CN109557917A - The method of the autonomous line walking of underwater robot and monitor surface - Google Patents

Abstract

The invention discloses a method for autonomous line patrolling and water surface monitoring of an underwater robot, comprising the following steps: S1. Presetting the motion path of the underwater robot and modeling; S2. Establishing an autonomous line patrolling control system for the underwater robot; S3. Underwater robot After sailing to the designated position, draw the SVG format picture of the underwater robot dynamically displaying its own information; S4. Start the sensor to collect the surrounding environment information of the underwater vehicle and the underwater robot's own data; S5. Use SOCKET network communication technology, Send the sensor data collected in step S4 to the host computer monitoring software; S6. Verify and unpack the received data in the host computer software, and dynamically display the correctly verified data in the SVG control. The invention can realize the autonomous line patrol of the underwater robot and can dynamically display the monitoring data, overcome the shortcomings of the existing data display, and the autonomous line patrol greatly improves the line patrol efficiency and accuracy of the underwater robot.

Description

The method of autonomous line patrol and water surface monitoring of underwater robot

technical field

The invention belongs to the field of data dynamic display and control of an underwater robot, and particularly relates to a method for autonomous line inspection and water surface monitoring of an underwater robot.

Background technique

In today's society, the development and utilization of terrestrial resources have become increasingly mature and perfect, and human beings have begun to develop and utilize marine resources. As a natural body, the ocean has a vast area and very rich natural resources, including rich biological resources, seabed mineral resources, seawater resources, ocean energy and ocean space resources. Therefore, in the development of marine land, the earlier the development is Longer-term development can be achieved by using sea-detailed resources. Up to now, 80% of animals still live in the marine environment.

Ocean development refers to the scientific research and development and utilization of the ocean and its natural resources and environmental conditions by human beings for certain purposes. Whether it is the development and utilization of seabed resources or marine energy and marine space resources, it involves the detection and maintenance of the state of marine facilities. Underwater robots have become an important tool for the detection of marine facilities, because underwater robots are convenient and flexible, have sufficient power, and are easy to carry different types of sensors, and are suitable for a variety of underwater operating environments. Therefore, it has great strategic significance for the research and development of underwater robots.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a method for autonomous line patrol and water surface monitoring of underwater robots, which can realize autonomous line patrol of underwater robots and dynamically display monitoring data, and overcome the shortcomings of existing data display. , and the autonomous line inspection greatly improves the line inspection efficiency and accuracy of the underwater robot.

For achieving the above object, the technical scheme adopted in the present invention is:

The method for autonomous line inspection and water surface monitoring of an underwater robot includes the following steps:

S1. Preset the motion path of the underwater robot and model the motion of the underwater robot;

S2. Establish an autonomous line patrol control system for an underwater robot to realize the autonomous line patrol function of the robot;

S3. After the underwater robot navigates to the designated position, draw an SVG image in which the underwater robot dynamically displays its own information;

S4. Start the sensor to collect the surrounding environment information of the underwater robot and the data of the underwater robot;

S5. Using the SOCKET network communication technology, the sensor data collected in step S4 is sent to the host computer monitoring software;

S6. Verify and unpack the received data in the host computer software, and dynamically display the correct verified data in the SVG control.

In step S1, a motion model of the underwater robot is established to facilitate the control of the motion state of the underwater robot (such as forward speed, forward direction, etc.); in step S5, the underwater robot and the host computer perform data communication, and the underwater robot Send the collected data to the host computer software through SOCKET network communication; in step S6, after the host computer receives the data sent by the underwater robot, it will first verify whether the data is correct, if the data is wrong, the data will be lost. If it is correct, the data packet is unpacked, a packet of data is split into separate data units, and finally the split data units are dynamically displayed in the SVG control software.

Preferably, the step S1 is specifically: setting an absolute coordinate system XOY representing the position of the underwater robot, the absolute coordinate system XOY is established based on the position of the floating mother ship relative to the ground, wherein the O point of the XOY coordinate system is the floating mother ship. The center point; the motion model of the underwater robot is as follows:

Vx=Vcosθ

Vy=Vsinθ

Among them, V is the linear velocity of the underwater robot, θ is the angle between the linear velocity V of the underwater robot and the coordinate axis X, w is the angular velocity of the underwater robot, and θ ₀ is the linear velocity V of the underwater robot and the coordinate axis X The initial value of the included angle, t is the movement time of the underwater robot; Vx is the speed of the underwater robot relative to the X axis of the coordinate axis, and Vy is the speed of the underwater robot relative to the Y axis of the coordinate axis.

The power of the underwater robot described in the present invention is provided by the underwater multi-degree-of-freedom underwater propeller, which has the functions of automatic depth and height determination. When the depth or height of the robot is certain, its motion can be It is regarded as a motion analysis on the same plane. At this time, multiple degrees of freedom can be regarded as only two degrees of freedom before and after. Therefore, we only need to consider the two thrusts generated by the front and rear thrusters of the robot to establish the forward and backward motion model of the robot. It can be seen that when the thrusts of the front and rear thrusters are equal, the robot moves in a straight line, and when the thrusts of the front and rear thrusters are not equal , the robot will turn. Therefore, the motion model of the underwater robot is simplified as:

Vx=Vcosθ

Vy=Vsinθ

From this motion model, we can know that when the thrusts generated by the front and rear thrusters are equal, the underwater robot will move forward. At this time, V>0, w=0, the robot will move in a straight line; When the thrusts of the left and right thrusters are not equal, the underwater robot will turn; when the thrust of the left thruster is greater than that of the right thruster, the robot will perform a clockwise turn, at this time w>0; when the thrust of the left thruster is greater than that of the right thruster When the thrust of the thruster is less than the thrust of the right thruster, the robot will turn counterclockwise, at this time w<0; when the thrusters of the first and last two degrees of freedom stop rotating, the robot stops moving on the horizontal plane, at this time V =0.

More preferably, by establishing the relative coordinate system xoy, the relative motion information of the underwater robot under water is converted into the absolute motion information of the relative earth; the relative coordinate system with the underwater robot as the center point is set to characterize the position of the underwater robot itself. xoy, and the relative coordinate system xoy and the absolute coordinate system XOY can be converted to each other. The specific conversion steps are:

Set P as the preset motion path of the underwater robot;

Set in the XOY coordinate system, O(Xo, Yo) represents the coordinates of the center point of the underwater robot at time t, and P(Xp, Yp) represents the coordinates of any point on the path P;

Set in the xoy coordinate system, 0(x _o , y _o ) represents the coordinates of the center point of the underwater robot at time t, and p(x _p , y _p ) represents the coordinates of any point on the path P mapped to the xoy coordinate system;

Formula 1: ΔX=X _p -X _o

ΔY=Y _p -Y _o

Equation 2: x _p = ΔXcosθ-ΔYsinθ

y _p =ΔXsinθ-ΔYsinθ

where x _o =0, y _o =0

According to formula 1 and formula 2, the conversion between the absolute coordinate system and the relative coordinate system of the underwater robot is realized;

Equation 3: X _p = x _p cosθ+y _p sinθ+X _o

Y _p = -x _p sinθ+y _p cosθ+Y _o

According to formula 3, the transformation between the relative coordinate system and the absolute coordinate system of the underwater robot is realized.

The information of the underwater movement of the underwater robot is represented by relative coordinates, but when performing other calculations and characterizations on the robot, it is necessary to convert this information into data relative to the ground, that is, to characterize the relative coordinates of the underwater robot. Convert between absolute coordinates.

More preferably, the preset motion path of the underwater robot is set as a straight line, a curve, a polyline or a circle.

Further preferably, the preset movement path of the underwater robot is set as a polyline. The path is set as a polyline, mainly considering the practical application scenarios of underwater robots.

Preferably, in the step S2, the autonomous line-following control system includes two variables, a forward speed and an angular speed, and the forward speed and the angular speed are respectively used to control the speed and direction of the advance of the underwater robot. Through the continuous adjustment of the speed and direction of the underwater robot, the autonomous line inspection process of the underwater robot is completed.

More preferably, the forward speed of the underwater robot is continuously adjusted by the following formula:

V=(180°-β)/180*Vmax

Among them, β represents the angle between the current orientation of the underwater robot and the preset motion path, that is, the angle deviation; Vmax represents the speed of the underwater robot at full speed, which is generally 1m/s to 2m/s in industry.

In the process of autonomous line patrol, the control of the forward speed of the underwater robot is based on expert driving experience rules. In the actual line patrol process, the forward speed should be controlled according to the path conditions and the quality of the completed line. Among them, the condition of the line tracking path and the quality of the line tracking that has been completed can be described by two control quantities, namely the position deviation and the angle deviation of the preset motion path.

Select the angle between the orientation of the underwater robot at the current moment and the preset motion path, that is, the angle deviation for evaluation. When the angle deviation is small, it means that the underwater robot is basically correct in line inspection and can move forward at a higher speed. On the contrary, when the angle deviation is small When the angle deviation is large, it indicates that the direction of the robot is wrong, and the robot needs to adjust its movement direction. At this time, it can move forward at a small speed. We set the speed of the underwater robot to change continuously, through the formula V=(180°-β) /180*Vmax realizes the continuous adjustment of the forward speed of the underwater robot.

More preferably, use the adaptive PID control algorithm to control the angular velocity of the underwater robot in the forward process, and adjust the forward angular velocity of the underwater robot by the following formula:

w(n)=k ₁ x _p +k ₂ θ _p +k ₃ w(n-1)+k ₄ w(n-2)

Among them, x _p represents the position deviation of the underwater robot relative to the planned path at the nth time; θp represents the angular deviation of the underwater robot relative to the planned path at the nth time; w(n) represents the angular velocity of the underwater robot at the nth time; w (n-1) represents the angular velocity of the underwater robot at the n-1th time; w(n-2) represents the angular velocity of the underwater robot at the n-2th time; k ₁ represents the position deviation coefficient of the underwater robot at the nth time; k ₂ represents the angle deviation coefficient of the underwater robot at the nth moment; k ₃ represents historical reference data, generally selected as 0.33; k ₄ represents historical reference data, generally selected as 0.33; k ₁ and k ₂ are determined according to the current driving state of the underwater robot, Realize the angular velocity adjustment of the underwater robot.

A PID controller (proportional-integral-derivative controller) is a feedback loop component common in industrial control applications, consisting of a proportional unit P, an integral unit I and a derivative unit D. Among them, the mathematical expression of the proportion (P) part is:

u(t)=K _p e(t)

The main function of the proportional controller is to respond to the deviation signal in the system in a timely and proportional manner. As long as the system deviation signal appears, the regulator will produce the corresponding control effect at the fastest speed, so that the control system can be controlled. The output quantity of the α changes in the direction of decreasing error, and the strength of its control effect is mainly determined by the proportional coefficient Kp. When the value of Kp increases, the response speed of the system increases, and the corresponding system error will decrease. Small, but unreasonable proportional coefficient Kp may cause the system to overshoot, oscillate, or even become unstable, but if Kp is too small, the response speed of the system will be slowed down, which will lead to long system control time and poor accuracy. , which makes the dynamic characteristics of the system worse. Only by selecting the appropriate proportional coefficient Kp, can the control effect of the controlled system be achieved quickly and optimally.

The mathematical expression for the integral (I) part is:

The purpose of introducing integral in the controller is to eliminate the static error of the controlled system, so as to ensure that the controlled object can achieve no static error tracking when the system is in a steady state. As long as e(t) is not 0, the output result u(t) will not be 0. The controlled quantity is adjusted through the cumulative effect of integral control, thereby reducing the system deviation until the deviation is reduced to 0. If the integral coefficient Ti is too large, the integral effect will be weak, and it will take a long time for the controlled system to eliminate the static error, but no oscillation reaction will occur; if the integral coefficient Ti is too small, the controlled system needs a shorter time to eliminate the static error. , prone to vibration.

The mathematical expression for the differential (D) part is:

The purpose of introducing differential in the controller is to speed up the control process. When the system deviation occurs, the controlled system will quickly adjust in advance according to the direction of deviation change, and eliminate the system deviation in advance. The strength of the differential action is determined by the differential coefficient Td. When Td is larger, the differential control effect will be more obvious. When Td is smaller, the differential control effect will be weaker; Overshoot phenomenon, so that the system can quickly tend to a stable state.

There are two commonly used methods to obtain PID parameters: one is to establish an accurate mathematical model in advance according to the controlled object, and then we can easily calculate the control parameters of the controlled object. Another method is to use the experimental method to test, and we obtain the parameters of the controlled object through the analysis of the experimental data. In the traditional classical PID control system, the PID parameters have been set before the control process, and cannot be changed in the middle of the controlled process. If the controlled object model changes during the control process, the parameters are invalid and cannot be well controlled. The controlled object, in fact, the controlled object needs different control parameters at different stages due to the changing underwater environment. On the control algorithm, an adaptive PID control algorithm is proposed, which can choose different control parameters for us according to different external environments.

The classical PID control expression is expressed as:

u(n)=Kp{e(n)+T/Ti[e(n)-e(n-1)]}+u _{0 =} up (n)+u _i (n)+u _d (n) +u ₀

In the above formula, we call u _p (n)=K _p e(n) the proportional term, is the differential term, and _ud (n)=KpTd/T[e(n)-e(n-1)] is the integral term.

After analyzing the motion model of the underwater robot in step S1, it can be known that the direction control of the robot is controlled by controlling its angular velocity w. In actual operation, the motion environment of the robot changes all the time, and its motion direction is in the Constantly changing, so the angular velocity w is jointly determined by the position deviation x _p and the direction deviation θp. On the basis of the above-mentioned classical PID algorithm, an adaptive PID control algorithm suitable for the angular velocity control of the underwater robot according to the present invention is designed:

w(n)=k ₁ x _p +k ₂ θ _p +k ₃ w(n-1)+k ₄ w(n-2).

In addition, according to the formula dθ=wdt→Δθ=∫wdt, we can easily obtain the variation of the angular velocity of the robot, and then obtain the movement direction of the underwater robot, and the changing movement direction of the robot determines the underwater robot to some extent. The motion trajectory of the robot is to make its motion trajectory coincide with the planned path as much as possible, so that the control requirements can be met.

Preferably, the step S3 specifically includes the following steps:

S301. Draw pictures in SVG format in the drawing software according to the graphic display form to be used;

S302. Use the drawn SVG graphics to calculate the coordinates and attributes of each control;

S303. Use the DOM interface to access the generated SVG image document, and create a new canvas in the SVG document according to the image size;

S304. Apply the changes of the SVG canvas to the SVG document, and refresh the interface display, thereby realizing the dynamic display of the underwater robot's own information.

The drawing software includes Adobe illustrator ("AI" for short), Method Draw, and Graphviz; the SVG diagram is composed of a series of controls, including: circle, triangle, square, arc, etc.; through the drawn SVG Figure, calculate the coordinates of each control relative to the origin, where the origin is defined as the upper left point of the entire SVG image; calculating the properties of each control is to determine the type of the control by judging the ID of each control, such as the control A circle, a square, a triangle, etc.

More preferably, the graphical display form includes text, indicator lights, progress bars, numbers, and graphs.

Preferably, the step S3 specifically includes the following steps:

S301. Draw pictures in SVG format in the drawing software according to the graphic display form to be used;

S302. Use the drawn SVG graphics to calculate the coordinates and attributes of each control;

S303. Use the DOM interface to access the generated SVG image document, and create a new canvas in the SVG document according to the image size;

S304. Apply the changes of the SVG canvas to the SVG document, and refresh the interface display, thereby realizing the dynamic display of the underwater robot's own information.

More preferably, the graphical display form includes text, indicator lights, progress bars, numbers, and graphs.

Compared with the prior art, the beneficial effects of the present invention are:

1. The present invention adopts the autonomous line inspection technology, and the improved self-adaptive PID algorithm is applied to the motion control of the underwater robot, which realizes the continuous adjustment of the forward speed of the robot and the self-adaptive PID adjustment of the angular speed, so that the operation time of the robot is reduced. At the same time, using the adaptive PID algorithm to change the three parameters of the PID online can make the controlled system more stable, and can achieve good control in the time-varying application scenario of the seabed Effect;

2. The present invention adopts dynamic display. Compared with the traditional method of directly displaying data in static controls, the present invention adopts the method of dynamically displaying data in SVG by using custom graphics, making full use of the programmable features of SVG format pictures, and developing a A dynamic interface that can dynamically display data.

Description of drawings

Fig. 1 is the working flow chart of the underwater robot according to Embodiment 1 to Embodiment 5 of the present invention;

FIG. 2 is a schematic diagram of the classic PID control system described in Embodiments 1 to 5 of the present invention;

3 is a process diagram of the autonomous line patrol control system of the underwater robot according to Embodiments 1 to 5 of the present invention;

4 is a schematic diagram of the angle change of pitch and heel of the underwater robot according to Embodiment 1 of the present invention at a certain moment;

5 is a schematic diagram of the underwater robot according to Embodiment 1 of the present invention showing the heading at a certain moment;

FIG. 6 is a schematic diagram of vertical depth or height display of the underwater robot according to Embodiment 1 of the present invention at a certain moment;

7 is a schematic diagram of the horizontal thrust display of the underwater robot according to Embodiment 1 of the present invention at a certain moment;

8 is a schematic diagram of the vertical thrust display of the underwater robot according to Embodiment 1 of the present invention at a certain moment;

FIG. 9 is a schematic diagram of the vertical manipulation thrust display of the underwater robot according to Embodiment 1 of the present invention at a certain moment;

10 is a schematic diagram of the energy management display of the underwater robot according to Embodiment 1 of the present invention at a certain moment;

11 is an effect diagram of the autonomous line patrol of the underwater robot in Embodiment 1 of the present invention;

12 is an effect diagram of the autonomous line patrol of the underwater robot in Embodiment 2 of the present invention;

13 is an effect diagram of the autonomous line patrol of the underwater robot in Embodiment 3 of the present invention;

14 is an effect diagram of the autonomous line patrol of the underwater robot in Embodiment 4 of the present invention;

15 is an effect diagram of the autonomous line patrol of the underwater robot in Embodiment 5 of the present invention;

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

The method for autonomous line inspection and water surface monitoring of an underwater robot is described with reference to Figure 1, including the following steps:

S1. Preset the motion path of the underwater robot and model the motion of the underwater robot: set the absolute coordinate system XOY representing the position of the underwater robot itself. The absolute coordinate system XOY is established based on the position of the floating mother ship relative to the ground, wherein The O point of the XOY coordinate system is the center point of the water mother ship; the motion model of the underwater robot is as follows:

Vx=Vcosθ

Vy=Vsinθ

Among them, V is the linear velocity of the underwater robot, θ is the angle between the linear velocity V of the underwater robot and the coordinate axis X, w is the angular velocity of the underwater robot, and θ ₀ is the linear velocity V of the underwater robot and the coordinate axis X The initial value of the included angle, t is the movement time of the underwater robot; Vx is the speed of the underwater robot relative to the X axis of the coordinate axis, and Vy is the speed of the underwater robot relative to the Y axis of the coordinate axis.

By establishing the relative coordinate system xoy, the relative motion information of the underwater robot under water is converted into the absolute motion information relative to the earth; the relative coordinate system xoy with the underwater robot as the center point is set to represent the position of the underwater robot itself, and the relative The coordinate system xoy and the absolute coordinate system XOY can be converted to each other. The specific conversion steps are:

Set P as the preset motion path of the underwater robot, and set it as a polyline;

Set in the XOY coordinate system, O(Xo, Yo) represents the coordinates of the center point of the underwater robot at time t, and P(Xp, Yp) represents the coordinates of any point on the path P;

Set in the xoy coordinate system, 0(x _o , y _o ) represents the coordinates of the center point of the underwater robot at time t, and p(x _p , y _p ) represents the coordinates of any point on the path P mapped to the xoy coordinate system

Formula 1: ΔX=X _p -X _o

ΔY=Y _p -Y _o

Equation 2: x _p = ΔXcosθ-ΔYsinθ

y _p =ΔXsinθ-ΔYsinθ

where x _o =0, y _o =0

According to formula 1 and formula 2, the conversion between the absolute coordinate system and the relative coordinate system of the underwater robot is realized;

Equation 3: X _p = x _p cosθ+y _p sinθ+X _o

Y _p = -x _p sinθ+y _p cosθ+Y _o

According to formula 3, the transformation between the relative coordinate system and the absolute coordinate system of the underwater robot is realized.

S2. Establish an underwater robot autonomous line inspection control system to realize the robot underwater autonomous line inspection function: the autonomous line inspection control system includes two variables: forward speed and angular speed, and the forward speed and angular speed are respectively used to control the underwater robot The speed and direction of progress. The autonomous line patrol control process is shown in Figure 3.

The forward speed of the underwater robot is continuously adjusted by the following formula:

V=(180°-β)/180*Vmax

Among them, β represents the angle between the current orientation of the underwater robot and the preset motion path, that is, the angle deviation; Vmax represents the speed of the underwater robot at full speed.

After analyzing the motion model of the underwater robot, it can be known that the direction control of the robot is controlled by its angular velocity w. In actual operation, the motion environment of the robot is constantly changing, and its motion direction is constantly changing. Therefore, the angular velocity w is determined by the position deviation x _p and the direction deviation θp. Therefore, on the basis of the classical PID algorithm (as shown in Figure 2), it is proposed to use the adaptive PID control algorithm to control the underwater robot in the forward process. The angular velocity of the underwater robot is adjusted by the following formula:

w(n)=k ₁ x _p +k ₂ θ _p +k ₃ w(n-1)+k ₄ w(n-2)

Among them, x _p represents the position deviation of the underwater robot relative to the planned path at the nth time; θp represents the angular deviation of the underwater robot relative to the planned path at the nth time; w(n) represents the angular velocity of the underwater robot at the nth time; w (n-1) represents the angular velocity of the underwater robot at the n-1th time; w(n-2) represents the angular velocity of the underwater robot at the n-2th time; k ₁ represents the position deviation coefficient of the underwater robot at the nth time; k ₂ represents the angle deviation coefficient of the underwater robot at the nth moment; k ₃ represents historical reference data, generally selected as 0.33; k ₄ represents historical reference data, generally selected as 0.33; k ₁ and k ₂ are determined according to the current driving state of the underwater robot, Realize the angular velocity adjustment of the underwater robot.

S3. After the underwater robot navigates to the designated position, draw an SVG image in which the underwater robot dynamically displays its own information;

S301. Draw pictures in SVG format in Adobe illustrator according to the display form of curve graphs;

S302. Use the drawn SVG graphics to calculate the coordinates and attributes of each control;

S303. Use the DOM interface to access the generated SVG image document, and create a new canvas in the SVG document according to the image size;

S304. Apply the changes of the SVG canvas to the SVG document, and refresh the interface display, thereby realizing the dynamic display of the underwater robot's own information.

S4. Start the sensor to collect the information of the surrounding environment of the underwater vehicle and the data of the underwater vehicle;

S5. Using SOCKET network communication technology, the sensor data collected in step S6 is sent to the host computer monitoring software;

S6. Verify and unpack the received data in the host computer software, and dynamically display the correct verified data in the SVG control.

4 is a schematic diagram of the angle change of pitch and heel of the underwater robot according to the present invention at a certain moment, and the angle change of pitch and heel and the validity of the data are displayed graphically in a first-person perspective. In Figure 4, the rotation of the boundary line of the two colors represents the change of heel, and the movement of the boundary line up and down represents the change of trim.

FIG. 5 is a schematic diagram of the underwater robot of the present invention displaying the heading at a certain moment, and the angle between the heading and the target heading and the validity of the data are displayed graphically by a disc pointer. In Figure 5, the big arrow in the middle and the number in the middle represent the heading, the small arrow and the number above represent the target heading; when the data is invalid, the number part displays "???", and the graph part does not display the arrow.

Fig. 6 is a schematic diagram of vertical depth or height display of the underwater robot according to the present invention at a certain moment, and the deviation of the depth or height from the target value and the validity of the data are displayed in a vertical graphic manner. In Figure 6, the upper number represents the current depth or height of the underwater robot, the number in the middle shows the target value, and the arrow and number on the left show the sensor value; when the data is invalid, it is cleared to the background color.

FIG. 7 is a schematic diagram of the horizontal thrust display of the underwater robot according to the present invention at a certain moment, which graphically displays the horizontal plane synthetic thrust command and the thruster thrust command, and the validity of the data. The four on the outer ring are the thrust of the propeller, showing the percentage, the direction of the arrow indicates positive and negative, the positive value points to the middle, and the negative value points to the upper and lower outer sides. The middle three are synthetic thrust commands, and the movement of the instruction line on the thrust command indicates front and rear, left and right, and rotation commands. When the data is invalid, the numerical part displays "???" and the graph part clears to the background color.

FIG. 8 is a schematic diagram of the vertical thrust display of the underwater robot according to the present invention at a certain moment, which graphically displays the vertical composite thrust command and the thruster thrust command, as well as the validity of the data. The three outer circles are the thrust of the thruster, and the direction of movement of the indicator line indicating the thrust of the thruster indicates positive and negative, positive values are upward, and negative values are downward. The middle three are composite thrust commands, and the movement of the indicator lines on the composite thrust command indicates heave, pitch, and heel commands. When the data is invalid, the numerical part displays "???" and the graph part clears to the background color.

9 is a schematic diagram of the vertical steering thrust display of the underwater robot according to the present invention at a certain moment, the vertical steering thrust command is displayed graphically, and the movement of the indicator line on the vertical steering thrust command indicates heave, pitch, lateral dump command. Data range: -100 to +100.

Fig. 10 is a schematic diagram of the energy management display of the underwater robot according to the present invention at a certain time, showing the energy management limit ratios in a graphic form, which are the horizontal, vertical, and tool energy limit ratios respectively. Data range: 0 to 100.

Before the autonomous line patrol of the robot starts, there is a certain deviation between the robot's initial path and the preset path. After the autonomous line patrol function is enabled, the deviation between the robot's motion path and the preset path will become smaller and smaller. The actual motion path of the underwater robot will tend to be basically the same as the preset path. The effect diagram of the autonomous line patrol in this embodiment is shown in FIG. 11 . It can be seen from FIG. 11 that, by using the autonomous line patrol method of the present invention, the actual motion path of the underwater robot is basically the same as the preset path.

Example 2

This embodiment is basically the same as Embodiment 1, except that the preset motion path of the underwater robot is set as a straight line.

The effect diagram of the autonomous line patrol in this embodiment is shown in FIG. 12 . It can be seen from FIG. 12 that, using the autonomous line patrol method of the present invention, the actual motion path of the underwater robot is basically the same as the preset path.

Example 3

This embodiment is basically the same as Embodiment 1, except that the preset motion path of the underwater robot is set as a circle.

The effect diagram of the autonomous line patrol in this embodiment is shown in FIG. 13 . It can be seen from FIG. 13 that using the autonomous line patrol method of the present invention, the actual motion path of the underwater robot is basically the same as the preset path.

Example 4

This embodiment is basically the same as Embodiment 1, except that the preset motion path of the underwater robot is set as an ellipse.

The effect diagram of the autonomous line patrol in this embodiment is shown in FIG. 14 . It can be seen from FIG. 14 that the actual motion path of the underwater robot is basically the same as the preset path by using the autonomous line patrol method of the present invention.

Example 5

This embodiment is basically the same as Embodiment 1, except that the preset motion path of the underwater robot is set to any path.

The effect diagram of the autonomous line patrol in this embodiment is shown in FIG. 15 . It can be seen from FIG. 15 that the actual motion path of the underwater robot is basically the same as the preset path by using the autonomous line patrol method of the present invention.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. the method for autonomous line patrol and water surface monitoring of underwater robot, is characterized in that, comprises the following steps: S1. Preset the motion path of the underwater robot and model the motion of the underwater robot; S2. Establish an autonomous line patrol control system for an underwater robot to realize the autonomous line patrol function of the robot; S3. After the underwater robot navigates to the designated position, draw an SVG image in which the underwater robot dynamically displays its own information; S4. Start the sensor to collect the surrounding environment information of the underwater robot and the data of the underwater robot; S5. Using the SOCKET network communication technology, the sensor data collected in step S4 is sent to the host computer monitoring software; S6. Verify and unpack the received data in the host computer software, and dynamically display the correct verified data in the SVG control. 2. the method for autonomous line inspection and water surface monitoring of underwater robot according to claim 1, is characterized in that, described step S1 is specifically: set the absolute coordinate system XOY that characterizes the position of underwater robot itself, and the absolute coordinate system XOY is Based on the position of the floating mother ship relative to the ground, the O point of the XOY coordinate system is the center point of the floating mother ship; the motion model of the underwater robot is as follows: Vx=Vcosθ Vy=Vsinθ Among them, V is the linear velocity of the underwater robot, θ is the angle between the linear velocity V of the underwater robot and the coordinate axis X, w is the angular velocity of the underwater robot, and θ ₀ is the linear velocity V of the underwater robot and the coordinate axis X The initial value of the included angle, t is the movement time of the underwater robot; Vx is the speed of the underwater robot relative to the X axis of the coordinate axis, and Vy is the speed of the underwater robot relative to the Y axis of the coordinate axis. 3. the method for autonomous line inspection and water surface monitoring of underwater robot according to claim 2, is characterized in that, by setting up relative coordinate system xoy, the relative motion information of underwater robot under water is converted into the absolute motion information of relative earth ; Set up the relative coordinate system xoy with the underwater robot as the center point that represents the position of the underwater robot, and the relative coordinate system xoy and the absolute coordinate system XOY can be converted to each other, and the specific conversion steps are: Set P as the preset motion path of the underwater robot; Set in the XOY coordinate system, O(Xo, Yo) represents the coordinates of the center point of the underwater robot at time t, and P(Xp, Yp) represents the coordinates of any point on the path P; Set in the xoy coordinate system, 0(x _o , y _o ) represents the coordinates of the center point of the underwater robot at time t, and p(x _p , y _p ) represents the coordinates of any point on the path P mapped to the xoy coordinate system; Formula 1: ΔX=X _p -X _o ΔY=Y _p -Y _o Equation 2: x _p = ΔXcosθ-ΔYsinθ y _p =ΔXsinθ-ΔYsinθ where x _o =0, y _o =0 According to formula 1 and formula 2, the conversion between the absolute coordinate system and the relative coordinate system of the underwater robot is realized; Equation 3: X _p = x _p cosθ+y _p sinθ+X _o Y _p = -x _p sinθ+y _p cosθ+Y _o According to formula 3, the transformation between the relative coordinate system and the absolute coordinate system of the underwater robot is realized. 4 . The method for autonomous line patrol and water surface monitoring of an underwater robot according to claim 3 , wherein the preset motion path of the underwater robot is set as a straight line, a curve, a polyline or a circle. 5 . 5 . The method for autonomous line patrol and water surface monitoring of an underwater robot according to claim 4 , wherein the preset motion path of the underwater robot is set as a broken line. 6 . 6. The method for autonomous line patrol and water surface monitoring of an underwater robot according to claim 1, characterized in that, in the step S2, the autonomous line patrol control system comprises two variables of forward speed and angular velocity, and the forward line Speed and angular velocity are used to control the speed and direction of the underwater robot, respectively. 7. the method for autonomous line patrolling and water surface monitoring of underwater robot according to claim 6, is characterized in that, the forward speed of underwater robot is continuously adjusted by following formula: V=(180°-β)/180*Vmax Among them, β represents the angle between the current orientation of the underwater robot and the preset motion path, that is, the angle deviation; Vmax represents the speed of the underwater robot at full speed. 8. the method for autonomous line inspection and water surface monitoring of underwater robot according to claim 6, is characterized in that, utilizes adaptive PID control algorithm to control the angular velocity of underwater robot in the forward process, by following formula to underwater robot to adjust the forward angular velocity: w(n)=k ₁ x _p +k ₂ θ _p +k ₃ w(n-1)+k ₄ w(n-2) Among them, x _p represents the position deviation of the underwater robot relative to the planned path at the nth time; θp represents the angular deviation of the underwater robot relative to the planned path at the nth time; w(n) represents the angular velocity of the underwater robot at the nth time; w (n-1) represents the angular velocity of the underwater robot at the n-1th time; w(n-2) represents the angular velocity of the underwater robot at the n-2th time; k ₁ represents the position deviation coefficient of the underwater robot at the nth time; k ₂ represents the angle deviation coefficient of the underwater robot at the nth moment; k ₃ represents historical reference data, generally selected as 0.33; k ₄ represents historical reference data, generally selected as 0.33; k ₁ and k ₂ are determined according to the current driving state of the underwater robot, Realize the angular velocity adjustment of the underwater robot. 9. The method for autonomous line patrolling and water surface monitoring of an underwater robot according to claim 1, wherein the step S3 specifically comprises the following steps: S301. Draw pictures in SVG format in the drawing software according to the graphic display form to be used; S302. Use the drawn SVG graphics to calculate the coordinates and attributes of each control; S303. Use the DOM interface to access the generated SVG image document, and create a new canvas in the SVG document according to the image size; S304. Apply the changes of the SVG canvas to the SVG document, and refresh the interface display, thereby realizing the dynamic display of the underwater robot's own information. 10 . The method for autonomous line patrol and water surface monitoring of an underwater robot according to claim 9 , wherein the graphical display form includes text, indicator lights, progress bars, numbers, and graphs. 11 .