrain degree data and the maximum surface degree data is used as the upper limit degree difference value, and the absolute value of the difference between the minimum terrain degree data and the minimum surface degree data is used as the lower limit degree difference value. The sum of the upper limit degree difference value and the lower limit degree difference value is defined as the underwater terrain complexity of the underwater robot.

[0022] Preferably, as the method for obtaining the wireless communication interference degree,

[0023] Based on the underwater terrain signal interference degree and the variation situation of the content content included in the underwater environment data, the data feedback stability of the underwater robot is obtained. Based on the data feedback stability and the water body transmission data loss degree, the wireless communication interference degree of the underwater robot in water is obtained.

[0024] Preferably, as the method for obtaining the data feedback stability,

[0025] The dimensional standard deviation of all underwater environment data in each underwater mechanical dimension is obtained, and the average value of all dimensional standard deviations is used as the comprehensive dimensional stability. The inverse proportional normalization value of the underwater terrain signal interference degree and the comprehensive dimensional stability is defined as the data feedback stability of the underwater robot.

[0026] Preferably, as the method for obtaining the complete transmission difficulty,

[0027] Analyze the content distribution situation of the remote control data of each machine, obtain the remote control content duplication degree of the remote control data of each machine, and based on the remote control content duplication degree and the wireless communication interference degree, obtain the complete transmission difficulty of the remote control data of each machine.

[0028] Preferably, as the method for obtaining the remote control content duplication degree,

[0029] For the remote control data of any machine, obtain the length and the number of types of the remote control data of the machine, and use the product of the length and the number of types of the remote control data of the machine as the remote control content duplication degree of the remote control data of the machine.

[0030] The effects of the technical means of the present invention are as follows. Analyze the delay loss situation during the water body transmission of underwater environment data in the same underwater machine dimension to obtain the water body transmission data loss degree. Based on the terrain degree data and the curved surface degree data, analyze the complexity of the terrain distribution of the water body to obtain the underwater terrain signal interference degree. Combine the underwater environment data, the water body transmission data loss degree, and the underwater terrain signal interference degree in different underwater machine dimensions to obtain the wireless communication interference degree. Based on the wireless communication interference degree and the content content of the remote control data of the machine, analyze the difficulty of controlling the underwater robot by the remote control signal to obtain the complete transmission difficulty. Furthermore, adaptively packetize and transmit the remote control data of the machine. The present invention reduces the underwater interference received by remote control, reduces the loss degree of remote control data, and improves the adaptability of the underwater robot to the underwater curved surface.

Brief Description of the Drawings

[0031] To more clearly explain the technical means in the embodiments of the present invention or the prior art, the drawings required for use in the following description of the embodiments or the prior art will be briefly described. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings from these drawings without creative labor.

[0032] [Figure 1] It is a step flowchart of a method for remotely controlling an underwater robot adaptable to a curved surface according to the present invention.

Modes for Carrying Out the Invention

[0033] To further describe in detail the technical means and effects employed by the present invention to achieve a predetermined inventive objective, the specific embodiments, structure, features, and effects of the curved surface adaptable underwater robot and its remote control intervention method proposed based on the present invention will be described below with reference to the drawings and preferred embodiments. In the following description, different “one embodiment” or “another embodiment” does not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention.

[0035] Specific embodiments of the underwater robot and remote control intervention method adaptable to curved surfaces provided by the present invention will be described below with reference to the drawings.

[0036] Referring to Figure 1, a step flowchart of a remote control intervention method for a curved surface-adaptive underwater robot provided in one embodiment of the present invention is shown, which includes the following steps:

[0037] Step S001: Obtain remote control data for different machines of the underwater robot, different terrain degree data, different surface degree data, and several underwater environment data in different underwater machine dimensions.

[0038] Furthermore, when an operator transmits data and information to an underwater robot, conventional information transmission methods are limited by factors such as the underwater environment and transmission distance. As a result, the transmitted data is divided into multiple data packets, making it difficult to transmit data information accurately and in a timely manner, and making it difficult to transmit the operator's commands to the underwater robot in a timely manner.

[0039] In one specific embodiment of the present invention, as a method for acquiring remote control data, topographic degree data, surface degree data, and underwater environment data of a machine, five types of sensors—a sonar sensor, a pressure sensor, a temperature sensor, a flow velocity sensor, and an optical sensor—were attached to an underwater robot, and each sensor transmitted data to a remote control platform at a frequency of 1 second per transmission. The remote control platform recorded the underwater environment data transmitted from the underwater robot's sensors at a frequency of 1 second per transmission. The transmission time of each underwater environment data from the underwater robot and the reception time of the remote control platform were recorded, and transmission continued for a total of 1 hour. After receiving the data transmitted from the sonar sensor, the remote control platform acquired some topographic degree data and some surface degree data by constructing a 3D model, and treated the four types of sensors—pressure sensor, temperature sensor, flow velocity sensor, and optical sensor—as a single underwater machine dimension, and the data transmitted by these four types of sensors to the remote control platform as underwater environment data. In particular, each underwater environmental data point corresponds to one transmission point and one reception point, and the numerical values ​​at one transmission point and one reception point for the same underwater environmental data point are not necessarily the same.

[0040] In particular, during the process in which the remote control platform records underwater environmental data transmitted from the underwater robot's sensors, if no underwater environmental data is detected from the underwater robot's sensors, the underwater environmental data recorded by the remote control platform at the corresponding point in time is displayed as 0 by default. In this embodiment, the remote control platform stores by default remote control data for remotely controlling four types of mechanical items: the underwater robot's working speed, cleaning accuracy, diving depth, and cleaning target area range. Among these, the frequency of data transmission, the frequency of data recording, and the mechanical items that the remote control platform can control the underwater robot can all be determined according to the actual situation.

[0041] The surface curvature data refers to the curvature of the surface of an object that the underwater robot comes into contact with. The process of converting sonar sensor data into terrain and object surface curvature data using a 3D model is a well-known technique, and therefore will not be explained in this embodiment.

[0042] As described above, remote control data for different parts of the underwater robot, different terrain degree data, different surface degree data, and several underwater environment data in different underwater machine dimensions were obtained using the above method.

[0043] Step S002: Analyze the delay loss status during water body transmission of underwater environmental data in the same underwater machine dimension to obtain the water body transmission data loss degree for each underwater machine dimension, analyze the complexity of the water body topography distribution based on topography frequency data and surface frequency data to obtain the underwater topography signal interference degree of the underwater robot, and combine the underwater environmental data, water body transmission data loss degree and underwater topography signal interference degree in different underwater machine dimensions to obtain the underwater wireless communication interference degree of the underwater robot.

[0044] Furthermore, when an underwater robot feeds back underwater environmental data of its current environment to the console, underwater noise interference may cause loss of the underwater environmental data received by the console. By combining this with the loss status of the underwater environmental data, it is possible to obtain the strength of environmental interference when the console and the underwater robot communicate. By combining this with the underwater environmental data, it is possible to obtain a general understanding of the specific conditions of the robot's current location and to obtain the degree of underwater wireless communication interference for the underwater robot.

[0045] Preferably, in some embodiments of the present invention, the method for obtaining the water body transmission data loss involves analyzing the difference in the amount of time data at which an underwater robot receives the same underwater environment data for any underwater machine dimension, obtaining the underwater transmission delay loss of the underwater environment data, integrating the underwater transmission delay loss of all underwater environment data in the underwater machine dimension, and obtaining the water body transmission data loss of the underwater machine dimension. The specific process is as follows.

[0046] Preferably, in some embodiments of the present invention, the method for obtaining the underwater transmission delay loss involves comparing the start and end times of transmission and system reception of the same underwater environment data to obtain the delay time of the underwater environment data, comparing the data content of transmission and system reception of the same underwater environment data to obtain the delay data loss of the underwater environment data, and obtaining the underwater transmission delay loss of the underwater environment data based on the delay time and delay data loss. The specific process is as follows.

[0047] Taking arbitrary underwater environmental data in any underwater machine dimension as an example, the absolute value of the difference between the transmission time and the reception time of the underwater environmental data was defined as the delay time of the underwater environmental data, the absolute value of the difference in numerical values ​​between the transmission time and the reception time of the underwater environmental data was defined as the delay data loss degree of the underwater environmental data, and the product of the delay time and the delay data loss degree was defined as the underwater transmission delay loss degree of the underwater environmental data.

[0048] Furthermore, the normalized value of the average underwater transmission delay loss of all underwater environmental data in the underwater machine dimension was used as the water body transmission data loss of the underwater machine dimension. In this embodiment, the normalization process was performed using the norm() function as an example, but the normalization function can be determined according to the specific implementation.

[0049] Preferably, in some embodiments of the present invention, the method for obtaining the underwater terrain signal coherence involves comparing extreme differences between terrain frequency data and surface frequency data to obtain the underwater terrain complexity of the underwater robot, analyzing the distribution consistency of the surface frequency data to obtain the surface influence of the underwater robot, and then obtaining the underwater terrain signal coherence of the underwater robot based on the underwater terrain complexity and surface influence. The specific process is as follows.

[0050] Preferably, in some embodiments of the present invention, the method for obtaining underwater topographic complexity is as follows: for all topographic frequency data, the maximum value of the topographic frequency data is set as the maximum topographic frequency data, and the minimum value of the topographic frequency data is set as the minimum topographic frequency data; for all surface frequency data, the maximum value of the surface frequency data is set as the maximum surface frequency data, and the minimum value of the surface frequency data is set as the minimum surface frequency data; the absolute value of the difference between the maximum topographic frequency data and the maximum surface frequency data is set as the upper limit frequency difference value; the absolute value of the difference between the minimum topographic frequency data and the minimum surface frequency data is set as the lower limit frequency difference value; and the sum of the upper limit frequency difference value and the lower limit frequency difference value is set as the underwater topographic complexity of the underwater robot.

[0051] Furthermore, the standard deviation of all surface frequency data was used as the surface influence of the underwater robot. The average value of the underwater terrain complexity and surface influence was used as the underwater terrain signal coherence of the underwater robot.

[0052] Furthermore, the study showed that the greater the underwater terrain signal coherence, the weaker the underwater robot's ability to adapt to curved surfaces in the underwater environment, and that the greater the complexity of the underwater environment, the lower the stability of the underwater environment.

[0053] Preferably, in some embodiments of the present invention, the method for obtaining the wireless communication interference degree involves obtaining the data feedback stability of the underwater robot based on the underwater terrain signal interference degree and the fluctuations in the content content included in the underwater environment data, and obtaining the underwater wireless communication interference degree of the underwater robot based on the data feedback stability and the water body transmission data loss degree. The specific process is as follows.

[0054] Preferably, in some embodiments of the present invention, the method for obtaining data feedback stability involves obtaining the dimensional standard deviation of all underwater environmental data in each underwater machine dimension, taking the average of all dimensional standard deviations as the overall dimensional stability, and taking the inversely proportional normalized value of the underwater terrain signal coherence and overall dimensional stability as the data feedback stability of the underwater robot. In particular, in the embodiments, the exp(-x) model is used to represent the inverse proportional relationship and normalization process, where x is the input to the model, and the implementer can select the inverse proportional function and normalization function according to the actual situation.

[0055] Furthermore, the product of the data feedback stability and the data loss rate transmitted through the water body was defined as the degree of wireless communication interference for the underwater robot.

[0056] As described above, the delay loss status during water body transmission of underwater environmental data in the same underwater machine dimension was analyzed using the above method, and the water body transmission data loss degree was obtained for each underwater machine dimension. Based on the topographic frequency data and surface frequency data, the complexity of the topographic distribution of the water body was analyzed, and the underwater topographic signal interference degree of the underwater robot was obtained. The underwater wireless communication interference degree of the underwater robot was obtained by combining the underwater environmental data, water body transmission data loss degree, and underwater topographic signal interference degree in different underwater machine dimensions.

[0057] Step S003: Based on the degree of wireless communication interference and the content of the remote control data of the machine, the difficulty of controlling the underwater robot with remote control signals is analyzed, and the difficulty of complete transmission of the remote control data for each machine is obtained.

[0058] Furthermore, remote control data for machinery is usually divided into basic control quality, placement, and setting, and the difficulty of transmitting remote control data for different types of machinery varies depending on the type of machine. When the transmission difficulty of remote control data for machinery is low, it indicates that good communication can be ensured, while when the transmission difficulty is high, good communication effectiveness cannot be ensured.

[0059] Preferably, in some embodiments of the present invention, the method for obtaining the complete transmission difficulty involves analyzing the content distribution of the remote control data for each machine, obtaining the degree of overlap in the remote control content of the remote control data for each machine, and obtaining the complete transmission difficulty of the remote control data for each machine based on the degree of overlap in the remote control content and the degree of wireless communication interference. The specific process is as follows.

[0060] Preferably, in some embodiments of the present invention, the method for obtaining the degree of overlap in remote control content involves obtaining the length and number of types of remote control data for any machine, and using the product of the length and number of types of remote control data as the degree of overlap in remote control content for the machine.

[0061] Furthermore, the normalized product of the degree of overlap in remote control content and the degree of wireless communication interference was used as the difficulty level for complete transmission of the machine's remote control data.

[0062] As described above, the difficulty of controlling the underwater robot with remote control signals was analyzed based on the degree of wireless communication interference and the content of the remote control data of the machine using the above method, and the difficulty of complete transmission of the remote control data for each machine was obtained.

[0063] Step S004: Based on the overall transmission difficulty, the remote control data of the machine is adaptively divided into packets and transmitted.

[0064] Furthermore, since packet splitting transmission divides one remote control data command into multiple remote control data commands, the probability of data loss during transmission is higher, and if sequence errors occur in commands of different segments, the remote control data may not be executed correctly.

[0065] A threshold T1 for the difficulty of complete transmission was set in advance. For machines where the difficulty of complete transmission exceeds T1, the entire remote control data was transmitted as a single packet without packet splitting. For machines where the difficulty of complete transmission is T1 or less, the remote control data was split into packets, and the split data was transmitted. In this embodiment, T1 = 0.5 is used as an example, but it is not specifically limited, and T1 can be determined according to the specific implementation situation.

[0066] In particular, the process of packetizing and transmitting data is a well-known technique, and therefore will not be explained in this embodiment.

[0067] Furthermore, the underwater robot received the packet and reconstructed the machine's remote control data. After the underwater robot received the packet and confirmed that there were no errors, it sent a confirmation message to the console. A time interval T2 was pre-set, and after the console received the confirmation message, it stopped transmitting the machine's remote control data. Conversely, the console repeated the transmission of remote control data at T2 until it received a confirmation message. In this embodiment, T2=1s is used as an example, but it is not specifically limited, and in particular, T2 can be determined according to the specific implementation situation.

[0068] In particular, after the underwater robot received remote control data from a machine, and again received remote control data from a machine with the same remote control data code, it sent a confirmation message to the console without executing the command.

[0069] This embodiment is now complete.

[0070] The above describes only preferred embodiments of the present invention and is not intended to limit it. Any modifications, equivalent substitutions, improvements, etc., made within the scope of the principles of the present invention should all be included within the scope of protection of the present invention.

Claims

1. A remote control intervention method for an underwater robot adaptable to curved surfaces, A step of acquiring remote control data of different machines of an underwater robot, different terrain degree data, different surface degree data and several underwater environment data in different underwater machine dimensions, wherein the remote control data of the machine is used to instruct remote control of the underwater robot for working speed, cleaning accuracy, diving depth and cleaning target area range. The delay loss status during water body transmission of underwater environmental data within the same underwater machine dimension is analyzed to obtain the water body transmission data loss degree for each underwater machine dimension (the water body transmission data loss degree is the normalized value of the average value of the underwater transmission delay loss degree of all underwater environmental data in the underwater machine dimension, the underwater transmission delay loss degree is the product of the delay time of the underwater environmental data and the delay data loss degree of the underwater environmental data, the delay time is the absolute value of the difference between the transmission time and the reception time of the underwater environmental data, and the delay data loss degree is the absolute value of the difference between the numerical values ​​at the transmission time and the reception time of the underwater environmental data), the complexity of the water body topography distribution is analyzed based on topography frequency data and surface frequency data to obtain the underwater topography signal interference degree of the underwater robot (the underwater topography signal interference degree is the average value of the underwater topography complexity of the underwater robot and the surface influence of the underwater robot). The steps include: the underwater topography complexity is the sum of the upper limit frequency difference value and the lower limit frequency difference value, the upper limit frequency difference value is the absolute value of the difference between the maximum topography frequency data and the maximum surface frequency data, the lower limit frequency difference value is the absolute value of the difference between the minimum topography frequency data and the minimum surface frequency data, the maximum topography frequency data is the maximum value among all topography frequency data, the maximum surface frequency data is the maximum value among all surface frequency data, the minimum topography frequency data is the minimum value among all topography frequency data, the minimum surface frequency data is the minimum value among all surface frequency data, and the surface influence is the standard deviation of all surface frequency data), and obtaining the underwater wireless communication interference of an underwater robot by comprehensively analyzing underwater environment data, water body transmission data loss, and underwater topography signal interference in different underwater machine dimensions, Based on the degree of wireless communication interference and the content of the remote control data of the machine, the difficulty of controlling the underwater robot with remote control signals is analyzed, and the difficulty of completely transmitting the remote control data of each machine is obtained. A method for remote control intervention of an underwater robot adaptable to curved surfaces, comprising the step of adaptively segmenting and transmitting remote control data of a machine based on the complete difficulty of transmission.

2. The method for obtaining the wireless communication interference level is as follows: A method for remote control intervention of an underwater robot adaptable to a curved surface, as described in claim 1, characterized in that the data feedback stability of the underwater robot is obtained based on the degree of underwater terrain signal interference and the fluctuation status of the content content included in underwater environmental data, and the degree of underwater wireless communication interference of the underwater robot is obtained based on the data feedback stability and the degree of water body transmission data loss.

3. The method for obtaining the data feedback stability is as follows: A method for remotely controlling and intervening in a curved surface-adapted underwater robot according to claim 2, characterized in that the dimensional standard deviation of all underwater environmental data in each underwater machine dimension is obtained, the mean value of all dimensional standard deviations is taken as the overall dimensional stability, and the inversely proportional normalized value of the underwater terrain signal coherence and the overall dimensional stability is taken as the data feedback stability of the underwater robot.

4. The method for obtaining the complete transmission difficulty is as follows: A method for remote control intervention of an underwater robot adaptable to a curved surface, as described in claim 1, characterized by analyzing the content distribution of remote control data for each machine, obtaining the degree of overlap in remote control content of the remote control data for each machine, and obtaining the difficulty of complete transmission of the remote control data for each machine based on the degree of overlap in remote control content and the degree of wireless communication interference.

5. The method for obtaining the degree of overlap in the remote control content is as follows: A method for remote control intervention of an underwater robot adaptable to a curved surface, as described in claim 4, characterized in that, for remote control data of any machine, the length and number of types of machine remote control data are obtained, and the product of the length and number of types of machine remote control data is defined as the degree of overlap in the remote control content of the machine remote control data.

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