CN116494226A - Control method of underwater robot, underwater robot and storage medium - Google Patents
Control method of underwater robot, underwater robot and storage medium Download PDFInfo
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- CN116494226A CN116494226A CN202310346730.6A CN202310346730A CN116494226A CN 116494226 A CN116494226 A CN 116494226A CN 202310346730 A CN202310346730 A CN 202310346730A CN 116494226 A CN116494226 A CN 116494226A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000003860 storage Methods 0.000 title claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 165
- 230000001133 acceleration Effects 0.000 claims abstract description 81
- 238000004140 cleaning Methods 0.000 claims abstract description 75
- 238000001514 detection method Methods 0.000 claims abstract description 58
- 230000008859 change Effects 0.000 claims abstract description 38
- 230000009471 action Effects 0.000 claims abstract description 35
- 206010034719 Personality change Diseases 0.000 claims description 16
- 230000002159 abnormal effect Effects 0.000 claims description 10
- 230000005856 abnormality Effects 0.000 claims description 2
- 238000007599 discharging Methods 0.000 abstract description 8
- 238000004590 computer program Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 230000009182 swimming Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000005086 pumping Methods 0.000 description 5
- 230000009194 climbing Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000011418 maintenance treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a control method of an underwater robot, the underwater robot and a storage medium, wherein the control method of the underwater robot comprises the following steps: if the water outlet time is detected to be longer than the first time, executing a machine protection action, and acquiring gesture detection data, wherein the gesture detection data comprises acceleration and/or inclination angle; determining the posture change amount in a preset period according to the posture detection data; and if the gesture variation is smaller than a preset threshold value, executing a return action. According to the method, the gesture data of the underwater robot after water is discharged are obtained, gesture variable quantity in a preset period is obtained according to the gesture data, when the gesture variable quantity is smaller than a preset threshold value, the current water discharging mode of the underwater robot is step water discharging, namely active water discharging, and the underwater robot can enter water again to execute a cleaning task again by executing a return action, so that cleaning interruption after water discharging is avoided, and cleaning efficiency is improved.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a control method for an underwater robot, and a storage medium.
Background
The underwater robot can be used for various underwater environmental operations such as repeated cleaning of the pool bottom, pool walls and waterline of a swimming pool and filtering of water in the swimming pool. The underwater robot helps people to easily clean daily garbage and dirt of the swimming pool, thoroughly changes the traditional manual cleaning mode, and makes the swimming pool cleaning work become no longer troublesome.
In the related art, an underwater robot for swimming pool cleaning is generally provided with a water-in detection function. The underwater robot performs a cleaning task only when it detects that it is currently in a water-in state. The water outlet condition of the underwater robot is divided into active water outlet and passive water outlet, wherein the active water outlet comprises climbing to an upper anhydrous step when the underwater robot is cleaned, and the passive water outlet comprises the step that cleaning staff lifts the underwater robot out of the water surface. The current underwater robot cannot judge the water outlet mode, so that the underwater robot stops cleaning after actively discharging water. The underwater robot after the active water outlet needs to be manually recovered by cleaning staff to return to the swimming pool for continuous cleaning, so that the problem of lower cleaning efficiency caused by the fact that the underwater robot stops the cleaning task due to the active water outlet occurs.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a control method of an underwater robot, the underwater robot and a storage medium, and solves the problem that in the prior art, the cleaning efficiency is low after the underwater robot actively discharges water.
In order to achieve the above object, the present invention provides a control method of an underwater robot, the control method of the underwater robot comprising the steps of:
if the water outlet time is detected to be longer than the first time, executing a machine protection action, and acquiring gesture detection data, wherein the gesture detection data comprises acceleration and/or inclination angle;
determining the posture change amount in a preset period according to the posture detection data;
and if the gesture variation is smaller than a preset threshold value, executing a return action.
Optionally, the step of determining the posture change amount in the preset period according to the posture detection data includes:
determining an acceleration value within the preset period according to the gesture detection data;
determining maximum acceleration and minimum acceleration in the preset period according to the acceleration value;
and determining the attitude change amount according to the difference between the maximum acceleration and the minimum acceleration.
Optionally, after the step of determining the posture change amount in the preset period according to the posture detection data, the method includes:
when the difference value is larger than a preset acceleration and the inclination angle is larger than a preset inclination angle, judging that the posture change amount is larger than or equal to the preset threshold value;
otherwise, determining that the attitude change amount is smaller than the preset threshold value.
Optionally, after the step of determining the posture change amount in the preset period according to the posture detection data, the method further includes:
and if the attitude change quantity is larger than or equal to a preset threshold value, controlling the underwater robot to stop the first target motor, and controlling the underwater robot to enter a standby state.
Optionally, if the water outlet time is detected to be longer than the first time, executing a machine protection action, and acquiring gesture detection data, where the gesture detection data includes acceleration and/or inclination angle, the steps include:
if the water outlet time is detected to be longer than the first time, controlling the underwater robot to stop a second target motor, and acquiring the inclination angle after waiting for a second time; or alternatively
And controlling the underwater robot to stop the second target motor, and then acquiring the acceleration.
Optionally, if the gesture variation is smaller than a preset threshold, the step of executing the return action includes:
and if the gesture variation is smaller than the preset threshold, controlling the underwater robot to start the second target motor, and executing a preset backward program.
Optionally, after the step of executing the return action, if the posture change amount is smaller than a preset threshold, the method further includes:
after receiving a water command in the third time period, controlling the underwater robot to execute a backward motion in the fourth time period, and then executing a preset cleaning task; or alternatively
And outputting abnormal prompt information when the water entering instruction is not received in the third time period.
Optionally, the step of outputting the abnormality prompting message when the entering command is not received within the third duration includes:
and when the water inlet instruction is not received within the third time period, controlling the underwater robot to stop a third target motor, then entering a standby state, and outputting the abnormal prompt information.
In addition, in order to achieve the above object, the present invention also provides an underwater robot including a memory, a processor, and a control program stored on the memory and operable on the processor, the control program of the underwater robot implementing the steps of the control method of the underwater robot as described above when executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a control program of an underwater robot, which when executed by a processor, implements the steps of the control method of an underwater robot as described above.
The embodiment of the invention provides a control method of an underwater robot, the underwater robot and a storage medium, wherein in the process of executing a cleaning task by the underwater robot, if the water outlet time is detected to be longer than a first duration, a machine protection action is executed, gesture detection data are acquired, the gesture detection data comprise acceleration and/or inclination angle, then, the gesture change amount in a preset period is determined according to the gesture detection data, and if the gesture change amount is smaller than a preset threshold, a return action is executed. The water outlet mode of the underwater robot is detected through the gesture detection data after water outlet of the underwater robot, and when the detected gesture variation is smaller than a preset threshold value (the water outlet mode of the underwater robot is step water outlet at the moment, the water outlet mode is also called active water outlet), the underwater robot can enter water again and then execute a cleaning task again through executing a return action, the cleaning task is prevented from being stopped due to active water outlet, and the cleaning efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a first embodiment of a control method of an underwater robot of the present invention;
FIG. 2 is a schematic diagram showing acceleration versus time of a control method of an underwater robot according to the present invention;
FIG. 3 is a flow chart of a second embodiment of a control method of an underwater robot of the present invention;
fig. 4 is a schematic view of a terminal hardware structure of various embodiments of a control method of an underwater robot of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the related art, an underwater robot for swimming pool cleaning is generally provided with a water-in detection function. The underwater robot performs a cleaning task only when it detects that it is currently in a water-in state. The water outlet condition of the underwater robot can be divided into active water outlet and passive water outlet, wherein the active water outlet is that the underwater robot runs on a step or a water surface in the cleaning process, and the passive water outlet is that the underwater robot is considered to be dragged to an anhydrous area, for example, the water surface is manually lifted by cleaning staff in the cleaning process. The underwater robot can not judge the current water outlet mode, so that the underwater robot stops cleaning after actively discharging water, and cleaning personnel are required to manually recover to return to the swimming pool for continuous cleaning, so that the problem of lower cleaning efficiency caused by the fact that the underwater robot stops cleaning tasks due to active water discharging occurs.
In order to solve the above-mentioned drawbacks, an embodiment of the present invention provides a control method of an underwater robot, which mainly includes the following steps:
if the water outlet time is detected to be longer than the first time, executing a machine protection action, and acquiring gesture detection data, wherein the gesture detection data comprises acceleration and/or inclination angle;
determining the posture change amount in a preset period according to the posture detection data;
and if the gesture variation is smaller than a preset threshold value, executing a return action.
According to the invention, the water outlet mode of the underwater robot is detected by the gesture detection data after water outlet of the underwater robot, and when the gesture change amount is detected to be smaller than the preset threshold value (the water outlet mode of the underwater robot is step water outlet at the moment, also called active water outlet), the underwater robot can enter water again to execute a cleaning task again by executing a return action, so that the cleaning task is prevented from being stopped due to active water outlet, and the cleaning efficiency is improved.
In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1, fig. 1 is a flowchart illustrating a first embodiment of a method for detecting and controlling an obstacle of an underwater robot according to the present invention.
The solution of the present embodiment is applied to an underwater robot, such as a pool cleaning robot.
In this embodiment, the control method of the underwater robot includes the steps of:
step S10, if the water outlet time is detected to be longer than the first time, executing a machine protection action, and acquiring gesture detection data, wherein the gesture detection data comprises acceleration and/or inclination angle;
in this embodiment, the underwater robot is generally equipped with a water-entry sensing device such as a water-entry detection sensor, so that the underwater robot is provided with a water-entry detection function. And the water inlet detection sensor is used for connecting a cleaning circuit of the cleaning task. The water inlet detection sensor can be used as a connection switch of the cleaning circuit, when the underwater robot is detected to be currently positioned in water, the cleaning circuit switch is communicated, and the underwater robot can execute corresponding cleaning tasks. After the underwater robot discharges water, the connecting switch of the cleaning circuit is in an off state, and the underwater robot cannot continue to execute cleaning operation. Because the underwater robot cannot judge the current water outlet mode, the underwater robot stops executing cleaning work after actively discharging water, and the cleaning efficiency is low.
Based on this, in order to improve the cleaning efficiency of the underwater robot, it is necessary to determine the water outlet mode of the underwater robot, and when it is determined that the current water outlet mode is active water outlet, the water can be actively returned to the water to continue to perform the cleaning task.
Specifically, if the water outlet time is detected to be longer than the first time, controlling the underwater robot to stop a second target motor, and after waiting for a second time, acquiring the inclination angle; or controlling the underwater robot to stop the second target motor and then acquiring the acceleration. The machine protection action is to shut down a second target motor, and the second target motor can be all motors, can also be motors related to cleaning tasks, and the acceleration is historical acceleration data of the underwater robot.
Illustratively, the first duration is 1.5 seconds, the second target motor is a pump motor and a travel motor associated with a cleaning task, and the second duration is 3 seconds. When the water outlet time of the underwater robot is detected to be longer than 1.5 seconds, the underwater robot is controlled to stop the water pumping motor and the walking motor, and then historical acceleration data of the underwater robot are obtained. And after the underwater robot shuts down the water pumping motor and the walking motor for three seconds, acquiring the current inclination angle in real time. Therefore, the underwater robot can judge the water outlet mode based on the detected historical acceleration data and the inclination angle.
It should be noted that the above parameters are merely for explanation, and are not meant as limitations of the present invention.
Step S20, determining the posture change amount in a preset period according to the posture detection data;
in this embodiment, if the gesture detection data is acceleration, the preset period is a period of time before and after the water is discharged from the underwater robot, for example, a period of time from 2 seconds before the water is discharged to two seconds after the water is discharged is the preset period. When the gesture detection data is an inclination angle, the preset time period is a time period after the underwater robot executes the machine protection action and waits for a second time period, for example, the underwater robot shuts down the target motor and waits for a future 4 seconds after 3 seconds to be the preset time period corresponding to the inclination angle, and the gesture change amount corresponding to the inclination angle is the inclination angle change condition within 4 seconds.
It should be noted that the above parameters are merely for explanation, and are not meant as limitations of the present invention.
Specifically, when calculating the attitude change amount corresponding to the acceleration, the steps specifically include:
step S21, determining an acceleration value in the preset period according to the gesture detection data;
step S22, determining the maximum acceleration and the minimum acceleration in the preset period according to the acceleration value;
and step S23, determining the attitude change amount according to the difference value between the maximum acceleration and the minimum acceleration.
For example, referring to fig. 2, fig. 2 is an acceleration change curve of the underwater robot from the water surface to the water outlet, where t is the water outlet time of the underwater robot. Therefore, the period of 0-2t in fig. 2 may be taken as the preset period, and the acceleration value in the preset period determined based on the posture detection data based thereon is the acceleration value of the period of 0-2 t. With continued reference to fig. 2, in the period of 0-2t, the maximum acceleration is a2, and the minimum acceleration is a1, so the posture change amount corresponding to the acceleration is the difference between a2 and a 1.
Optionally, after the change amount of the inclination angle is obtained and the difference value between the maximum acceleration and the minimum acceleration is calculated, when the difference value is greater than a preset acceleration and the inclination angle is greater than a preset inclination angle, determining that the change amount of the posture is greater than or equal to the preset threshold value. Otherwise, determining that the attitude change amount is smaller than the preset threshold value.
Optionally, if the attitude change amount is greater than or equal to a preset threshold, controlling the underwater robot to stop the first target motor, and controlling the underwater robot to enter a standby state. Since the second target motor, which is typically the motor associated with the cleaning task, is turned off after the underwater robot has been out of water for more than a first period of time, the first target motor includes all the motors that are not turned off. After the first target motor is shut down, the underwater robot is in a standby state or a just-started state. It can be understood that if the posture change amount is greater than or equal to the preset threshold value, the water outlet mode of the underwater robot is the passive water outlet mode, namely, the cleaned person is provided with the water surface, so that the underwater robot can be controlled to stop the motor and enter a standby state, and the working indicator lamp is changed from normal lighting to flashing.
And step S30, if the attitude change quantity is smaller than a preset threshold value, executing a return action.
If the detected attitude change quantity is smaller than the preset threshold value, the current water outlet mode of the underwater robot is active water outlet, such as climbing up a step, climbing up the water surface on the pool wall and the like. In order to avoid stopping the cleaning operation of the underwater robot, it is necessary to control the underwater robot to perform a return action such as starting a backward program so that the underwater robot returns to the water again and continues to perform the cleaning action.
Specifically, if the attitude change amount is smaller than the preset threshold value, the underwater robot is controlled to start the second target motor, and a preset backward program is executed. When the underwater robot detects that the water outlet time is longer than the first time, the underwater robot can execute machine protection action, namely, the second target motor is turned off, and at the moment, when the posture change quantity is smaller than a preset threshold value, the second target motor needs to be restarted, so that the underwater robot can execute cleaning action after entering water again.
And because the gesture detection data comprise acceleration and/or inclination angle, when the gesture detection data are only the acceleration of the underwater robot, the gesture change amount is the difference value between the maximum acceleration and the minimum acceleration of the underwater robot in a preset period from the water outlet to the water outlet, and the preset threshold value is the preset acceleration. Based on this, step S30 specifically includes:
step S31, if the difference value is smaller than the preset acceleration, judging that the water outlet mode of the underwater robot is active water outlet;
and step S32, when the water outlet mode of the underwater robot is detected to be active water outlet, controlling the underwater robot to execute a backward program.
Because the underwater robot is usually in a constant-speed or slow-acceleration running state when performing the cleaning task, that is, the acceleration of the underwater robot tends to be stable at this time. When the cleaning staff brings the underwater robot out of the water surface, the acceleration can be greatly changed, and when the difference value is detected to exceed the preset acceleration, the water outlet mode of the underwater robot can be judged to be passive water outlet, and as the water outlet mode is the passive water outlet mode, namely, the cleaning staff brings the underwater robot out of the water surface, the underwater robot does not need to execute a backward procedure for returning to the swimming pool, and only the first target motor is required to be turned off, so that the state of the underwater robot returns to the state when the underwater robot is just started, namely, the state of the underwater robot enters a standby state.
Therefore, when the difference value is smaller than the preset acceleration, the water outlet mode of the underwater robot is the active water outlet mode, at the moment, the underwater robot can start the water pumping motor and execute a full-speed backward program, when the underwater robot detects a water inlet instruction again, the underwater robot can successively withdraw for a preset period of time, and after the backward operation is completed, the cleaning task is re-executed, and the cleaning efficiency of the underwater robot is further improved.
Optionally, when the posture detection data is only the inclination angle of the underwater robot, the posture change amount is an inclination angle change amount of the underwater robot at a preset time in the future after the motor is turned off, for example, the inclination angle change amount in the future 4 seconds acquired after the underwater robot is turned off for 3 seconds, and the preset threshold is a preset angle, based on which step S30 further includes:
step S33, judging that the water outlet mode of the underwater robot is active water outlet if the change amount of the inclination angle is smaller than the preset angle;
and step S34, when the water outlet mode of the underwater robot is detected to be active water outlet, controlling the underwater robot to execute a backward program.
The underwater robot basically stops the cleaning action after water is discharged, so that the state of the underwater robot can be considered as a static state, and the water outlet mode of the underwater robot can be judged by acquiring the change value of the inclination angle of the underwater robot within a preset period. Wherein the tilt angle can be obtained by a 3-axis gyroscope.
Based on the above, if the change amount of the inclination angle is smaller than the preset angle, the water outlet mode of the underwater robot is the active water outlet mode, at this time, the underwater robot can start the water pumping motor and execute the full-speed backward program, when the underwater robot detects the water inlet instruction again, the underwater robot can successively withdraw for a preset period of time, and after the backward is completed, the cleaning task is re-executed, so that the cleaning efficiency of the underwater robot is improved.
Optionally, when the gesture detection data is the acceleration and the inclination angle of the underwater robot, setting the gesture variation in the period as the difference between the maximum acceleration and the minimum acceleration in the preset period and the inclination angle variation, and setting the preset threshold as the preset acceleration and the preset angle. Based on this, step S30 further includes:
step S35, if the difference value is smaller than the preset acceleration and the change amount of the inclination angle is smaller than the preset angle, judging that the water outlet mode of the underwater robot is active water outlet;
and step S36, when the water outlet mode of the underwater robot is detected to be active water outlet, controlling the underwater robot to execute a backward program.
In this embodiment, the passive water outlet is that the cleaning person lifts the underwater robot out of the water, and in the process that the underwater robot is lifted out of the water, the cleaning person may lift the underwater robot out of the water with uniform force, so that the difference value in the process is smaller than the preset acceleration, and the passive water outlet mode is considered that the underwater robot mistakenly considers that the underwater robot actively discharges water.
Therefore, in order to improve the accuracy of active water outlet judgment, when the water outlet time of the underwater robot is detected to be longer than a first time length and after the machine protection action is executed, the acceleration and the inclination angle of the underwater robot are obtained simultaneously, the maximum variation of the acceleration and the variation of the inclination angle in a preset time period are calculated, when the maximum variation of the acceleration is smaller than the preset acceleration and the variation of the inclination angle is smaller than the preset angle, the water outlet mode of the underwater robot is judged to be active water outlet, the underwater robot is controlled to execute a full-speed backward program, then a water pumping mechanism is started, after the underwater robot reenters water, the preset time period is backward, and after the backward is completed, the cleaning task is executed again, and therefore the judgment accuracy of the water outlet mode is improved, and meanwhile the cleaning efficiency of the underwater robot is improved.
In the technical scheme disclosed in the embodiment, when the water outlet time of the underwater robot is detected to be longer than the first time length, the robot protection action is executed, then the acceleration and/or the inclination angle of the underwater robot are obtained, the difference value between the maximum acceleration and the minimum acceleration and/or the inclination angle variation in a preset period are determined according to the acceleration and/or the inclination angle, when the difference value is smaller than the preset acceleration and/or the inclination angle variation is smaller than the preset angle, the water outlet mode of the underwater robot is the active water outlet mode, at the moment, the underwater robot is controlled to execute the return action, so that the underwater robot returns to the underwater to execute the cleaning task again, the cleaning work is prevented from being stopped due to the active water outlet, and the cleaning efficiency of the underwater robot is improved.
Referring to fig. 3, in the second embodiment, after step S30, based on the first embodiment, further includes:
and step S40, after receiving the water command in the third time period, controlling the underwater robot to execute the backward action in the fourth time period, and then executing the preset cleaning task.
In this embodiment, the third duration is a backward detection duration of the underwater robot, and if the underwater robot has not reentered water within the third duration, it is indicated that a comparison result between the previous water outlet mode of the underwater robot based on the gesture variation and the preset threshold is wrong, and the previous water outlet mode of the underwater robot is not active water outlet. Therefore, when the underwater robot executes the backward program, if the water entering instruction sent by the water entering detection sensor is received within a third period of time, for example, 20 seconds, the detection result of the previous water exiting mode is considered to be an accurate result, and after water entering, the backward action of a fourth period of time (for example, 10 seconds) is executed, so that the underwater robot scans the cleaning area again in the backward process, and further when the cleaning task is executed again, repeated cleaning of the cleaned area is avoided, and the cleaning efficiency after water entering is improved.
Optionally, when the water entering instruction is not received within the third duration, outputting abnormal prompt information.
In a preset time interval, for example, within 20 seconds, the underwater robot still does not receive a water inlet instruction, a passive water outlet mode of the underwater robot is detected to be active water outlet, at the moment, the underwater robot can be controlled to stop a third target motor, then the underwater robot enters a standby state, and abnormal prompt information is output. The third target motor is all the motors which are not shut down, the abnormal prompt information can comprise voice prompt information and text prompt information or change the indicator lamp from a normally-on state to a flashing state so as to prompt a cleaning person to perform data analysis processing on the underwater robot, data corresponding to the water outlet detection result which is judged to be wrong are used as error reference data, and the water outlet detection accuracy rate of the underwater robot is improved based on the data.
Optionally, if the underwater robot still does not receive the water entering instruction within the preset time interval, the underwater robot can be considered to be currently clamped in a certain area or the running motor of the underwater robot is abnormal, and at the moment, an error prompt can be output to prompt a cleaning person to perform corresponding maintenance treatment on the underwater robot.
In the technical scheme disclosed in the embodiment, by detecting whether the underwater robot receives the water inlet instruction within the third time period, a cleaner can judge whether the previous water outlet detection result of the underwater robot is accurate or not based on the water inlet instruction, and the water outlet detection accuracy of the underwater robot is improved based on the water outlet detection result.
Referring to fig. 4, fig. 4 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present invention.
As shown in fig. 4, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 4 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 4, an operating system, a data storage module, a network communication module, and a control program of the underwater robot may be included in a memory 1005 as one type of computer storage medium.
In the terminal shown in fig. 4, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the processor 1001 may call a control program of the underwater robot stored in the memory 1005 and perform the following operations:
if the water outlet time is detected to be longer than the first time, executing a machine protection action, and acquiring gesture detection data, wherein the gesture detection data comprises acceleration and/or inclination angle;
determining the posture change amount in a preset period according to the posture detection data;
and if the gesture variation is smaller than a preset threshold value, executing a return action.
Further, the processor 1001 may call a control program of the underwater robot stored in the memory 1005, and further perform the following operations:
determining an acceleration value within the preset period according to the gesture detection data;
determining maximum acceleration and minimum acceleration in the preset period according to the acceleration value;
and determining the attitude change amount according to the difference between the maximum acceleration and the minimum acceleration.
Further, the processor 1001 may call a control program of the underwater robot stored in the memory 1005, and further perform the following operations:
when the difference value is larger than a preset acceleration and the inclination angle is larger than a preset inclination angle, judging that the posture change amount is larger than or equal to the preset threshold value;
otherwise, determining that the attitude change amount is smaller than the preset threshold value.
Further, the processor 1001 may call a control program of the underwater robot stored in the memory 1005, and further perform the following operations:
and if the attitude change quantity is larger than or equal to a preset threshold value, controlling the underwater robot to stop the first target motor, and controlling the underwater robot to enter a standby state.
Further, the processor 1001 may call a control program of the underwater robot stored in the memory 1005, and further perform the following operations:
if the water outlet time is detected to be longer than the first time, controlling the underwater robot to stop a second target motor, and acquiring the inclination angle after waiting for a second time; or alternatively
And controlling the underwater robot to stop the second target motor, and then acquiring the acceleration.
Further, the processor 1001 may call a control program of the underwater robot stored in the memory 1005, and further perform the following operations:
and if the gesture variation is smaller than the preset threshold, controlling the underwater robot to start the second target motor, and executing a preset backward program.
Further, the processor 1001 may call a control program of the underwater robot stored in the memory 1005, and further perform the following operations:
after receiving a water command in the third time period, controlling the underwater robot to execute a backward motion in the fourth time period, and then executing a preset cleaning task; or alternatively
And outputting abnormal prompt information when the water entering instruction is not received in the third time period.
Further, the processor 1001 may call a control program of the underwater robot stored in the memory 1005, and further perform the following operations:
and when the water inlet instruction is not received within the third time period, controlling the underwater robot to stop a third target motor, then entering a standby state, and outputting the abnormal prompt information.
Furthermore, it will be appreciated by those of ordinary skill in the art that implementing all or part of the processes in the methods of the above embodiments may be accomplished by computer programs to instruct related hardware. The computer program comprises program instructions, and the computer program may be stored in a storage medium, which is a computer readable storage medium. The program instructions are executed by at least one processor in the control terminal to carry out the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a computer-readable storage medium storing a control program of an underwater robot, which when executed by a processor, implements the steps of the obstacle detection and control method of an underwater robot as described in the above embodiments.
It should be noted that, because the storage medium provided in the embodiments of the present invention is a storage medium used for implementing the method in the embodiments of the present invention, based on the method described in the embodiments of the present invention, a person skilled in the art can understand the specific structure and the modification of the storage medium, and therefore, the description thereof is omitted herein. All storage media adopted by the method of the embodiment of the invention belong to the scope of protection of the invention.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second and third, et cetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A control method of an underwater robot, characterized by being applied to an underwater robot, the control method of the underwater robot comprising:
if the water outlet time is detected to be longer than the first time, executing a machine protection action, and acquiring gesture detection data, wherein the gesture detection data comprises acceleration and/or inclination angle;
determining the posture change amount in a preset period according to the posture detection data;
and if the gesture variation is smaller than a preset threshold value, executing a return action.
2. The method of controlling an underwater robot according to claim 1, wherein the step of determining the amount of change in the attitude within a preset period of time based on the attitude detection data includes:
determining an acceleration value within the preset period according to the gesture detection data;
determining maximum acceleration and minimum acceleration in the preset period according to the acceleration value;
and determining the attitude change amount according to the difference between the maximum acceleration and the minimum acceleration.
3. The method of controlling an underwater robot according to claim 2, wherein after the step of determining the amount of change in the attitude within a preset period of time based on the attitude detection data, comprising:
when the difference value is larger than a preset acceleration and the inclination angle is larger than a preset inclination angle, judging that the posture change amount is larger than or equal to the preset threshold value;
otherwise, determining that the attitude change amount is smaller than the preset threshold value.
4. The method of controlling an underwater robot according to claim 1, wherein after the step of determining the amount of change in the attitude within the preset period of time based on the attitude detection data, further comprising:
and if the attitude change quantity is larger than or equal to a preset threshold value, controlling the underwater robot to stop the first target motor, and controlling the underwater robot to enter a standby state.
5. The method of controlling an underwater robot according to claim 1, wherein the step of performing a machine protection action and acquiring attitude detection data including acceleration and/or inclination angle if the detected water out time is longer than a first time period includes:
if the water outlet time is detected to be longer than the first time, controlling the underwater robot to stop a second target motor, and acquiring the inclination angle after waiting for a second time; or alternatively
And controlling the underwater robot to stop the second target motor, and then acquiring the acceleration.
6. The method of controlling an underwater robot according to claim 5, wherein the step of performing the returning action if the posture change amount is smaller than a preset threshold value comprises:
and if the gesture variation is smaller than the preset threshold, controlling the underwater robot to start the second target motor, and executing a preset backward program.
7. The method of claim 1, wherein the step of executing the return action further comprises, if the amount of change in the attitude is less than a preset threshold:
after receiving a water command in the third time period, controlling the underwater robot to execute a backward motion in the fourth time period, and then executing a preset cleaning task; or alternatively
And outputting abnormal prompt information when the water entering instruction is not received in the third time period.
8. The method of controlling an underwater robot according to claim 7, wherein the step of outputting an abnormality notification when the entry instruction is not received within the third period of time includes:
and when the water inlet instruction is not received within the third time period, controlling the underwater robot to stop a third target motor, then entering a standby state, and outputting the abnormal prompt information.
9. An underwater robot, the underwater robot comprising: memory, a processor and a control program of an underwater robot stored on the memory and operable on the processor, which control program of an underwater robot, when executed by the processor, realizes the steps of the control method of an underwater robot according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of an underwater robot, which when executed by a processor, implements the steps of the control method of an underwater robot according to any of claims 1 to 8.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117697764A (en) * | 2024-02-05 | 2024-03-15 | 青岛哈尔滨工程大学创新发展中心 | Fault diagnosis system and method for flexible mechanical arm for submersible operation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117697764A (en) * | 2024-02-05 | 2024-03-15 | 青岛哈尔滨工程大学创新发展中心 | Fault diagnosis system and method for flexible mechanical arm for submersible operation |
| CN117697764B (en) * | 2024-02-05 | 2024-04-30 | 青岛哈尔滨工程大学创新发展中心 | Fault diagnosis system and method for flexible mechanical arm for submersible operation |
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