212 results about "Underwater robotics" patented technology

The invention relates to the technical field of underwater robots, in particular to an underwater robot cluster path planning method and system based on a dung beetle algorithm, and the method comprises the steps: obtaining a coordinate division region to construct an environment model, calculating and extracting an obstacle distance to fuse ocean current interference to generate a dynamic obstacle avoidance strategy, and evaluating the path speed similarity to generate a candidate path. And acquiring an offset angle difference, normalizing environmental factors to generate a correction path, and calculating a curvature fusion collision probability to generate a global path control instruction. According to the method, a dynamic model is constructed based on Cartesian coordinate division, the spatial analysis precision is improved, a sonar distance and ocean current interference are fused to generate a dynamic obstacle avoidance strategy, the trajectory smoothness is enhanced, candidate paths are screened by using vector similarity and Monte Carlo simulation, the collaboration is optimized, disturbance is reduced through coordinate offset and ocean current correction, and the accuracy of the dynamic obstacle avoidance strategy is improved. The curvature and collision probability are combined to balance safe energy consumption, and multi-dimensional parameter fusion improves cluster adaptability, precision, efficiency and energy utilization rate.

The invention relates to the technical field of underwater robots, discloses an underwater autonomous flight control method and system for a submersible type unmanned aerial vehicle, and aims to solve the technical defects of rigid route planning, high energy consumption and poor task adaptability of an existing submersible type unmanned aerial vehicle in complex dynamic underwater environment flight control. The method comprises the steps of executing multi-modal underwater environment perception, constructing an environment state fusion model under a unified space-time reference, generating a predictive hydrodynamic field four-dimensional model, executing multi-target route optimization based on energy and risk cost, and implementing self-adaptive flight control based on feedforward compensation. By adopting the above technical scheme, the method can effectively reduce the energy consumption of the unmanned aerial vehicle, remarkably prolong the operation endurance time, improve the intelligence and task adaptability of route planning, and improve the flight stability and trajectory tracking precision. Therefore, the autonomy, the economy and the task success rate in an unknown, unstructured and strong dynamic underwater environment are enhanced.

The invention relates to a mechanical arm end effector for underwater salvage and a using method thereof, and belongs to the technical field of underwater robots. By integrating a hydraulic-driven rotary drilling assembly and an ejection anchoring mechanism, drilling is completed on an underwater target object at a time, and an anchoring part with a lifting point is implanted; a unique pressure compensation flow channel system is arranged inside, external seawater pressure is automatically balanced through oil pressure, sealing failure is prevented, and operation reliability in a large-depth environment is ensured. The drilling and hoisting device has the functions of drilling and hoisting, a plurality of hoisting points can be continuously established by rapidly replacing the drill bit assembly, and the underwater salvage process is greatly simplified.

The invention provides a flexible docking device and method for an underwater unmanned vehicle, and relates to the technical field of underwater robots, the flexible docking device comprises a base, a locking piece, a traction piece and at least three groups of adjustable supporting assemblies uniformly arranged on the base; the traction piece is connected with the base and the locking piece and used for pulling the locking piece to move towards the base. The adjustable supporting assembly comprises a supporting rod piece, a telescopic element and a rope driving device, the telescopic element is connected with the supporting rod piece and the base and used for driving the supporting rod piece to be unfolded or folded relative to the base so as to adjust the area of a butt-joint enveloping area formed by the tail end of the supporting rod piece, and the rope driving device comprises a driving assembly and a flexible rope. The driving assembly is arranged on the supporting rod piece and used for driving the flexible rope to drive the locking piece to move in the butt-joint enveloping area, and the locking piece is used for being in butt-joint locking with the unmanned underwater vehicle. The butt joint device can synchronously overcome the three technical problems that the rigid butt joint precision is harsh, the compensation range of a traditional funnel is insufficient, and the buffering performance is weak.

The invention discloses an underwater explosive ordnance disposal control method and system based on an AI large model and a robot, and relates to the technical field of underwater robotics.Underwater optical images and sonar data are collected through a sensing module and input into a pre-trained AI large model for real-time analysis, potential threats are recognized, and a decision instruction containing a path planning and operation sequence is generated; when the analysis confidence coefficient is lower than a threshold value set based on historical data, interaction information containing multi-modal data abstracts, alternative schemes and risk assessment is automatically generated and sent to an operator, instructions are executed after being received, the system comprises a sensing module, an AI processing module, a communication module, a control execution module and a state monitoring module, and a robot body is integrated with a processor to solidify the method. The autonomous decision-making precision and efficiency of the robot in a complex environment are improved through an AI large model, the man-machine cooperation response speed is optimized by using an intelligent interaction mechanism, and the reliability and environmental adaptability of the system are significantly enhanced in combination with state monitoring and edge-cloud cooperative computing.

The utility model discloses a physical simulation platform for underwater robot function test, which belongs to the technical field of underwater detection equipment and is characterized by comprising a substrate, a master control module, a voltage-stabilized source, a communication module, a posture adjusting unit, a buoyancy unit, an oil tank, an underwater detection unit, a power unit and a display module. The base plate forms a platform, and the main control module, the voltage-stabilized source, the communication module, the posture adjusting unit, the buoyancy unit, the oil tank, the underwater detection unit, the power unit and the display module are fixedly installed on the base plate in a detachable mode. The physical simulation platform for the function test of the underwater robot realizes flexible and convenient operation through tiled layout, supports batch test, greatly improves the test efficiency, has the advantages of real-time data acquisition, modular design, reduction of labor cost, enhancement of safety, convenience in fault diagnosis and the like, and is suitable for popularization and application. And research and development and application of an underwater robot technology are greatly promoted.

The invention discloses an underwater robotic fish full-coverage path planning method and system based on multi-strategy collaborative optimization, and belongs to the technical field of underwater robot path planning. Aiming at the problems of low path planning efficiency, poor dynamic environment adaptability and difficulty in algorithm parameter adjustment in the prior art, a dynamic grid coding and multi-resolution collaborative modeling method is provided, an obstacle probability region is divided through sonar point cloud data, the grid refining depth is dynamically adjusted in combination with a greedy optimization algorithm, and a multi-layer environment representation map is generated; an improved genetic algorithm framework is adopted, path fragments are recombined through self-adaptive variation rate adjustment and a three-point crossover operator, a conflict resolution mechanism is introduced to correct a countercurrent path direction, and a motion trail is optimized in combination with path smoothness constraint. According to the invention, high-efficiency and low-energy-consumption full-coverage path planning can be realized in a complex underwater environment, and the method is suitable for scenes of ocean exploration, pipeline inspection, ecological monitoring and the like.

The invention relates to the technical field of underwater robots, and discloses an underwater propeller intelligent obstacle avoidance system and a control method thereof, and the system comprises an environment collection module, an obstacle fitting module, a path generation module, a response duration calculation module and a path optimization selection module. The environment acquisition module acquires environment images, ultrasonic waves and water flow information; the obstacle fitting module establishes an obstacle distribution model based on the image and ultrasonic information; the path generation module generates a feasible path based on a model and a planning algorithm; the response duration calculation module calculates the time required for adjusting to the path starting point based on the dynamic model; and the path optimization selection module selects an optimal path based on a comprehensive evaluation strategy of the response duration, the obstacle avoidance capability and the energy consumption and outputs the optimal path to the driving module. According to the invention, multi-source information can be fused, water flow and dynamic constraints are considered, and safe, efficient and low-consumption intelligent obstacle avoidance is realized.

The invention discloses a submarine topography surveying and mapping method and system based on an underwater robot, relates to the technical field of underwater robots, and provides reliable basic data for measurement based on an original measurement point sound wave data set S, and extracts a multipath disturbance feature set F of each sonar scanning point; the multi-path interference in the underwater environment is effectively identified and represented, data are clustered through density clustering analysis, dense clusters and discrete points are successfully identified, then a disturbance residual Cc is obtained and compared with a preset interference judgment threshold Omap, each sonar scanning point is endowed with a multi-path label, and the multi-path interference in the underwater environment is effectively identified and represented. According to the method, the time sequence and the amplitude sequence of sonar scanning points are combined, the main path echo time of each measuring point is accurately obtained, the continuity of landforms is effectively judged, and high precision and stability of underwater topographic survey are ensured, especially in the aspects of multi-path interference elimination, main path reconstruction judgment and final accurate topographic reflection.

The invention relates to an underwater robot technology, and aims to provide an underwater robot fault diagnosis method based on an online fine-tuning hybrid neural network. Comprising the following steps: performing normalization processing on collected state data in a navigation process of an underwater robot, and inputting the state data into a deep convolutional neural network to perform spatio-temporal feature extraction; the output data combination is converted into a pulse sequence in a Poisson coding mode, and the pulse sequence serves as the input of a pulse neural network; counting the excitation number of neurons in the spiking neural network, and determining and outputting a fault diagnosis result according to the fault mark type matched with the excitation number; parameters of the deep convolutional neural network are kept unchanged in the whole diagnosis process, and online fine tuning of the whole hybrid network model is realized based on unsupervised adaptive updating of the pulse neural network model. The method is suitable for low-frequency sampling of underwater robot data, and the accuracy of fault diagnosis is improved; the model can be dynamically adjusted according to actual working conditions, and the environmental adaptability of diagnosis is improved.

The application provides a kind of sub-body ROV accurate recovery method and device for sub-mother type AUV, it is related to underwater robot technical field, the method comprises: during the task execution of sub-body ROV in underwater, in response to sub-body recovery instruction, control parent body AUV stay in specified recovery position, and collect the optical image of sub-body ROV;Determine the orientation of sub-body ROV based on optical image;Determine the heading angle of parent body AUV and the initial heading angle of sub-body ROV;Determine the target heading angle of sub-body ROV based on orientation, the heading angle of parent body AUV and the initial heading angle of sub-body ROV;Determine the correction torque required when control cable-releasing mechanism pulls back sub-body ROV based on the heading angle of parent body AUV and the target heading angle of sub-body ROV;Determine the operating parameter of each propeller on sub-body ROV in combination with correction torque;Correspondingly control propeller operation based on operating parameter, to recover sub-body ROV.

The invention relates to the technical field of underwater robots, in particular to an underwater multi-mode laying and recovery system and method for an ROV. The system comprises a first support, a second support, a third support and a mechanical arm, a first electric driving device for driving the second support to horizontally move is installed on the first support, the second support is slidably installed on the first support, and a second electric driving device for driving the mechanical arm to horizontally move is installed on the second support. The driving direction of the second electric driving device is perpendicular to the driving direction of the first electric driving device, and the bottom of the second support is connected with a hydraulic driving device used for driving the mechanical arm to move longitudinally. And a third electric driving device for driving the first bracket to move longitudinally is mounted on the third bracket. Movement of the mechanical arm is achieved through the electric driving device under the calm sea condition, the degree of freedom is high, precision is high, the mechanical arm is driven to move through the hydraulic driving device under the complex sea condition, and the working stability of the recovery system under the complex sea condition is improved.

The invention discloses an underwater robot depth and course control system, which relates to the technical field of underwater robots, and is characterized in that an equivalent strain energy anomaly index and a local maximum principal stress anomaly index are extracted through a structure-heat-fluid coupled three-dimensional finite element simulation model, and a failure risk prediction model is constructed by using a machine learning model; taking the comprehensive feature vector as input, and outputting a sealing structure failure prediction coefficient as a basis for dynamically adjusting a control strategy; the system limits or optimizes the propeller power, buoyancy adjusting frequency and course angle change rate in real time according to the failure prediction coefficient of the sealing structure so as to reduce the structural load and delay the fatigue process, a prediction model is continuously optimized through an error sample driven incremental learning mode, closed-loop self-learning and self-adaptive evolution of the control system are achieved, and the system reliability is improved. Therefore, the operation safety and the task execution stability of the underwater robot in the complex deep sea environment are improved.

The present invention relates to an underwater robot target tracking method and system based on machine vision, belonging to the technical field of underwater robots. The present invention constructs an object recognition model based on a deep neural network, and uses the object recognition model to recognize the target tracking image information, obtains the action trajectory information of the object within a preset time, and finally constructs the path information of the underwater robot within a preset time according to the action trajectory information of the object within the preset time, controls the underwater robot according to the path information of the underwater robot within the preset time, and monitors the real-time operation status of each underwater robot. The present invention can collect and process underwater images by integrating the environmental characteristics of the water environment, the DCP algorithm, and the genetic algorithm, enabling image enhancement of the original images, improving the tracking accuracy of the robot for the object, and realizing long-term tracking of underwater objects.

The invention discloses a bionic stingray type underwater patrol robot based on annular fin propulsion, and belongs to the technical field of underwater robots, the bionic stingray type underwater patrol robot comprises a waterproof shell, an annular flexible fin and an annular fin propulsion mechanism; the annular fin propelling mechanism comprises an annular mounting plate, a plurality of first steering engines are uniformly arranged on the annular mounting plate in the circumferential direction, fin rays extending in the radial direction of the annular mounting plate are arranged at the output ends of the first steering engines, and the fin rays are fixedly connected with the annular flexible fins; the fin ray comprises a connecting base connected with the output end of the first steering engine, and a clamping jaw used for clamping the annular flexible fin is rotationally matched with the connecting base. A traditional propeller is replaced with bionic fluctuating propulsion of the annular flexible fins, the winding risk is fundamentally avoided, the bionic fluctuating fin propulsion mode is small in water flow disturbance and low in noise, the bionic fluctuating fin propulsion device is suitable for the environment sensitive to water flow or needing hidden operation, and interference to sea grass or surrounding ecology is avoided.

The utility model discloses an ROV main body frame, and belongs to the technical field of underwater robots. The ROV body frame comprises a bearing frame and an auxiliary frame. The bearing frame comprises a first layer frame, a second layer frame and a third layer frame which are connected in sequence, and the first layer frame, the second layer frame and the third layer frame are connected through vertical frames. The auxiliary frame is connected with the bearing frame, the auxiliary frame comprises a fourth shelf and a fifth shelf which are connected, and the fourth shelf and the fifth shelf are connected through a plurality of first rod pieces. Wherein the beams of the second shelf are connected with the beams of the fourth shelf in an inserted mode, and the beams of the third shelf are connected with the beams of the fifth shelf in an inserted mode, so that the bearing frame is located in the auxiliary frame. According to the ROV main body frame provided by the utility model, the load-bearing frame and the auxiliary frame can be made of different alloy materials according to load-bearing requirements, so that the overall mass is obviously reduced on the premise of ensuring reliable supporting force.

The application belongs to the technical field of underwater robots, and particularly relates to an underground water underwater video detection robot. In view of the problem that the communication cable length of a general underwater video detection robot is fixed, and a knot is generated due to improper winding, misplacement and the like when the cable is reeled in and out, the following scheme is proposed, which comprises a rack, opposite two side inner walls of the rack are fixedly connected with a same bottom plate, two mounting holes one and a plurality of mutually symmetrical mounting holes two are formed in the rack, a propeller one is arranged in each of the two mounting holes one, a propeller two is arranged in each of the plurality of mounting holes two, and a wire winding module and a sampling module are arranged on the bottom plate. The underground water underwater video detection robot has the beneficial effect that the cable length can be automatically adjusted according to the requirement of the robot body, winding and the like caused by excessively long cable is avoided, the winding position is standardized when the cable is reeled in and out, a knot caused by winding misplacement is avoided, and the use effect of the device is improved.

The application discloses an underwater robotic fish driven by high-order vibration of soft beam, and belongs to the technical field of underwater bionic robotic fish. The underwater robotic fish comprises a machine shell, a rudder, a rudder push rod and a soft coupling fish tail assembly. The rudder is arranged in the machine shell. The output end of the rudder is connected to the rudder push rod, and the rudder push rod is connected to the soft coupling fish tail assembly. The rudder drives the rudder push rod to apply excitation to the soft coupling fish tail assembly so that the soft coupling fish tail assembly generates vibration, thereby enabling the underwater robotic fish to complete forward movement and turning. The fish tail is designed and manufactured by using soft material, and the flexible beam is excited by using the rudder, so that the flexible beam and the soft rubber tail fin generate vibration. The reaction force of water on the fish tail pushes the robotic fish forward during the vibration process. The flexible fish tail is more stable, faster and more in line with the movement of real fish than the rigid fish tail. Moreover, the flexible fish tail occupies a small volume, can pass through narrow water areas, has better movement effect, and can be used for underwater rescue and underwater narrow space exploration.

The invention relates to the technical field of underwater robots, provides an ESP32-based offshore wind power underwater operation robot magnetic load rejection device, and solves the problems of high energy consumption and difficulty in supporting long-time operation when a traditional underwater operation robot dives and passes through surface layer strong disturbance water flow. The robot comprises a control module installed on a robot main body frame; the electromagnet is mounted at the bottom of the robot and comprises a power-losing electromagnet and a power cable, one end of the power cable is connected with the power-losing electromagnet, and the other end of the power cable is connected with the control module; the magnetic key is used for being inserted into a preset position of a shell of the control module, and a strong magnet arranged in the magnetic key can enable the reed switch to be conducted so as to start the control module; the disposable load is used for being adsorbed on the power-losing type electromagnet before operation; according to the invention, the robot can dive by means of gravity by mounting the one-time load, so that the most energy-consuming link in the operation of the underwater robot is omitted, and the operation time is effectively prolonged.

This invention relates to the field of underwater robot technology, specifically to an autonomous recovery method and system for underwater robots based on binocular vision and multi-source fusion. The system includes an AUV and a recovery platform. The AUV is equipped with a binocular camera, IMU, DVL, and USBL. The recovery platform is equipped with a guide light array, an auxiliary light source, a pressure sensor array, and a recovery cage. The method includes four stages: long-distance repositioning, high-precision visual guidance, multi-source fusion control in the visual failure zone, docking determination, and fixation. In the visual failure zone, the system activates the bottom auxiliary light source and constructs a multi-source fusion framework. It deeply fuses the two-dimensional deflection angle of the auxiliary vision, the high-frequency attitude of the IMU, the three-dimensional velocity of the DVL, and the absolute position of the USBL, and outputs the six-degree-of-freedom pose of the AUV in real time. This ensures end-effector attitude stability, improves system robustness and environmental adaptability, and solves the problems of not being able to provide complete attitude information and poor anti-disturbance capability in the near-range visual failure zone.

This invention discloses a method and system for visual enhancement of underwater robots in turbid waters, relating to the fields of machine vision and image restoration technology. The method includes: acquiring a sequence of original color images collected in real-time by the underwater robot; mapping the pixel intensity of the original color image sequence to a complex space to construct a complex domain analytic signal; extracting the multi-directional spatial gradient tensor of the original color image, and calculating pseudo-polarization information and environmental characterization parameters accordingly; constructing a virtual phase compensation operator using the pseudo-polarization information and the environmental characterization parameters; wherein the pseudo-polarization information drives the compensation intensity of the virtual phase compensation operator, and the environmental characterization parameters are used to locally weight the compensation intensity. Its beneficial effects include: correcting edge blurring and texture obfuscation caused by wavefront phase disturbances, and significantly improving the edge steepness of structural contours in the image.

The application relates to the technical field of underwater robots, in particular to a module connecting device of a modular AUV, which belongs to the technical field of modular underwater robots, and has the advantages of simple structure, reasonable design, convenient use, standard specification and the like, realizes sealing and electrical connection at the same time in structural connection, realizes mechanical module replacement and electronic function module replacement between two modules quickly by using few connecting screws, the installation and dismounting processes are very convenient, the standardization of the split modular AUV interface is realized, and the serialization and standardization application of the AUV become reality.

The invention relates to the technical field of underwater robots, and discloses a control method and device of an underwater robot. The method comprises the following steps: acquiring a moving path of an underwater robot, first data of an inertial odometer and second data of water; wherein the first data comprises acceleration data and angular velocity data, and the second data comprises the flow velocity of water; determining a target position of the underwater robot according to the first data; and controlling the underwater robot to move based on the target position, the moving path corresponding to the target position and the flow velocity of the water.

The application provides a ROV recovery device and a use method thereof, relates to the technical field of underwater robots, and comprises a remote control unit for receiving control instructions and displaying system state information; a cable arranging and executing unit arranged on a base and used for guiding the orderly arrangement of a cable; a power transmission unit arranged on the base and used for providing the cable arranging and executing unit with power for winding and unwinding the cable and realizing synchronous transmission; and an intelligent sensing and control unit in signal connection with the remote control unit, the cable arranging and executing unit and the power transmission unit, used for acquiring position information and cable state information of the underwater robot and controlling the operation of the power transmission unit. The application can realize the automation and intelligentization of the ROV recovery process, effectively solves the technical problems of low efficiency, high risk and easy winding of the traditional recovery mode, and significantly improves the operation safety and multi-scene adaptability.

The application discloses a kind of underwater self-explosion barrier robots in the technical field of underwater robot, including fuselage, propeller, mechanical arm, attachment mechanism, observation instrument and charging mechanism;The propeller includes horizontal propeller and vertical propeller, the horizontal propeller and vertical propeller are symmetrically installed in the left and right sides of fuselage, the observation instrument is installed in the grabbing surface of fuselage, the attachment mechanism is installed in one end of horizontal propeller, and with the grabbing surface same direction;The mechanical arm is symmetrically installed in the upper and lower sides of fuselage, the mechanical arm has at least three degrees of freedom, the free end of the mechanical arm is provided with mechanical claw, the mechanical arm can be gripped with pincer type;The charging mechanism is installed in the non-grabbing surface of fuselage.The underwater self-explosion barrier robot provided by the application can be closely adsorbed on the surface of barrier, suitable for a variety of complex shape barriers, high applicability range and high stability, high barrier efficiency and low manufacturing cost.

The invention relates to the technical field of underwater robots, and discloses an underwater jacket detection system and method based on a flexible robot, the flexible robot is formed by alternately connecting a plurality of rigid modules and a plurality of flexible modules in series, and the shuttling flexibility of the flexible robot in gaps of complex components of the underwater jacket is effectively improved. Furthermore, the optical image, the acoustic image and the ultrasonic signal are synchronously acquired through the detection module, and the preprocessing of the control module and the transmission of the communication module are combined, so that the problem of insufficient information of the traditional single detection mode is avoided. Furthermore, the shore-based control platform generates an inspection path based on the target CAD model and controls the flexible robot to move, and receives processing data and generates a detection report, so that automation and precision of the detection process are realized, comprehensiveness and efficiency of underwater jacket detection are improved, and the detection efficiency of the underwater jacket is improved. The problem that a traditional ROV is limited by an umbilical cable and is difficult to move between narrow jacket structures for multi-angle fine detection is solved.

The invention relates to the technical field of underwater robots, in particular to a pipeline steering and driving underwater robot which comprises two frames, a control module is fixedly arranged between the two frames, driving mechanisms are arranged in the frames, steering mechanisms are arranged on the four sides of the side faces of the driving mechanisms, and auxiliary mechanisms are arranged on the lower sides of the driving mechanisms. The driving mechanism comprises a shell, a rotating frame, an electromagnetic coil and a fan blade block, and connecting pipes are arranged on the two sides of the shell in a mirror image mode. Driving, steering and buoyancy adjusting functions are highly integrated in an innovative pipeline system, the overall performance is remarkably improved, the core is that a hollow propeller is combined with a universal adjusting pipeline nozzle to serve as a power and course adjusting mechanism, the winding risk of underwater sundries is fundamentally avoided, and the overall performance is improved. And through cooperative operation of all the mechanisms, the robot is endowed with unprecedented omnidirectional maneuvering capability, rapid submerging and surfacing response and stable wall attachment detection performance, the structure is compact, and control is efficient.

The invention relates to an underwater robot based on autonomous navigation and a use method thereof, and belongs to the technical field of underwater robots. According to the autonomous navigation-based underwater robot and the use method thereof, the autonomous navigation-based underwater robot comprises a robot shell, a control end head is fixedly connected to the end part of the robot shell, a plurality of through holes are formed in the surface of the control end head, and the plurality of through holes are annularly and uniformly distributed along the surface of the control end head; the noise reduction propelling mechanism is installed in the robot shell, and the surface of the noise reduction propelling mechanism extends to the outer side of the robot shell; according to the device, the end, close to the robot shell, of the arranged propelling assembly continuously moves up and down in a reciprocating mode, a good forward moving effect can be formed in cooperation with the fluid assembly, obvious noise generated when propelling equipment works is avoided, in the process that the robot collects marine organism data, the situation that marine organisms are disturbed is reduced, and the service life of the robot is prolonged. And the accuracy of marine organism data collection is ensured.

A networked system architecture including hardware and software elements permits data transmission between underwater systems. The network architecture includes data transmission between underwater computers, instruments, robotic vehicles, human-occupied underwater habitats, and / or worn sensor devices. Data is transmitted over wired communication channels, wireless communication channels, or a combination thereof. The network is established independent of surface connectivity (e.g., a topside connection) and creates a Local Area Network (LAN) or Wide Area Network (WAN) specific to an underwater environment. A system administrator, such as a diver, operates an underwater and waterproof computer to control and operate an underwater and waterproof device (e.g., a robotic vehicle) over the LAN / WAN. The underwater device may be a remotely operated vehicle (ROV), an autonomous underwater vehicle (AUV), a drifting sensor, a moored sensor, or the like.

The invention discloses a multi-underwater robot cooperative formation control method, and belongs to the technical field of underwater robots. According to the method, the state quantity of the optimal nonlinear state space model of each AUV is determined by adopting a Hungary method, so that the problems of track intersection and collision between different AUVs in the formation transformation process can be avoided. Besides, under the condition that thrust is limited, a formation control objective function including a relative pose error term and a safety constraint penalty term is adopted, the distance between different AUVs is dynamically adjusted, and active avoidance and safe formation transformation are achieved.