Method and system for controlling the work process of an underwater robot

Abstract

This invention relates to a method and system for controlling the work process of an underwater robot, enabling intelligent planning of the robot's movement path and improving the accuracy of path planning in complex dynamic environments. [Solution] A method comprising the steps of: obtaining a 3D grid map of the area to be rescued, wherein the 3D grid map includes a plurality of grid blocks, and each grid block corresponds to one motion path point and one preset collision risk coefficient; obtaining the current motion path point of the underwater robot in the 3D grid map and the environmental parameters of the grid block adjacent to the underwater robot; determining the motion path point corresponding to the next grid block of the underwater robot based on the environmental parameters, the 3D grid map, and the current motion path point; obtaining a plurality of motion path points; and determining the motion path of the underwater robot based on the plurality of motion path points.

Claims

[Claim 1] A method for controlling the work process of an underwater robot, Step S100 is a step of obtaining a three-dimensional grid map of the area to be rescued, wherein the three-dimensional grid map includes a plurality of grid blocks, and each grid block corresponds to one operating path point and one preset collision risk coefficient. Step S102, wherein the underwater robot obtains environmental parameters of the grid block at the current operating path point and the adjacent position of the underwater robot in the three-dimensional grid map, wherein the environmental parameters include water turbidity, water salinity, water flow velocity and water flow direction. Step S104, based on the environmental parameters, the three-dimensional grid map, and the current motion path point, determines the next grid block of the underwater robot that corresponds to the motion path point. Step S106 involves repeatedly executing steps S102 to S104 to obtain multiple operational path points, The step includes determining the motion path of an underwater robot based on multiple motion path points, Based on the aforementioned environmental parameters, the three-dimensional grid map, and the current motion path point, the next grid block of the underwater robot determines the corresponding motion path point. Based on the three-dimensional grid map and the current movement path point, the preset collision risk coefficient of the grid block adjacent to the current movement path point is determined. Based on the aforementioned environmental parameters and corresponding preset collision risk coefficients, the overall risk coefficient of adjacent grid blocks is determined, Selecting adjacent grid blocks with a total risk coefficient below a first preset safety threshold from the total risk coefficients of the adjacent grid blocks, thereby obtaining adjacent grid blocks having a total risk coefficient below the first preset safety threshold, A method for controlling the work process of an underwater robot, characterized by selecting the grid block with the smallest distance from a preset rescue point from among adjacent grid blocks having an overall risk coefficient below the first preset safety threshold, and setting it as the operation path point. [Claim 2] The method according to claim 1, characterized in that the overall risk coefficient is determined by the following formula. [Number 7] 【number】 【number】 [Claim 3] The method according to claim 2, characterized in that the adaptive weight is determined by the following formula. [Number 8] [Claim 4] The method according to claim 3, characterized in that the updated memory is determined by the following formula. [Number 9] [Claim 5] If the number of adjacent grid blocks having an overall risk coefficient below the first preset safety threshold is less than one, an overall risk coefficient below the second preset safety threshold is selected from the overall risk coefficients of the adjacent grid blocks to obtain adjacent grid blocks having an overall risk coefficient below the second preset safety threshold, and the second preset safety threshold is greater than the first preset safety threshold. The adjacent grids having a total risk coefficient below the second preset safety threshold are sorted in ascending order to determine a risk priority list. The method according to claim 1, further comprising selecting an adjacent grid block with the smallest overall risk coefficient from the risk priority list and setting it as the operation path point. [Claim 6] The method according to claim 5, further comprising controlling the underwater robot to return to its original path if the number of adjacent grid blocks having an overall risk coefficient below the second preset safety threshold is less than one. [Claim 7] A control system for the work process of an underwater robot, A first acquisition unit is configured to perform step S100, which is a step of acquiring a three-dimensional grid map of the area to be rescued, wherein the three-dimensional grid map includes a plurality of grid blocks, and each grid block is configured to perform step S100 corresponding to one operating path point and one preset collision risk coefficient. A second acquisition unit is configured to perform step S102, which is a step in which an underwater robot acquires environmental parameters of the grid block at the current operating path point and the adjacent position of the underwater robot in the three-dimensional grid map, wherein the environmental parameters include water turbidity, water salinity, water flow velocity and water flow direction. A first data processing unit is configured to perform step S104, which determines the next grid block of the underwater robot that corresponds to the motion path point, based on the environmental parameters, the three-dimensional grid map, and the current motion path point. A second data processing unit is configured to repeatedly execute steps S102 to S104 and to execute step S106 to obtain multiple operational path points, The system includes a third data processing unit configured to perform step S108, which determines the motion path of an underwater robot based on a plurality of motion path points. Based on the aforementioned environmental parameters, the three-dimensional grid map, and the current motion path point, the next grid block of the underwater robot determines the corresponding motion path point. Based on the three-dimensional grid map and the current movement path point, the preset collision risk coefficient of the grid block adjacent to the current movement path point is determined. Based on the aforementioned environmental parameters and corresponding preset collision risk coefficients, the overall risk coefficient of adjacent grid blocks is determined, Selecting adjacent grid blocks with a total risk coefficient below a first preset safety threshold from the total risk coefficients of the adjacent grid blocks, thereby obtaining adjacent grid blocks having a total risk coefficient below the first preset safety threshold, A control system for the work process of an underwater robot, characterized by selecting the grid block with the smallest distance from a preset rescue point from among adjacent grid blocks having an overall risk coefficient below the first preset safety threshold, and setting it as the operation path point. [Claim 8] An electronic device comprising a memory in which a computer program is stored, and a processor that implements the method according to any one of claims 1 to 6 when executing the computer program. [Claim 9] A computer-readable storage medium that stores a computer program, and is characterized in that when the computer program is executed on the computer, the computer is instructed to execute the method according to any one of claims 1 to 6.

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