CN111745648A - Underwater robot control method and device - Google Patents
Underwater robot control method and device Download PDFInfo
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- CN111745648A CN111745648A CN202010533080.2A CN202010533080A CN111745648A CN 111745648 A CN111745648 A CN 111745648A CN 202010533080 A CN202010533080 A CN 202010533080A CN 111745648 A CN111745648 A CN 111745648A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a control method and a device of an underwater robot, which comprises the following steps: and acquiring the position information of the underwater robot, wherein the position information comprises the coordinate parameter of the underwater robot and the engine operation parameter. And judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state. And when the underwater robot is judged to be in the trapped state, sending an inflation signal to an inflation electromagnetic valve of the trap-free air bag. When the underwater robot is judged to enter the escaping state from the trapped state, an air discharging signal is sent to an air discharging electromagnetic valve of the escaping air bag, and the air is recycled to the air storage tank through the compressor by the air discharging electromagnetic valve. The method can eliminate the buoyancy of the air bag immediately after the underwater robot is out of the trouble, so that the underwater robot does not need to interrupt the working process.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a control method and a control device for an underwater robot.
Background
The existing underwater robot often sinks into silt and cannot get rid of the silt in the underwater working process. The existing underwater robot is usually taken out of the water by arranging an air bag to inflate, so that the buoyancy of the underwater robot is increased, and the underwater robot is taken out of the water. The existing underwater robot escaping mode has the defects that: when the underwater robot is out of the water, the underwater robot can float out of the water, so that the working process of the underwater robot is interrupted.
Disclosure of Invention
The invention aims to provide a control method of an underwater robot, which aims to solve the technical problems that the underwater robot needs to open all air bags to pull out silt from a robot body and cause interruption of a working process when the underwater robot is trapped in the silt and is released through the air bags.
The invention provides a control method of an underwater robot, which comprises the following steps:
and acquiring the position information of the underwater robot, wherein the position information comprises the coordinate parameter of the underwater robot and the engine operation parameter.
And judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state.
And when the underwater robot is judged to be in the trapped state, sending an inflation signal to an inflation electromagnetic valve of the trap-free air bag.
When the underwater robot is judged to enter the escaping state from the trapped state, an air discharging signal is sent to an air discharging electromagnetic valve of the escaping air bag, and the air is recycled to the air storage tank through the compressor by the air discharging electromagnetic valve.
Further, the step of judging the operation state of the underwater robot according to the coordinate parameter of the underwater robot and the engine operation parameter includes: when the coordinate parameters of the underwater robot are unchanged and the running parameters of the engine are normal, judging that the underwater robot is in a trapped state; and when the coordinate parameters of the underwater robot change and the running parameters of the engine are normal, judging that the underwater robot is in a escaping state.
Further, the step of judging the operation state of the underwater robot according to the coordinate parameter of the underwater robot and the engine operation parameter includes: the coordinate parameters of the underwater robot comprise: three-dimensional coordinates of the underwater robot; the engine operating parameters include: an engine speed parameter.
Further, when the underwater robot is judged to be in the trapped state, the step of sending an inflation signal to an inflation solenoid valve of the air bag for escaping from the trapped state comprises the following steps: sending a first inflation signal to an inflation electromagnetic valve of the escaping air bag and detecting the running state of the underwater robot, wherein the time when the inflation electromagnetic valve is in an open state is controlled to be first open time by the first inflation signal; and if the underwater robot is judged to be still in the trapped state, sending a second inflation signal to an inflation electromagnetic valve of the trapping-free air bag, wherein the second inflation signal controls the time of the inflation electromagnetic valve in the open state to be a second open time.
Further, when the underwater robot is judged to be in the trapped state, the step of sending an inflation signal to an inflation solenoid valve of the air bag for escaping from the trapped state comprises the following steps: the air bag for escaping from the stranded air comprises a first air bag and a second air bag, the first air bag is connected with a first inflation electromagnetic valve, and the second air bag is connected with a second inflation electromagnetic valve; and when the underwater robot is judged to be in the trapped state, sending a first branch inflation signal to a first inflation solenoid valve of the first air bag.
Further, a first coordinate acquisition device is arranged at a corresponding position of the first air bag, a second coordinate acquisition device is arranged at a corresponding position of the second air bag, the first coordinate acquisition device acquires a first three-dimensional coordinate of the first air bag, and the second coordinate acquisition device acquires a second three-dimensional coordinate of the second air bag; and when the underwater robot is judged to be in the trapped state, judging that the first air bag or the second air bag of the underwater robot is in the trapped direction according to the first three-dimensional coordinate and the second three-dimensional coordinate, and sending an inflation signal to an inflation electromagnetic valve of the air bag for escaping from the trapped direction.
Further, the step of determining that the first air bag or the second air bag of the underwater robot is in the trapped direction according to the first three-dimensional coordinate and the second three-dimensional coordinate includes: and comparing the z coordinate of the first three-dimensional coordinate with the z coordinate of the second three-dimensional coordinate, and judging the trapped air bag with smaller z coordinate as the trapped air bag in the trapped direction when the difference value of the z coordinates exceeds a threshold value.
The present invention also provides an underwater robot control device, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the position information of the underwater robot, and the position information comprises the coordinate parameter of the underwater robot and the engine operation parameter;
the judging module is used for judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state;
the air inflation module is used for sending an air inflation signal to an air inflation solenoid valve of the escaping air bag when the underwater robot is judged to be in the trapped state;
and the air discharging module is used for sending an air discharging signal to an air discharging electromagnetic valve of the escaping air bag when the underwater robot is judged to enter the escaping state from the trapped state, and the air discharging electromagnetic valve recovers air to the air storage tank through the compressor.
The invention also provides computer equipment, which comprises a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, when the underwater robot control device operates, the processor and the memory are communicated through the bus, and the processor executes the machine readable instructions to execute the steps of the underwater robot control method.
The present invention also provides a storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of any of the underwater robot control methods described above.
The underwater robot control method provided by the invention judges the running state of the underwater robot by detecting the coordinate parameters and the engine running parameters in real time, sends an inflation signal to an inflation electromagnetic valve of the escaping airbag in the trapped state, the inflation electromagnetic valve injects gas into the escaping airbag according to the inflation signal, the volume of the escaping airbag is expanded after being inflated to increase the buoyancy of the underwater robot, so that the underwater robot enters the escaping state from the trapped state, and then sends a deflation signal to a deflation electromagnetic valve of the escaping airbag, the deflation electromagnetic valve recovers the gas to the gas storage tank through a compressor, the buoyancy is lost after the escaping airbag is deflated, and the underwater robot continues to operate in the normal buoyancy state. The method can eliminate the buoyancy of the air bag immediately after the underwater robot is out of the trouble, so that the underwater robot does not need to interrupt the working process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a method for controlling an underwater robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an underwater robot control device provided in an embodiment of the present invention;
fig. 3 is a schematic diagram of a computer device according to an embodiment of the present invention.
Icon: 100-an acquisition module; 200-a decision module; 300-an inflation module; 400-air release module. 500-a computer device; 501-a memory; 502-a processor.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
In order to solve the problem of interruption of the working process caused by direct floating out of the water after the underwater robot is out of the water, the embodiment provides a control method of the underwater robot, as shown in fig. 1, including the following steps:
s110: acquiring position information of the underwater robot, wherein the position information comprises a coordinate parameter of the underwater robot and an engine operation parameter;
in the control method, a server of a monitoring ship control center on the water surface acquires position information of the underwater robot, and the method for acquiring the position information comprises the following steps: a positioning device arranged on the underwater robot sends position information to a server in real time;
s120: judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state;
the coordinate parameters of the underwater robot comprise three-dimensional coordinates, the real-time position and the real-time underwater depth of the underwater robot can be known through the three-dimensional coordinates, the information such as the advancing speed, the acceleration and the like of the underwater robot can be calculated, and the running parameters of the engine comprise the information such as the rotating speed of the engine;
when the rotating speed of the engine is not zero but the advancing speed of the underwater robot is zero, the running state of the underwater robot can be judged to be a trapped state, and when the rotating speed of the engine is not zero and the advancing speed of the underwater robot is not zero, the running state of the underwater robot is judged to be a trapped state;
s130: when the underwater robot is judged to be in the trapped state, sending an inflation signal to an inflation electromagnetic valve of the trap-free air bag; the inflation signal can be a pulse signal, the inflation electromagnetic valve is opened according to the pulse signal and injects gas into the escaping airbag, the buoyancy is increased after the escaping airbag expands and drives the underwater robot to float upwards to realize escaping;
s140: when the underwater robot is judged to enter the escaping state from the trapped state, an air release signal is sent to an air release electromagnetic valve of the escaping air bag, the air release electromagnetic valve recovers air to the air storage tank through a compressor, the air release signal can be a pulse signal, the air release electromagnetic valve is opened according to the air release signal and recovers the air to the air storage tank from the escaping air bag through the compressor, and buoyancy is reduced or disappears after the escaping air bag is compressed, so that the underwater robot falls back to continue working.
The running state of the underwater robot is judged by detecting the coordinate parameters and the engine running parameters in real time, an inflation signal is sent to an inflation electromagnetic valve of the escaping airbag in the trapped state, the inflation electromagnetic valve injects gas into the escaping airbag according to the inflation signal, the escaping airbag expands in volume after being inflated to increase the buoyancy of the underwater robot so that the underwater robot enters the escaping state from the trapped state, an deflation signal is sent to a deflation electromagnetic valve of the escaping airbag, the deflation electromagnetic valve recovers the gas to the gas storage tank through a compressor, the buoyancy is lost after the escaping airbag is deflated, and the underwater robot continues to work in a normal buoyancy state. The method can eliminate the buoyancy of the air bag immediately after the underwater robot is out of the trouble, so that the underwater robot does not need to interrupt the working process.
Example two
The present embodiment provides a preferable control method of an underwater robot, including the steps of:
acquiring position information of the underwater robot, wherein the position information comprises a coordinate parameter of the underwater robot and an engine operation parameter;
judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state, and when the coordinate parameters of the underwater robot are not changed and the running parameters of the engine are normal, judging that the underwater robot is in the trapped state; when the coordinate parameter of the underwater robot changes and the running parameter of the engine is normal, judging that the underwater robot is in a escaping state; the coordinate parameters of the underwater robot comprise: three-dimensional coordinates of the underwater robot; the engine operating parameters include: an engine speed parameter.
When the underwater robot is judged to be in the trapped state, sending a first inflation signal to an inflation electromagnetic valve of the trapped air bag and detecting the running state of the underwater robot, wherein the time when the inflation electromagnetic valve is in the open state is controlled to be the first open time by the first inflation signal; and if the underwater robot is judged to be still in the trapped state, sending a second inflation signal to an inflation electromagnetic valve of the trapping-free air bag, wherein the second inflation signal controls the time of the inflation electromagnetic valve in the open state to be a second open time.
According to the scheme, the inflation electromagnetic valve is controlled to inject quantitative gas into the escaping airbag through the inflation signal, the control method can avoid that the underwater robot directly floats out of the water surface due to the fact that the escaping airbag is expanded too much, and even if the gas in the escaping airbag is recovered, the escaping airbag cannot continue to work due to the fact that the volume of the escaping airbag spreading on the water surface is too large. The air bag can be filled with a certain amount of air accurately and quantitatively to meet the escaping condition, and then the air bag can be contracted by recycling the air to continue working. If the underwater robot cannot be taken out of the position by the first inflation signal, the underwater robot is continuously inflated by quantitative gas according to the second inflation signal to take out of the position.
When the underwater robot is judged to enter the escaping state from the trapped state, an air discharging signal is sent to an air discharging electromagnetic valve of the escaping air bag, and the air is recycled to the air storage tank through the compressor by the air discharging electromagnetic valve.
EXAMPLE III
The underwater robot control method provided by the embodiment comprises the following steps:
acquiring position information of the underwater robot, wherein the position information comprises a coordinate parameter of the underwater robot and an engine operation parameter;
judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state;
when the underwater robot is judged to be in the trapped state, sending an inflation signal to an inflation electromagnetic valve of the trap-free air bag; the air bag for escaping from the stranded air comprises a first air bag and a second air bag, the first air bag is connected with a first inflation electromagnetic valve, and the second air bag is connected with a second inflation electromagnetic valve; and when the underwater robot is judged to be in the trapped state, sending a first branch inflation signal to a first inflation solenoid valve of the first air bag.
A first coordinate acquisition device is arranged at a corresponding position of the first air bag, a second coordinate acquisition device is arranged at a corresponding position of the second air bag, the first coordinate acquisition device acquires a first three-dimensional coordinate of the first air bag, and the second coordinate acquisition device acquires a second three-dimensional coordinate of the second air bag;
and when the underwater robot is judged to be in the trapped state, judging that the first air bag or the second air bag of the underwater robot is in the trapped direction according to the first three-dimensional coordinate and the second three-dimensional coordinate, and sending an inflation signal to an inflation electromagnetic valve of the air bag for escaping from the trapped direction.
Specifically, the z-coordinate of the first three-dimensional coordinate is compared with the z-coordinate of the second three-dimensional coordinate, and when the difference value of the z-coordinates exceeds a threshold value, the trapped air bag with the smaller z-coordinate is determined as the trapped air bag in the trapped direction.
According to the method, the trapped direction of the underwater robot is monitored in real time, and the air bag for escaping from the trapped direction is inflated at the first time when the underwater robot is in a trapped state, so that the technical problem that the underwater robot is trapped and deepened due to continuous operation of an engine is solved.
When the underwater robot is judged to enter the escaping state from the trapped state, an air discharging signal is sent to an air discharging electromagnetic valve of the escaping air bag, and the air is recycled to the air storage tank through the compressor by the air discharging electromagnetic valve.
According to the scheme, the air bag for escaping can be inflated to escape at the first time when the underwater robot is trapped, and the phenomenon that the underwater robot is trapped and deepened because the engine still normally works when the underwater robot is trapped is avoided.
Example four
The embodiment provides an underwater robot control method, which comprises the following steps:
acquiring position information of the underwater robot, wherein the position information comprises a coordinate parameter of the underwater robot and an engine operation parameter;
judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state;
when the underwater robot is judged to be in the trapped state, sending an inflation signal to an inflation electromagnetic valve of the trap-free air bag;
when the underwater robot is judged to enter the escaping state from the trapped state, an air discharging signal is sent to an air discharging electromagnetic valve of the escaping air bag, and the air is recycled to the air storage tank through the compressor by the air discharging electromagnetic valve.
The bottom of the escaping air bag is provided with a winch and a rotating shaft, after the escaping air bag receives the deflation signal and recovers the gas, the winch is started to rotate to recover the escaping air bag to the rotating shaft, and the escaping air bag after the gas is recovered is prevented from influencing the normal work of the underwater robot.
EXAMPLE five
The technical problem to be solved by the embodiment is as follows: when the underwater robot is out of the water, the underwater robot can float out of the water, so that the working process of the underwater robot is interrupted.
As shown in fig. 2, the present embodiment provides an underwater robot control device including:
the system comprises an acquisition module 100, a control module and a control module, wherein the acquisition module is used for acquiring position information of the underwater robot, and the position information comprises coordinate parameters of the underwater robot and engine operation parameters;
the judging module 200 is used for judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state;
the inflation module 300 is used for sending an inflation signal to an inflation solenoid valve of the escaping airbag when the underwater robot is judged to be in the trapped state;
and the air discharging module 400 is used for sending an air discharging signal to an air discharging electromagnetic valve of the escaping air bag when the underwater robot is judged to enter the escaping state from the trapped state, and the air discharging electromagnetic valve recovers air to the air storage tank through the compressor.
The running state of the underwater robot is judged by detecting the coordinate parameters and the engine running parameters in real time, an inflation signal is sent to an inflation electromagnetic valve of the escaping airbag in the trapped state, the inflation electromagnetic valve injects gas into the escaping airbag according to the inflation signal, the escaping airbag expands in volume after being inflated to increase the buoyancy of the underwater robot so that the underwater robot enters the escaping state from the trapped state, an deflation signal is sent to a deflation electromagnetic valve of the escaping airbag, the deflation electromagnetic valve recovers the gas to the gas storage tank through a compressor, the buoyancy is lost after the escaping airbag is deflated, and the underwater robot continues to work in a normal buoyancy state. The method can eliminate the buoyancy of the air bag immediately after the underwater robot is out of the trouble, so that the underwater robot does not need to interrupt the working process.
EXAMPLE six
As shown in fig. 3, a computer device 500 comprises a processor 502, a memory 501 and a bus, wherein the memory 501 stores machine-readable instructions executable by the processor 502, when the underwater robot control device is operated, the processor 502 communicates with the memory 501 through the bus, and the processor 502 executes the machine-readable instructions to execute the steps of the underwater robot control method.
EXAMPLE seven
A storage medium having stored thereon a computer program for performing the steps of any of the above described underwater robot control methods when executed by a processor 502.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An underwater robot control method is characterized by comprising the following steps:
acquiring position information of the underwater robot, wherein the position information comprises a coordinate parameter of the underwater robot and an engine operation parameter;
judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state;
when the underwater robot is judged to be in the trapped state, sending an inflation signal to an inflation electromagnetic valve of the trap-free air bag;
when the underwater robot is judged to enter the escaping state from the trapped state, an air discharging signal is sent to an air discharging electromagnetic valve of the escaping air bag, and the air is recycled to the air storage tank through the compressor by the air discharging electromagnetic valve.
2. The underwater robot control method of claim 1, wherein the step of judging the operation state of the underwater robot based on the coordinate parameter of the underwater robot and the engine operation parameter comprises:
when the coordinate parameters of the underwater robot are unchanged and the running parameters of the engine are normal, judging that the underwater robot is in a trapped state;
and when the coordinate parameters of the underwater robot change and the running parameters of the engine are normal, judging that the underwater robot is in a escaping state.
3. The underwater robot control method of claim 1, wherein the step of judging the operation state of the underwater robot based on the coordinate parameter of the underwater robot and the engine operation parameter comprises:
the coordinate parameters of the underwater robot comprise: three-dimensional coordinates of the underwater robot;
the engine operating parameters include: an engine speed parameter.
4. The underwater robot control method of claim 1, wherein the step of sending an inflation signal to an inflation solenoid valve of the escaping airbag when it is judged that the underwater robot is in the trapped state includes:
sending a first inflation signal to an inflation electromagnetic valve of the escaping air bag and detecting the running state of the underwater robot, wherein the time when the inflation electromagnetic valve is in an open state is controlled to be first open time by the first inflation signal;
and if the underwater robot is judged to be still in the trapped state, sending a second inflation signal to an inflation electromagnetic valve of the trapping-free air bag, wherein the second inflation signal controls the time of the inflation electromagnetic valve in the open state to be a second open time.
5. The underwater robot control method of claim 1, wherein the step of sending an inflation signal to an inflation solenoid valve of the escaping airbag when it is judged that the underwater robot is in the trapped state includes:
the air bag for escaping from the stranded air comprises a first air bag and a second air bag, the first air bag is connected with a first inflation electromagnetic valve, and the second air bag is connected with a second inflation electromagnetic valve;
and when the underwater robot is judged to be in the trapped state, sending a first branch inflation signal to a first inflation solenoid valve of the first air bag.
6. The underwater robot control method according to claim 5, wherein a first coordinate obtaining device is provided at a corresponding position of the first air bag, and a second coordinate obtaining device is provided at a corresponding position of the second air bag, the first coordinate obtaining device obtaining a first three-dimensional coordinate of the first air bag, the second coordinate obtaining device obtaining a second three-dimensional coordinate of the second air bag;
and when the underwater robot is judged to be in the trapped state, judging that the first air bag or the second air bag of the underwater robot is in the trapped direction according to the first three-dimensional coordinate and the second three-dimensional coordinate, and sending an inflation signal to an inflation electromagnetic valve of the air bag for escaping from the trapped direction.
7. The underwater robot control method according to claim 6, wherein the step of determining that the first air cell or the second air cell of the underwater robot is in the trapped direction based on the first three-dimensional coordinate and the second three-dimensional coordinate includes:
and comparing the z coordinate of the first three-dimensional coordinate with the z coordinate of the second three-dimensional coordinate, and judging the trapped air bag with smaller z coordinate as the trapped air bag in the trapped direction when the difference value of the z coordinates exceeds a threshold value.
8. An underwater robot control device, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the position information of the underwater robot, and the position information comprises the coordinate parameter of the underwater robot and the engine operation parameter;
the judging module is used for judging the running state of the underwater robot according to the coordinate parameters of the underwater robot and the running parameters of the engine, wherein the running state comprises a trapped state and a trapped state;
the air inflation module is used for sending an air inflation signal to an air inflation solenoid valve of the escaping air bag when the underwater robot is judged to be in the trapped state;
and the air discharging module is used for sending an air discharging signal to an air discharging electromagnetic valve of the escaping air bag when the underwater robot is judged to enter the escaping state from the trapped state, and the air discharging electromagnetic valve recovers air to the air storage tank through the compressor.
9. A computer device comprising a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating via the bus when the underwater robot control device is operating, the processor executing the machine readable instructions to perform the steps of the underwater robot control method according to any one of claims 1-7.
10. A storage medium having stored thereon a computer program for performing the steps of the underwater robot control method according to any one of claims 1-7 when executed by a processor.
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| CN112482474A (en) * | 2020-11-12 | 2021-03-12 | 交通运输部广州打捞局 | Leveling machine control device and underwater leveling machine |
| CN112623165A (en) * | 2020-12-31 | 2021-04-09 | 宁波财经学院 | Underwater robot walking mechanism |
| CN113184147A (en) * | 2021-04-30 | 2021-07-30 | 白城师范学院 | Multi-target collaborative search underwater robot with function of preventing sludge from being trapped |
| WO2024061379A1 (en) * | 2023-03-17 | 2024-03-28 | 重庆市三峡生态环境技术创新中心有限公司 | Device and method for assisting cctv pipeline robot with escaping from hole and for recycling same |
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