CN116539045A - Underwater robot positioning method, underwater robot, storage medium and electronic device - Google Patents
Underwater robot positioning method, underwater robot, storage medium and electronic device Download PDFInfo
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- CN116539045A CN116539045A CN202310813449.9A CN202310813449A CN116539045A CN 116539045 A CN116539045 A CN 116539045A CN 202310813449 A CN202310813449 A CN 202310813449A CN 116539045 A CN116539045 A CN 116539045A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000003860 storage Methods 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 173
- 238000012545 processing Methods 0.000 claims description 30
- 238000004140 cleaning Methods 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 4
- 230000009182 swimming Effects 0.000 description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 13
- 238000007726 management method Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000009825 accumulation Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/203—Specially adapted for sailing ships
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The application discloses an underwater robot positioning method, an underwater robot, a storage medium and electronic equipment, relates to the technical field of underwater robots, and aims to solve the problem of how to perform underwater positioning of the underwater robot. The positioning method comprises the following steps: moving along the pool wall at a reference distance based on a preset map; in the process of moving along the pool wall, acquiring the moving distance between the underwater robot and the pool wall in real time; determining a position deviation amount according to the reference distance and the movement distance; and adjusting the position of the underwater robot according to the position deviation amount. The method and the device can adjust the position of the underwater robot in real time according to the actual motion vector of the underwater robot under the assistance of the preset map, so that the navigation positioning accuracy of the underwater robot can be ensured, the underwater robot can complete operation according to the planned path, and the intelligent autonomy of the underwater robot is improved.
Description
Technical Field
The application relates to the technical field of underwater robots, in particular to an underwater robot positioning method, an underwater robot, a storage medium and electronic equipment.
Background
With the rapid development of national technological innovation and high-end manufacturing industry, the robot industry gradually develops into various fields of people's life, and different types of intelligent robots can replace manpower to perform various works.
The underwater robot is an underwater operation robot, and can replace manual work to perform underwater environment operation. Such as a pool cleaning robot, is an underwater robot for cleaning the pool bottom, walls of a pool. The swimming pool cleaning robot can automatically clean the pool bottom and the pool wall without draining the swimming pool. The swimming pool cleaning robot changes the traditional manual scrubbing and water changing mode for cleaning the swimming pool, can save manpower, and is more thorough compared with the manual cleaning of the swimming pool cleaning robot.
The current cleaning robot generally adopts SLAM (Simultaneous Localization and Mapping: instant positioning and map construction) to realize environment map construction and auxiliary positioning of the cleaning robot in work.
However, the inventor of the application found that the swimming pool cleaning robot cannot perform auxiliary positioning by SLAM technology due to the limitation of water environment; and, due to cost constraints, positioning cannot be performed by mounting costly sensors (e.g., lidar sensors, multibeam ultrasonic radar sensors).
Based on this, the inventors consider that the current underwater robot positioning method has yet to be improved.
Disclosure of Invention
The application discloses an underwater robot positioning method, an underwater robot, a storage medium and electronic equipment, which are used for solving the problem of how to perform underwater positioning of the underwater robot.
According to an aspect of the present application, a positioning method of an underwater robot is provided. The positioning method comprises the following steps: moving along the pool wall at a reference distance based on a preset map; in the process of moving along the pool wall, acquiring the moving distance between the underwater robot and the pool wall in real time; determining a position deviation amount according to the reference distance and the movement distance; and adjusting the position of the underwater robot according to the position deviation amount.
According to some embodiments of the present application, determining the amount of positional deviation from the reference distance and the movement distance includes: establishing a reference coordinate system based on a motion plane of the underwater robot; determining the motion quantity of a motion point, wherein the motion point is the position of the underwater robot in a reference coordinate system when the underwater robot and the pool wall are in a motion distance, and the motion quantity comprises the motion distance, the motion coordinate and the motion course angle of the motion point; determining reference quantity of a reference point, wherein the reference point is a position of a point corresponding to a motion point in a preset map in a reference coordinate system, and the reference quantity comprises a reference distance, a reference coordinate and a reference course angle of the reference point; position deviation coordinates are determined based on the reference amount and the movement amount.
According to some embodiments of the present application, determining the position deviation coordinates based on the reference amount and the movement amount includes:
X t = X 1 -△X
Y t = Y 1 -△Y
wherein the method comprises the steps of
△X =△D·sin（△θ）
△Y =△D·cos（△θ）
△θ =θ l -θ m
△D=D 1 -D 0
（X t ，Y t ) For position deviation coordinates, D 0 For reference distance D 1 For the distance of movement, θ m For reference heading angle, θ l Is the course angle of motion, (X) 1 ，Y 1 ) Is the motion coordinate.
According to some embodiments of the present application, acquiring in real time, during movement along the pool wall, a movement distance of the underwater robot from the pool wall includes: in the process of moving along the pool wall, the moving distance between the underwater robot and the pool wall is acquired in real time based on the ultrasonic radar ranging sensor.
According to another aspect of the present application, an underwater robot is provided. The underwater robot comprises a motion management unit, a data processing unit and a positioning control unit. The motion management unit controls the underwater robot to move along the pool wall with a reference distance based on a preset map; the data processing unit acquires the moving distance between the underwater robot and the pool wall in real time in the process of moving along the pool wall, and determines the position deviation according to the reference distance and the moving distance; the positioning control unit adjusts the position of the underwater robot according to the position deviation amount.
According to some embodiments of the application, the data processing unit establishes a reference coordinate system based on a motion plane of the underwater robot; the data processing unit determines the motion quantity of a motion point, wherein the motion point is the position of the underwater robot in a reference coordinate system when the underwater robot and the pool wall are in a motion distance, and the motion quantity comprises the motion distance, the motion coordinate and the motion course angle of the motion point; the data processing unit determines reference quantity of a reference point, wherein the reference point is the position of a point corresponding to a motion point in a preset map in a reference coordinate system, and the reference quantity comprises a reference distance, a reference coordinate and a reference course angle of the reference point; the data processing unit also determines position deviation coordinates based on the reference amount and the movement amount.
According to some embodiments of the present application, the formula for determining the position deviation coordinates by the data processing unit is: x is X t = X 1 -△X
Y t = Y 1 -△Y
Wherein the method comprises the steps of
△X =△D·sin（△θ）
△Y =△D·cos（△θ）
△θ =θ l -θ m
△D=D 1 -D 0
（X t ，Y t ) For position deviation coordinates, D 0 For reference distance D 1 For the distance of movement, θ m For reference heading angle, θ l Is the course angle of motion, (X) 1 ，Y 1 ) Is the motion coordinate.
According to some embodiments of the present application, the underwater robot is a pool cleaning robot.
According to yet another aspect of the present application, there is also provided a non-volatile computer readable storage. The storage medium has stored thereon a computer program which may implement the underwater robot positioning method as described above.
According to yet another aspect of the present application, an electronic device is also provided. The electronic device comprises one or more processors and storage means for storing one or more programs that, when executed by the one or more processors, enable the one or more processors to implement the underwater robot positioning method as described above.
The method and the device can adjust the position of the underwater robot in real time according to the actual motion vector of the underwater robot under the assistance of the preset map, so that the navigation positioning accuracy of the underwater robot can be ensured, the underwater robot can complete operation according to the planned path, and the intelligent autonomy of the underwater robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a prior art map aided positioning;
FIG. 2 illustrates a flow chart of a positioning method of an example embodiment of the present application;
FIG. 3 illustrates a schematic view of a path of motion of an underwater robot according to an exemplary embodiment of the present application;
FIG. 4 shows yet another schematic view of the path of motion of the underwater robot of an exemplary embodiment of the present application;
FIG. 5 illustrates yet another flow chart of a positioning method of an example embodiment of the present application;
fig. 6 shows a schematic structural view of an underwater robot according to an exemplary embodiment of the present application.
Reference numerals illustrate:
an underwater robot 1; a motion management unit 10; a data processing unit 20; the positioning control unit 30.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as 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 concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the disclosed aspects may be practiced without one or more of the specific details, or with other methods, components, materials, apparatus, etc. In these instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.
Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order.
The following description of the embodiments of the present application, taken in conjunction with the accompanying drawings, will clearly and fully describe the technical aspects of the present application, and it will be apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Map assisted positioning is a positioning algorithm for unmanned equipment (such as an unmanned vehicle and an intelligent robot), and for example SLAM is a positioning algorithm which can be used for positioning while constructing a map.
For example, FIG. 1 shows a schematic diagram of a prior art map-assisted positioning. As shown in fig. 1, with the aid of a high-precision map, a large amount of information of the surrounding environment is perceived in real time through a preset sensor. And the environment information is subjected to feature detection and then corresponds to feature matching of the high-precision map, so that matching parameters related to positioning information are obtained.
The application of the map assisted positioning intelligent robot running on an unmanned vehicle or land is mature, and the navigation positioning result with higher precision can be realized by carrying sensors (laser radar sensor and multi-beam ultrasonic radar sensor) and performing assisted positioning through SLAM.
However, the inventor finds that the swimming pool cleaning robot cannot perform auxiliary positioning through SLAM technology due to the restriction factors such as cost limitation and water environment limitation, and cannot perform positioning through a sensor with higher cost (such as a laser radar sensor and a multi-beam ultrasonic radar sensor) under the restriction of cost factor.
Based on the above, according to an aspect of the present application, there is provided an underwater robot positioning method, which can adjust the position of an underwater robot in real time according to an actual motion vector of the underwater robot with the aid of a preset map, so as to ensure navigation positioning accuracy of the underwater robot, enable the underwater robot to complete operation according to a planned path, and improve intelligent autonomy of the underwater robot.
According to an exemplary embodiment, the underwater robot may be a pool cleaning robot for a pool cleaning job, or may be an underwater working robot having other tasks, and the technical solution of the present application will be described hereinafter by way of example of the pool cleaning robot, but the present application is not limited thereto.
The present application will be described in detail below with reference to the drawings attached to the specification.
Fig. 2 shows a flow chart of a positioning method of an exemplary embodiment of the present application, which positioning method comprises steps S100-S400, as shown in fig. 2, which positioning method may be performed by an underwater robot.
According to an example embodiment, in step S100, the underwater robot moves along the pool wall at a reference distance based on a preset map.
For example, the preset map is an environment map of a swimming pool to be operated by the swimming pool cleaning robot. The preset map may be created by mapping the environment of the swimming pool cleaning robot in the swimming pool in advance, or may be created manually by other means, which is not limited in this application.
Figure 3 shows a schematic view of the path of motion of the underwater robot according to an exemplary embodiment of the present application,
as shown in fig. 3, the path L0 is an actual environment in a preset map, for example, the path L0 is a pool wall environment feature (pool wall path) of the swimming pool. When the underwater robot performs underwater work after entering water, the underwater robot generates a certain path plan based on a preset map (i.e., a pool wall path of the swimming pool), such as moving along the pool wall at a certain preset distance.
Illustratively, as shown in FIG. 3, when the underwater robot enters water, the distance D is referenced based on a preset map 0 A preset motion path L1 is generated. It can be understood that in an ideal state, after the underwater robot enters water, the underwater work is completed based on the preset path L1, but due to the influence of factors such as water environment, the underwater robot inevitably generates accumulated errors when performing navigation positioning so as to generate position offset.
As shown in fig. 3, the underwater robot may make the motion path become the path L2 under the influence of the error accumulation, or make the motion path become the path L3 under the influence of the error accumulation. However, the underwater robot deviates from a preset motion path to generate position deviation no matter the path L2 or the path L3, so that the navigation positioning accuracy of the underwater robot is obviously affected, and the operation planning of the underwater robot is affected.
In step S200, the underwater robot acquires the moving distance between the underwater robot and the pool wall in real time during the moving process along the pool wall.
Fig. 4 shows a further schematic view of the path of motion of the underwater robot according to an exemplary embodiment of the present application. As shown in fig. 4, taking the path L3 as an example, the underwater robot is shifted in the path during the movement along the pool wall, and the underwater robot acquires the movement distance D between the underwater robot and the pool wall in real time 1 。
Optionally, in step S200, the underwater robot acquires the moving distance between the underwater robot and the pool wall in real time based on the ultrasonic radar ranging sensor during the moving along the pool wall.
Illustratively, the fuselage (e.g., the roll) of the underwater robot is provided with ultrasonic radar ranging sensors by which the distance of the fuselage roll from the pool wall (i.e., the movement distance D) is measured during movement of the underwater robot along the pool wall 1 ）。
The ultrasonic radar ranging sensor is used for measuring the distance between the ultrasonic radar ranging sensor and the target object according to the time elapsed by sending ultrasonic signals to the target object and receiving the ultrasonic signals reflected by the target object. The ultrasonic radar ranging sensor can be well applied to water environments, and has the characteristic of low cost compared with other sensors.
In step S300, the underwater robot determines a positional deviation amount according to the reference distance and the movement distance.
In step S400, the underwater robot adjusts the position of the underwater robot according to the position deviation amount
For example, the underwater robot is based on the reference distance D 0 And a movement distance D 1 Can determine the position deviation amount (D 1 -D 0 ) And adjusting the position of the underwater robot in real time based on the amount of positional deviation so thatThe underwater robot can timely correct the position of the underwater robot under the condition of position deviation, so that the underwater robot can finish underwater work according to a preset path.
Through the above example embodiment, the position of the underwater robot can be adjusted in real time according to the actual motion vector of the underwater robot under the assistance of the preset map, so that the navigation positioning accuracy of the underwater robot can be ensured, the underwater robot can complete operation according to the planned path, and the intelligent autonomy of the underwater robot is improved.
Fig. 5 shows a further flowchart of a positioning method according to an exemplary embodiment of the present application.
Optionally, in step S300, as shown in fig. 5, determining the position deviation amount by the underwater robot according to the reference distance and the movement distance may further include steps S310 to S340.
In step S310, the underwater robot establishes a reference coordinate system based on a motion plane of the underwater robot.
For example, as shown in fig. 4, a reference coordinate system is established with the motion plane of the underwater robot.
In step S320, the underwater robot determines the amount of motion of a motion point, which is the position of the underwater robot in the reference coordinate system when the underwater robot is at a motion distance from the pool wall. The motion amount includes a motion distance, motion coordinates, and a motion course angle of the motion point.
As shown in fig. 4, in the process of moving along the pool wall, the distance between the underwater robot and the pool wall is the moving distance, and the current position of the underwater robot is determined as a moving point a in the reference coordinate system.
According to an example embodiment, the heading angle is an azimuth angle of the underwater robot during motion. For example, as shown in FIG. 4, the movement amount of the movement point A includes the movement distance D of the movement point 1 Motion coordinates A (X 1 ，Y 1 ) Heading angle θ of movement l 。
In step S330, the underwater robot determines a reference amount of a reference point, which is a position of a point corresponding to a moving point in a preset map in a reference coordinate system. The reference quantity includes a reference distance of the reference point, a reference coordinate, and a reference heading angle.
For example, a position corresponding to the movement point a in the movement path L1 corresponding to the preset map is determined as the reference point B in the reference coordinate system. The reference quantity includes a reference distance D of a reference point B 0 Reference coordinates (X) 0 ，Y 0 ) And a reference heading angle theta m 。
In step S340, the underwater robot determines position deviation coordinates based on the reference amount and the movement amount.
For example, the underwater robot can obtain a specific displacement deviation coordinate of the underwater robot in the reference coordinate system according to the distance parameter, the coordinate parameter and the course angle parameter in the reference quantity and the motion quantity, and the underwater robot can be enabled to return to a preset path L1 more accurately by adjusting the position of the underwater robot according to the displacement deviation coordinate.
Alternatively, the underwater robot may determine the position deviation coordinates based on the reference amount and the movement amount by the following formula: x is X t = X 1 -△X
Y t = Y 1 -△Y
Wherein the method comprises the steps of
△X =△D·sin（△θ）
△Y =△D·cos（△θ）
△θ =θ l -θ m
△D=D 1 -D 0
（X t ，Y t ) For position deviation coordinates, D 0 For reference distance D 1 For the distance of movement, θ m For reference heading angle, θ l Is the course angle of motion, (X) 1 ，Y 1 ) Is the motion coordinate.
According to an example embodiment, the underwater robot is configured to determine the position deviation coordinates (X t ，Y t ) The motion coordinates of the motion point A are adjusted, so that the position of the underwater robot can be corrected to a preset path L1 by controlling the motion coordinates of the motion point A, and the navigation and positioning of the underwater robot are more accurate.
Through the above example embodiment, according to the method and the device for correcting the position of the underwater robot, through the functional relationship between the reference point and the motion point of the underwater robot, the displacement variation of the motion point relative to the reference point is calculated through a certain formula, and the position correction of the underwater robot can be more accurately realized based on the distance parameter, the coordinate parameter and the course angle parameter of the underwater robot, so that the navigation positioning accuracy of the underwater robot can be ensured, the underwater robot can complete operation according to a planned path, and the intelligent autonomy of the underwater robot is improved.
According to another aspect of the present application, the present application provides an underwater robot, which can adjust a position of the underwater robot in real time according to an actual motion vector of the underwater robot under the assistance of a preset map, so as to ensure navigation positioning accuracy of the underwater robot, enable the underwater robot to complete operation according to a planned path, and improve intelligent autonomy of the underwater robot.
Fig. 6 shows a schematic structural view of an underwater robot according to an exemplary embodiment of the present application. As shown in fig. 6, the underwater robot 1 includes a motion management unit 10, a data processing unit 20, and a positioning control unit 30.
According to an example embodiment, the motion management unit 10 controls the underwater robot to move along the pool wall at a reference distance based on a preset map.
For example, the preset map is an environment map of a swimming pool to be operated by the swimming pool cleaning robot. The preset map may be created by mapping the environment of the swimming pool cleaning robot in the swimming pool in advance, or may be created manually by other means, which is not limited in this application.
As shown in fig. 3, the path L0 is an actual environment in a preset map, for example, the path L0 is a pool wall environment feature (pool wall path) of the swimming pool. When the underwater robot performs an underwater work after entering water, the motion management unit 10 generates a certain path plan based on a preset map (i.e., a pool wall path of the swimming pool), such as controlling the underwater robot to move along the pool wall at a certain preset distance.
Illustratively, as shown in FIG. 3, when the underwater vehicleAfter the robot enters water, the movement management unit 10 refers to the distance D based on a preset map 0 A preset motion path L1 is generated. It can be understood that in an ideal state, after the underwater robot enters water, the underwater work is completed based on the preset path L1, but due to the influence of factors such as water environment, the underwater robot inevitably generates accumulated errors when performing navigation positioning so as to generate position offset.
As shown in fig. 3, the underwater robot may make the motion path become the path L2 under the influence of the error accumulation, or make the motion path become the path L3 under the influence of the error accumulation. However, the underwater robot deviates from a preset motion path to generate position deviation no matter the path L2 or the path L3, so that the navigation positioning accuracy of the underwater robot is obviously affected, and the operation planning of the underwater robot is affected.
The data processing unit 20 acquires the moving distance between the underwater robot and the pool wall in real time during the process of moving along the pool wall, and determines the position deviation amount according to the reference distance and the moving distance.
As shown in fig. 4, taking the path L3 as an example, the underwater robot is subjected to path deviation during the movement along the pool wall, and the data processing unit 20 acquires the movement distance D between the underwater robot and the pool wall in real time 1 。
Optionally, the data processing unit 20 acquires the moving distance of the underwater robot from the pool wall in real time based on the ultrasonic radar ranging sensor during the moving of the underwater robot along the pool wall.
Illustratively, the fuselage (e.g., the roll) of the underwater robot is provided with ultrasonic radar ranging sensors by which the data processing unit 20 measures the distance (i.e., the movement distance D) of the fuselage roll from the pool wall during movement of the underwater robot along the pool wall 1 ）。
The ultrasonic radar ranging sensor is used for measuring the distance between the ultrasonic radar ranging sensor and the target object according to the time elapsed by sending ultrasonic signals to the target object and receiving the ultrasonic signals reflected by the target object. The ultrasonic radar ranging sensor can be well applied to water environments, and has the characteristic of low cost compared with other sensors.
According to an exemplary embodiment, the data processing unit 20 determines a position deviation amount according to the reference distance and the movement distance, and the positioning control unit 30 adjusts the position of the underwater robot according to the position deviation amount.
For example, the data processing unit 20 is based on the reference distance D 0 And a movement distance D 1 Can determine the position deviation amount (D 1 -D 0 ) And the positioning control unit 30 adjusts the position of the underwater robot in real time based on the amount of positional deviation so that the underwater robot can timely correct the position of the underwater robot in case of positional deviation, so that the underwater robot can complete underwater work according to a preset path.
Through the above example embodiment, the position of the underwater robot can be adjusted in real time according to the actual motion vector of the underwater robot under the assistance of the preset map, so that the navigation positioning accuracy of the underwater robot can be ensured, the underwater robot can complete operation according to the planned path, and the intelligent autonomy of the underwater robot is improved.
Optionally, the data processing unit 20 establishes a reference coordinate system based on the plane of motion of the underwater robot. The data processing unit 20 determines the amount of motion of the motion point, which is the position of the underwater robot in the reference coordinate system when the underwater robot is at a motion distance from the pool wall, including the motion distance, the motion coordinates, and the motion course angle of the motion point.
For example, the data processing unit 20 establishes a reference coordinate system with the plane of motion of the underwater robot. As shown in fig. 4, the distance between the underwater robot and the pool wall is a movement distance during the movement of the underwater robot along the pool wall, and the data processing unit 20 determines the current position of the underwater robot as a movement point a in the reference coordinate system.
According to an example embodiment, the heading angle is an azimuth angle of the underwater robot during motion. For example, as shown in FIG. 4, the amount of movement point A includes the movement of the movement pointDistance D 1 Motion coordinates A (X 1 ，Y 1 ) Heading angle θ of movement l 。
The data processing unit 20 also determines a reference amount of a reference point, which is a position of a point corresponding to the moving point in the preset map in the reference coordinate system, the reference amount including a reference distance of the reference point, the reference coordinate, and the reference heading angle.
For example, the data processing unit 20 determines a position corresponding to the movement point a in the movement path L1 corresponding to the preset map as the reference point B in the reference coordinate system. The reference quantity includes a reference distance D of a reference point B 0 Reference coordinates (X) 0 ，Y 0 ) And a reference heading angle theta m 。
According to an exemplary embodiment, the data processing unit 20 also determines the position deviation coordinates based on the reference quantity and the movement quantity.
For example, the data processing unit 20 may obtain a specific displacement deviation coordinate of the underwater robot in the reference coordinate system according to the distance parameter, the coordinate parameter and the heading angle parameter in the reference quantity and the motion quantity, and perform position adjustment on the underwater robot according to the displacement deviation coordinate, so that the underwater robot can more accurately return to the preset path L1.
Alternatively, the data processing unit 20 may determine the positional deviation coordinates by the following formula based on the reference amount and the movement amount: x is X t = X 1 -△X
Y t = Y 1 -△Y
Wherein the method comprises the steps of
△X =△D·sin（△θ）
△Y =△D·cos（△θ）
△θ =θ l -θ m
△D=D 1 -D 0
（X t ，Y t ) For position deviation coordinates, D 0 For reference distance D 1 For the distance of movement, θ m For reference heading angle, θ l Is the course angle of motion, (X) 1 ，Y 1 ) Is the motion coordinate.
According to an example embodiment, the determination is madeThe bit control unit 30 calculates the position deviation coordinates (X t ，Y t ) The motion coordinates of the motion point A are adjusted, so that the position of the underwater robot can be corrected to a preset path L1 by controlling the motion coordinates of the motion point A, and the navigation and positioning of the underwater robot are more accurate.
Through the above example embodiment, according to the method and the device for correcting the position of the underwater robot, through the functional relationship between the reference point and the motion point of the underwater robot, the displacement variation of the motion point relative to the reference point is calculated through a certain formula, and the position correction of the underwater robot can be more accurately realized based on the distance parameter, the coordinate parameter and the course angle parameter of the underwater robot, so that the navigation positioning accuracy of the underwater robot can be ensured, the underwater robot can complete operation according to a planned path, and the intelligent autonomy of the underwater robot is improved.
Alternatively, the underwater robotic system described above is a pool cleaning robot for cleaning a pool.
According to yet another aspect of the present application, there is also provided a non-volatile computer readable storage. The storage medium has stored thereon a computer program which may implement the underwater robot positioning method as described above.
According to yet another aspect of the present application, an electronic device is also provided. The electronic device comprises one or more processors and storage means for storing one or more programs that, when executed by the one or more processors, enable the one or more processors to implement the underwater robot positioning method as described above.
Finally, it should be noted that the foregoing description is only a preferred embodiment of the present application, and is not intended to limit the present application, and although the detailed description of the present application is given with reference to the foregoing embodiment, it will be obvious to those skilled in the art that various modifications may be made to the technical solutions of the foregoing embodiments, or that equivalents may be substituted for some of the technical features thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. The underwater robot positioning method is characterized by comprising the following steps of:
moving along the pool wall at a reference distance based on a preset map;
in the process of moving along the pool wall, acquiring the moving distance between the underwater robot and the pool wall in real time;
determining a position deviation amount according to the reference distance and the movement distance;
and adjusting the position of the underwater robot according to the position deviation amount.
2. The underwater robot positioning method of claim 1, wherein the determining the position deviation amount from the reference distance and the movement distance includes:
establishing a reference coordinate system based on a motion plane of the underwater robot;
determining the motion quantity of a motion point, wherein the motion point is the position of the underwater robot in the reference coordinate system when the underwater robot and the pool wall are at the motion distance, and the motion quantity comprises the motion distance, the motion coordinate and the motion course angle of the motion point;
determining a reference quantity of a reference point, wherein the reference point is the position of a point corresponding to the motion point in the preset map in the reference coordinate system, and the reference quantity comprises a reference distance, a reference coordinate and a reference course angle of the reference point;
position deviation coordinates are determined based on the reference amount and the movement amount.
3. The underwater robot positioning method according to claim 2, wherein the determining the position deviation coordinates based on the reference amount and the movement amount includes:
X t = X 1 -△X
Y t = Y 1 -△Y
wherein Δx= Δd·sin (Δθ)
△Y =△D·cos（△θ）
△θ =θ l -θ m
△D=D 1 -D 0
（X t ，Y t ) For the position deviation coordinates, D 0 For the reference distance D 1 For the movement distance, θ m For the reference heading angle, θ l For the course angle of motion, (X) 1 ，Y 1 ) Is the motion coordinate.
4. The method for positioning an underwater robot according to claim 1, wherein the step of acquiring the moving distance of the underwater robot from the pool wall in real time during the moving along the pool wall comprises:
and acquiring the moving distance between the underwater robot and the pool wall in real time based on the ultrasonic radar ranging sensor in the process of moving along the pool wall.
5. An underwater robot for performing the underwater robot positioning method as claimed in any of claims 1 to 4, characterized in that the underwater robot comprises:
a movement management unit for controlling the underwater robot to move along the pool wall with a reference distance based on a preset map;
the data processing unit is used for acquiring the movement distance between the underwater robot and the pool wall in real time in the process of moving along the pool wall, and determining the position deviation according to the reference distance and the movement distance;
and the positioning control unit is used for adjusting the position of the underwater robot according to the position deviation amount.
6. The underwater robot of claim 5, wherein the data processing unit establishes a reference coordinate system based on a plane of motion of the underwater robot;
the data processing unit determines the motion quantity of a motion point, wherein the motion point is the position of the underwater robot in the reference coordinate system when the underwater robot and the pool wall are at the motion distance, and the motion quantity comprises the motion distance, the motion coordinate and the motion course angle of the motion point;
the data processing unit determines a reference quantity of a reference point, wherein the reference point is a position of a point corresponding to the motion point in the preset map in the reference coordinate system, and the reference quantity comprises a reference distance, a reference coordinate and a reference course angle of the reference point;
the data processing unit also determines position deviation coordinates based on the reference amount and the movement amount.
7. The underwater robot of claim 6 wherein the formula by which the data processing unit determines the position deviation coordinates is:
X t = X 1 -△X
Y t = Y 1 -△Y
wherein the method comprises the steps of
△X =△D·sin（△θ）
△Y =△D·cos（△θ）
△θ =θ l -θ m
△D=D 1 -D 0
（X t ，Y t ) For the position deviation coordinates, D 0 For the reference distance D 1 For the movement distance, θ m For the reference heading angle, θ l For the course angle of motion, (X) 1 ，Y 1 ) Is the motion coordinate.
8. The underwater robot of any of claims 5-7 wherein the underwater robot is a pool cleaning robot.
9. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program implements the underwater robot positioning method as claimed in any of claims 1-4.
10. An electronic device, comprising:
one or more processors;
a storage means for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the underwater robot positioning method of any of claims 1-4.
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