CN116400711A - Path planning method, underwater robot, electronic equipment and storage medium - Google Patents

Abstract

The application provides a path planning method, an underwater robot, electronic equipment and a storage medium, which are used in the field of the underwater robot and are used for solving the problems that the conventional underwater robot path planning is not intelligent and dead zones and repeated areas occur. The method comprises the following steps: acquiring position coordinates and azimuth angles of the underwater robot, a first distance from a current side pool wall and a second distance from the current front pool wall in real time; controlling the underwater robot to travel along the front side of the underwater robot, and keeping the first distance between the underwater robot and the current side pool wall equal to a first threshold value; controlling the underwater robot to rotate a first angle in a direction deviating from the current side pool wall under the condition that the second distance is smaller than a second threshold value; under the condition that the underwater robot returns to the initial point, determining that the underwater robot travels for one round, resetting the initial position, the first threshold value and the second threshold value of the underwater robot, and controlling the underwater robot to move to the reset initial position.

Description

Path planning method, underwater robot, electronic equipment and storage medium

technical field

The present application relates to the field of underwater robots, in particular, to a path planning method, underwater robots, electronic equipment and storage media.

Background technique

Using underwater robots to clean private or public swimming pools can save manpower, and compared to manual cleaning, underwater robots clean more thoroughly. Therefore, using underwater robots to replace manpower for swimming pool cleaning is bound to become a trend.

For cleaning robots, path planning methods mainly include random path methods, path planning methods for regular swimming pools, etc. Cleaning robots need to adopt appropriate path planning methods according to the configured sensors, working environment and task characteristics.

However, the traditional underwater random path method is random in underwater movement, so there are likely to be more cleaning dead zones and more repeated cleaning areas, the cleaning efficiency is low, and it cannot reflect the intelligence of the robot at all; while the regular swimming pool The application range and scenarios of the path planning method are relatively limited, and it is only suitable for swimming pools with relatively regular shapes. In reality, the shapes of swimming pools are various, which cannot adapt to the development of swimming pools and user needs, and there is a problem of low efficiency.

The above information disclosed in this Background section is only for enhancement of understanding of the background of the application and therefore it may contain information that does not form the prior art that is already known in the art to a person of ordinary skill in the art.

Contents of the invention

In order to solve the above problems, the present application proposes a path planning method, an underwater robot, an electronic device, and a storage medium.

According to the first aspect of the present application, a method for path planning of an underwater robot is proposed, the method comprising:

(a) Obtaining the initial position coordinates and initial azimuth of the underwater robot;

(b) Obtaining the position coordinates and azimuth angle of the underwater robot, the first distance from the current side pool wall and the second distance from the current frontal pool wall in real time;

(c) Controlling the underwater robot to move straight ahead, keeping the first distance between the underwater robot and the current side pool wall equal to a first threshold;

(d) The difference between the position coordinates of the underwater robot acquired in real time and the initial position coordinates continues to decrease for the first time and is smaller than the third threshold, and the difference between the azimuth angle acquired in real time and the initial azimuth angle When the value is less than the fourth threshold, it is determined that the underwater robot returns to the initial point, and step (f) is performed;

(e) When the second distance is less than the second threshold, control the underwater robot to rotate by a first angle in a direction deviating from the current side pool wall, and perform step (c);

(f) When the underwater robot returns to the initial point, determine that the underwater robot has traveled one round, and determine the abscissa of the position coordinates obtained in real time by the underwater robot during this round of travel Whether the difference between the maximum value and the minimum value of , or any one of the maximum value and the minimum value of the ordinate is less than the fifth threshold;

(g) When the difference between the maximum value and the minimum value of the abscissa, or the maximum value and the minimum value of the ordinate is greater than the fifth threshold, reset the initial position of the underwater robot, the first threshold and the second threshold, control the underwater robot to move to a reset initial position, and perform step (a).

According to some embodiments, when the difference between the maximum value and the minimum value of the abscissa, or any one of the maximum value and the minimum value of the ordinate is less than or equal to a fifth threshold, the underwater robot is controlled to stop traveling.

According to some embodiments, the real-time acquisition of the position coordinates and azimuth angle of the underwater robot, the first distance from the current side wall and the second distance from the current front wall includes:

其中，S1为所述第一距离，S2为所述第二距离，V为水中声速，t0为发射声波信号时刻，t1为接收侧方池壁反射信号时刻，t2为接收正前方池壁反射信号时刻。Through the ultrasonic ranging of the underwater robot, the first distance between the underwater robot and the current side pool wall and the second distance from the current front side pool wall are obtained:

Among them, S1 is the first distance, S2 is the second distance, V is the speed of sound in water, t0 is the time of transmitting the sound wave signal, t1 is the time of receiving the reflected signal from the side pool wall, and t2 is the time of receiving the reflected signal from the front pool wall time.

其中，dz为所述水下机器人的位置坐标与所述初始位置坐标的差值，da为所述方位角与所述初始方位角的差值，x1、y1、a1为实时获取所述水下机器人的位置坐标及方位角，x0、y0、a0为所述水下机器人的初始位置坐标及初始方位角。According to some embodiments, the difference between the position coordinates of the underwater robot and the initial position coordinates and the difference between the azimuth and the initial azimuth are calculated as follows:

Among them, dz is the difference between the position coordinates of the underwater robot and the initial position coordinates, da is the difference between the azimuth and the initial azimuth, and x1, y1, a1 are the real-time acquisition of the underwater robot. The position coordinates and azimuth angles of the robot, x0, y0, a0 are the initial position coordinates and initial azimuth angles of the underwater robot.

According to some embodiments, the resetting the initial position of the underwater robot, the first threshold and the second threshold includes:

moving the underwater robot a third distance in a direction away from the current side pool wall;

increasing the first threshold by a fourth distance;

The second threshold is increased by a fifth distance.

According to the second aspect of the present application, an underwater robot is proposed for performing the method according to any one of the first aspect, the underwater robot includes:

The ultrasonic ranging module is arranged on the side and directly in front of the underwater robot, and obtains the position coordinates of the underwater robot in real time, the first distance from the current side pool wall and the second distance from the current front pool wall, and obtains The initial position coordinates of the underwater robot;

A control unit, configured to control the underwater robot to move straight ahead and keep the first distance between the underwater robot and the current side pool wall equal to a first threshold; when the second distance is less than a second threshold Next, the underwater robot is controlled to rotate by a first angle in a direction deviating from the current side pool wall; the difference between the position coordinates of the underwater robot acquired in real time and the initial position coordinates continues to decrease for the first time, and is less than the third threshold, it is determined that the underwater robot returns to the initial point; in the case that the underwater robot returns to the initial point, it is determined that the underwater robot has advanced one round, and it is determined that the underwater robot During this round of travel, whether the difference between the maximum value and the minimum value of the abscissa in the real-time acquired position coordinates, or any one of the maximum value and the minimum value of the ordinate is less than the fifth threshold; value and the minimum value, or the difference between any one of the maximum value and the minimum value of the ordinate is less than or equal to the fifth threshold, control the underwater robot to stop advancing;

The traveling unit is configured to receive instructions from the control unit and control the underwater robot to travel straight ahead.

According to some embodiments, the underwater robot further includes a gyroscope for acquiring an azimuth of the underwater robot;

The control unit is further configured to reduce the difference between the position coordinates of the underwater robot acquired in real time and the initial position coordinates for the first time, and the difference between the position coordinates of the underwater robot and the initial position coordinates When the difference is less than the third threshold, determine whether the difference between the azimuth and the initial azimuth is less than the fourth threshold; if the difference between the azimuth and the initial azimuth is less than the fourth threshold, determine the The underwater robot returns to the initial point.

According to some embodiments, the control unit is further configured to reset the underwater threshold when the difference between the maximum value and the minimum value of the abscissa or the maximum value and the minimum value of the ordinate is greater than a fifth threshold. The initial position of the robot, the first threshold and the second threshold control the underwater robot to move to a reset initial position.

According to a third aspect of the present application, an electronic device is proposed, including:

one or more processors;

memory for storing one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors are made to execute the method according to any one of the first aspect.

According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method described in any one of the first aspects is implemented.

This application proposes a path planning method, underwater robot, electronic equipment, and storage medium. Based on the ultrasonic ranging module, the underwater robot is controlled to move from the periphery to the center according to the method of planning the loop-shaped path along the pool wall, and the underwater robot is improved. The travel efficiency is high, and the problem of blind spots and path duplication can be avoided, and the path planning is not affected by the shape of the pool, thus reflecting the intelligence of the underwater robot; and the underwater robot provided by this application only needs to use two ultrasonic ranging modules , the path planning can be realized and the equipment cost can be saved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary only and are not restrictive of the application.

Description of drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in detail example embodiments thereof with reference to the accompanying drawings. The drawings described below are only some embodiments of the application, rather than limiting the application.

Fig. 1 shows a flow chart of a path planning method for an underwater robot in an exemplary embodiment;

Fig. 2 shows a schematic diagram of an underwater robot path planning method in an exemplary embodiment;

Fig. 3 shows the schematic diagram of the underwater robot of an exemplary embodiment;

Fig. 4 shows a structural diagram of an electronic device provided by the present application.

Detailed ways

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, 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 application will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus their repeated descriptions 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 in order to give a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. may be used. In these instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.

The flow charts shown in the drawings are only exemplary illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, and some operations/steps can be combined or partly combined, so the actual order of execution may be changed according to the actual situation.

The terms "first", "second" and the like in the description of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these processes, methods, products or devices.

Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of exemplary embodiments, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present application, and thus cannot be used to limit the protection scope of the present application.

Fig. 1 shows a flowchart of a path planning method for an underwater robot in an exemplary embodiment.

S101. Obtain the initial position coordinates and initial azimuth of the underwater robot.

According to an example embodiment, the underwater robot obtains an initial position coordinate (x0, y0) and an initial azimuth a0.

S102. Obtain in real time the position coordinates and azimuth angles of the underwater robot, the first distance from the current side pool wall, and the second distance from the current frontal pool wall.

According to an example embodiment, during the traveling process of the underwater robot, the position coordinates (x1, y1) and the azimuth a1 of the underwater robot are acquired in real time.

其中，S1为第一距离，S2为第二距离，V为水中声速，t0为发射声波信号时刻，t1为接收侧方池壁反射信号时刻，t2为接收正前方池壁反射信号时刻。According to an example embodiment, the underwater robot obtains the first distance S1 between the underwater robot and the current side pool wall and the second distance S2 between the current front pool wall and the current front pool wall through ultrasonic ranging:

Among them, S1 is the first distance, S2 is the second distance, V is the speed of sound in water, t0 is the moment of transmitting the sound wave signal, t1 is the moment of receiving the reflected signal from the side pool wall, and t2 is the moment of receiving the reflected signal from the front pool wall.

S103. Control the underwater robot to move forward directly, and keep the first distance between the underwater robot and the current side pool wall equal to the first threshold.

According to an exemplary embodiment, the first threshold of the distance between the underwater robot and the side pool wall is S01, and the underwater robot is controlled to feed back the side distance in real time, and the angular velocity of the underwater robot's movement is adjusted to maintain the distance with the current side pool wall. The first distance is the first threshold S01, and the underwater robot is controlled to travel directly in front of it.

S104, judging whether the underwater robot returns to the initial position.

According to an exemplary embodiment, the position coordinates of the underwater robot are acquired in real time, and when the difference between the underwater robot and the initial position coordinates continues to decrease for the first time and is smaller than the third threshold dz1, go to S105; if it is different from the initial position coordinates If the difference between the values does not decrease for the first time, or is not smaller than the third threshold, go to S109.

其中，dz为水下机器人的位置坐标与初始位置坐标的差值，（x1，y1）为实时获取水下机器人的位置坐标，（x0，y0）为水下机器人的初始位置坐标。According to an example embodiment, the calculation method of the difference between the position coordinates of the underwater robot and the initial position coordinates is:

Among them, dz is the difference between the position coordinates of the underwater robot and the initial position coordinates, (x1, y1) is the position coordinates of the underwater robot obtained in real time, and (x0, y0) is the initial position coordinates of the underwater robot.

According to some embodiments, the first time may be set according to actual needs. For example, the first time is 2s. If it is detected in real time that the difference between the position coordinates of the underwater robot and the initial position coordinates continues to decrease within 2s and is smaller than the third threshold dz1, go to S105.

S105. Determine whether the difference between the azimuth angle and the initial azimuth angle is smaller than a fourth threshold.

da为方位角与初始方位角的差值，a1为实时获取水下机器人的方位角，a0为水下机器人的初始方位角。According to an exemplary embodiment, when the difference between the position coordinates of the underwater robot acquired in real time and the initial position coordinates continues to decrease for the first time and is smaller than a third threshold, the difference between the azimuth angle acquired in real time and the initial azimuth angle is calculated value:

da is the difference between the azimuth and the initial azimuth, a1 is the real-time azimuth of the underwater robot, and a0 is the initial azimuth of the underwater robot.

If the difference da between the azimuth angle and the initial azimuth angle is less than the fourth threshold da1, determine that the underwater robot returns to the initial point, and go to S106; if it is greater than or equal to the fourth threshold, go to S109.

S106 , judging whether the difference between the maximum value and the minimum value of the abscissa value, or any one of the maximum value and the minimum value of the ordinate value in the real-time acquired position coordinates of the underwater robot during this round of travel is less than a fifth threshold.

According to an example embodiment, in a case where the underwater robot returns to an initial point, it is determined that the underwater robot travels one round. According to the position coordinates of the underwater robot acquired in real time, select the maximum value x _max and the minimum value x _min of the abscissa, the maximum value y _max and the minimum value y _{min of the} ordinate, and calculate the difference between the maximum value and the minimum value of the abscissa, The difference between the maximum value and the minimum value of the ordinate determines whether the difference between the maximum value and the minimum value of the abscissa, or any one of the maximum value and the minimum value of the ordinate is smaller than the fifth threshold.

According to an exemplary embodiment, if the difference between the maximum value and the minimum value of the coordinates, or the maximum value and the minimum value of the ordinate is greater than the fifth threshold, go to S107; the maximum value and the minimum value of the abscissa, or If the difference between any one of the maximum and minimum values of the coordinates is less than or equal to the fifth threshold, go to S108.

S107, reset the initial position, the first threshold and the second threshold of the underwater robot, and control the underwater robot to move to the reset initial position.

According to an example embodiment, after the underwater robot travels one round, the underwater robot is moved a third distance in a direction away from the current side pool wall; the first threshold is increased by a fourth distance; the second threshold is increased by a fifth distance, As shown in Figure 2, move the underwater robot from point A0 to point B0, and go to S103.

According to some embodiments, the fourth distance and the fifth distance may be the same.

S108, controlling the underwater robot to stop traveling.

According to an exemplary embodiment, when the difference between the maximum value and the minimum value of the abscissa, or the maximum value and the minimum value of the ordinate is less than or equal to the fifth threshold, it is proved that the underwater robot has reached the center of the pool, and the underwater robot is controlled to The robot stops traveling.

S109. Determine whether the second distance is smaller than a second threshold.

According to an exemplary embodiment, the second threshold value of the distance between the underwater robot and the front pool wall is preset as S02. During the travel of the underwater robot, if the obtained second distance is less than the second threshold S02, then go to S110; if the obtained If the second distance is greater than or equal to the second threshold, go to S103.

S110. Control the underwater robot to rotate by a first angle in a direction deviating from the current side pool wall.

According to an example embodiment, when the second distance S2 from the front of the underwater robot is less than the second threshold S02, the underwater robot is controlled to rotate by a first angle in a direction deviating from the current side pool wall: when the underwater robot rotates for the first After a certain angle, go to S103, that is, it is still necessary to control the distance between the underwater robot and the current side pool wall to be the first threshold during the traveling process.

According to some embodiments, the first angle can be set by itself.

Taking Figure 2 as an example, when the underwater robot travels to point A1, the distance S2 from the front wall is smaller than the second threshold S02, and the underwater robot is controlled to deviate from the current direction of the side wall, that is, to rotate 90 to the right. °.

This application proposes a path planning method, underwater robot, electronic equipment, and storage medium. Based on the ultrasonic ranging module, the underwater robot is controlled to move from the periphery to the center according to the method of planning the loop-shaped path along the pool wall, and the underwater robot is improved. High travel efficiency, and can avoid blind spots and path repetition, not affected by the shape of the pool, reflecting the intelligence of underwater robots.

Fig. 3 shows a schematic diagram of an underwater robot in an exemplary embodiment.

As shown in Figure 3, the underwater robot 30 includes two ultrasonic ranging modules 3011 and an ultrasonic ranging module 3012, a control unit 302, and a traveling unit 303, wherein:

The ultrasonic ranging module 3011 is arranged on the side of the underwater robot for obtaining the first distance S1 between the underwater robot and the current side pool wall, and the ultrasonic ranging module 3012 is arranged directly in front of the underwater robot for obtaining Lower the second distance S2 between the robot and the pool wall directly in front of it.

其中，S1为第一距离，S2为第二距离，V为水中声速，t0为发射声波信号时刻，t1为接收侧方池壁反射信号时刻，t2为接收正前方池壁反射信号时刻。The first distance S1 between the underwater robot and the current side wall and the second distance S2 from the current front wall are calculated as follows:

Among them, S1 is the first distance, S2 is the second distance, V is the speed of sound in water, t0 is the moment of transmitting the sound wave signal, t1 is the moment of receiving the reflected signal from the side pool wall, and t2 is the moment of receiving the reflected signal from the front pool wall.

According to an example embodiment, the ultrasonic ranging module 3011 and the ultrasonic ranging module 3012 are also used to obtain the position coordinates (x1, y1) and the initial position coordinates (x0, y0) of the underwater robot.

The traveling unit 303 is configured to receive an instruction from the control unit 302 and control the underwater robot to travel straight ahead.

The control unit 302 is used to control the underwater robot to keep the first distance S1 between the underwater robot and the current side pool wall equal to the first threshold S01 when the underwater robot travels directly in front of it, and the ultrasonic ranging module 3011 feeds back the side distance S1 in real time, The control unit 302 controls the traveling unit 303 to adjust the angular velocity of the underwater robot to keep the first distance from the current side wall at the first threshold S01, and controls the underwater robot to move forward.

According to an exemplary embodiment, when the second distance S2 obtained by the ultrasonic distance measuring module 3012 in real time is less than the second threshold S02, the control unit 302 outputs a control instruction to the traveling unit 303 to control the underwater robot to deviate from the current distance of the side pool wall. The orientation is rotated by the first angle.

According to an example embodiment, the difference between the position coordinates (x1, y1) of the underwater robot acquired in real time by the ultrasonic ranging module 3011 and the ultrasonic ranging module 3012 and the initial position coordinates (x0, y0) becomes smaller for the first time, and is less than the third threshold dz1, it is determined that the underwater robot returns to the initial point.

According to an example embodiment, the underwater robot further includes a gyroscope 304 for obtaining the initial azimuth a0 and azimuth a1 of the underwater robot:

When the difference between the position coordinates of the underwater robot acquired in real time and the initial position coordinates continues to decrease for the first time, and the difference between the position coordinates of the underwater robot and the initial position coordinates is smaller than the third threshold, the control unit 302 also uses Determine whether the difference between the azimuth angle and the initial azimuth angle is less than the fourth threshold; if the difference between the azimuth angle a1 and the initial azimuth angle a0 is less than the fourth threshold da1, determine that the underwater robot returns to the initial point.

When the underwater robot returns to the initial point, the control unit 302 determines that the underwater robot has traveled one round, and selects the maximum value x _max and the minimum value x min of the abscissa and x _{min of} the vertical coordinate according to the position coordinates of the underwater robot acquired in real time. Coordinate maximum value y _max and minimum value y _min , calculate the difference between the maximum value and the minimum value of the abscissa, and the difference between the maximum value and the minimum value of the ordinate. It is judged whether the difference between the maximum value and the minimum value of the abscissa value, or the maximum value and the minimum value of the ordinate value in the real-time acquired position coordinates of the underwater robot during this round of travel is less than the fifth threshold.

In the case where the difference between the maximum value and the minimum value of the abscissa, or any one of the maximum value and the minimum value of the ordinate is less than or equal to the fifth threshold, the control unit 302 outputs a control command to the travel unit 303 to control the underwater robot to stop. .

When the difference between the maximum value and the minimum value of the abscissa, or the maximum value and the minimum value of the ordinate is greater than the fifth threshold, the control unit 302 resets the initial position of the underwater robot, and moves the underwater robot away from the current side. Move the third distance in the direction of the square pool wall; reset the first threshold and the second threshold, increase the first threshold by the fourth distance; increase the second threshold by the fifth distance; and output control instructions to the traveling unit 303 to control the underwater The robot moves to the reset initial position.

According to some embodiments, the fourth distance and the fifth distance may be the same.

This application proposes a path planning method, underwater robot, electronic equipment, and storage medium. Based on the ultrasonic ranging module, the method of planning along the pool wall according to the circular path only needs to use two ultrasonic ranging modules to realize the path. Planning, saving equipment costs.

Fig. 4 shows a structural diagram of an electronic device provided by the present application.

Referring to FIG. 4 , FIG. 4 provides an electronic device 40 including a processor 401 and a memory 402 . The memory 402 stores computer instructions. When the computer instructions are executed by the processor 401 , the processor 401 executes the computer instructions to realize the method and detailed scheme shown in FIG. 1 , and send and receive data via the communication module 403 .

It should be understood that the above device embodiments are only illustrative, and the device disclosed in the present invention can also be implemented in other ways. For example, the division of units/modules in the above embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, several units, modules or components may be combined, or may be integrated into another system, or some features may be omitted or not implemented.

In addition, unless otherwise specified, each functional unit/module in each embodiment of the present invention may be integrated into one unit/module, each unit/module may exist separately physically, or more than two units/modules may be integrated in one Together. The above-mentioned integrated units/modules can be implemented in the form of hardware or in the form of software program modules.

If the integrated unit/module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, or the like. Physical implementations of hardware structures include, but are not limited to, transistors, memristors, and so on. Unless otherwise specified, the processor or chip may be any appropriate hardware processor, such as CPU, GPU, FPGA, DSP, ASIC and so on. Unless otherwise specified, the on-chip cache, off-chip memory, and storage may be any suitable magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory (RRAM), a dynamic random access memory (DRAM) Dynamic Random Access Memory), Static Random-Access Memory SRAM (Static Random-Access Memory), Enhanced Dynamic Random-Access Memory EDRAM (Enhanced Dynamic Random Access Memory), High-Bandwidth Memory HBM (High-Bandwidth Memory), Hybrid Storage Cube HMC ( Hybrid Memory Cube) and so on.

If the integrated unit/module is realized in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory. Several instructions are included to make a computer device (which may be a personal computer, server or network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

The embodiment of the present application also provides a non-transitory computer storage medium, which stores a computer program, and when the computer program is executed by multiple processors, the processors execute the method and refinement scheme as shown in Figure 1 .

It should be clearly understood that the application describes how to make and use specific examples, but the application is not limited to any details of these examples. Rather, these principles can be applied to many other embodiments based on the teachings of the present disclosure.

In addition, it should be noted that the above figures are only schematic illustrations of the processing included in the method according to the exemplary embodiments of the present application, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not imply or limit the chronological order of these processes. In addition, it is also easy to understand that these processes may be executed synchronously or asynchronously in multiple modules, for example.

Exemplary embodiments of the present application have been specifically shown and described above. It should be understood that the application is not limited to the detailed structures, arrangements or methods of implementation described herein; on the contrary, this application is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims (10)

1. a path planning method for underwater robot, it is characterized in that, described method comprises: (a) Obtaining the initial position coordinates and initial azimuth of the underwater robot; (b) Obtaining the position coordinates and azimuth angle of the underwater robot, the first distance from the current side pool wall and the second distance from the current frontal pool wall in real time; (c) Controlling the underwater robot to move straight ahead, keeping the first distance between the underwater robot and the current side pool wall equal to a first threshold; (d) The difference between the position coordinates of the underwater robot acquired in real time and the initial position coordinates continues to decrease for the first time and is smaller than the third threshold, and the difference between the azimuth angle acquired in real time and the initial azimuth angle When the value is less than the fourth threshold, it is determined that the underwater robot returns to the initial point, and step (f) is performed; (e) When the second distance is less than the second threshold, control the underwater robot to rotate by a first angle in a direction deviating from the current side pool wall, and perform step (c); (f) When the underwater robot returns to the initial point, determine that the underwater robot has traveled one round, and determine the abscissa of the position coordinates obtained in real time by the underwater robot during this round of travel Whether the difference between the maximum value and the minimum value of , or any one of the maximum value and the minimum value of the ordinate is less than the fifth threshold; (g) When the difference between the maximum value and the minimum value of the abscissa, or the maximum value and the minimum value of the ordinate is greater than the fifth threshold, reset the initial position of the underwater robot, the first threshold and the second threshold, control the underwater robot to move to a reset initial position, and perform step (a). 2. The path planning method according to claim 1, wherein the difference between the maximum value and the minimum value of the abscissa or any one of the maximum value and the minimum value of the ordinate is less than or equal to the fifth threshold Next, control the underwater robot to stop advancing. 3. The path planning method according to claim 1, wherein the real-time acquisition of the position coordinates and the azimuth angle of the underwater robot, the first distance with the current side pool wall and the current distance from the current front pool wall Second distance, including: Through the ultrasonic ranging of the underwater robot, the first distance between the underwater robot and the current side pool wall and the second distance from the current front side pool wall are obtained:

Among them, S1 is the first distance, S2 is the second distance, V is the speed of sound in water, t0 is the time of transmitting the sound wave signal, t1 is the time of receiving the reflected signal from the side pool wall, and t2 is the time of receiving the reflected signal from the front pool wall time. 4. path planning method as claimed in claim 1, is characterized in that, the position coordinate of described underwater robot and the difference of described initial position coordinate and the calculation method of the difference of azimuth and described initial azimuth are: :

Among them, dz is the difference between the position coordinates of the underwater robot and the initial position coordinates, da is the difference between the azimuth and the initial azimuth, and x1, y1, a1 are the real-time acquisition of the underwater robot. The position coordinates and azimuth angles of the robot, x0, y0, a0 are the initial position coordinates and initial azimuth angles of the underwater robot. 5. The path planning method according to claim 1, wherein said resetting the initial position of said underwater vehicle, said first threshold and said second threshold comprises: moving the underwater robot a third distance in a direction away from the current side pool wall; increasing the first threshold by a fourth distance; The second threshold is increased by a fifth distance. 6. An underwater robot, characterized in that, for performing the method according to any one of claims 1-5, said underwater robot comprises: The ultrasonic ranging module is arranged on the side and directly in front of the underwater robot, and obtains the position coordinates of the underwater robot in real time, the first distance from the current side pool wall and the second distance from the current front pool wall, and obtains The initial position coordinates of the underwater robot; A control unit, configured to control the underwater robot to move straight ahead and keep the first distance between the underwater robot and the current side pool wall equal to a first threshold; when the second distance is less than a second threshold Next, the underwater robot is controlled to rotate by a first angle in a direction deviating from the current side pool wall; the difference between the position coordinates of the underwater robot acquired in real time and the initial position coordinates continues to decrease for the first time, and is less than the third threshold, it is determined that the underwater robot returns to the initial point; in the case that the underwater robot returns to the initial point, it is determined that the underwater robot has advanced one round, and it is determined that the underwater robot During this round of travel, whether the difference between the maximum value and the minimum value of the abscissa in the real-time acquired position coordinates, or any one of the maximum value and the minimum value of the ordinate is less than the fifth threshold; value and the minimum value, or the difference between any one of the maximum value and the minimum value of the ordinate is less than or equal to the fifth threshold, control the underwater robot to stop advancing; The traveling unit is configured to receive instructions from the control unit and control the underwater robot to travel straight ahead. 7. underwater robot as claimed in claim 6, is characterized in that, described underwater robot also comprises gyroscope, is used for obtaining the azimuth angle of described underwater robot; The control unit is further configured to reduce the difference between the position coordinates of the underwater robot acquired in real time and the initial position coordinates for the first time, and the difference between the position coordinates of the underwater robot and the initial position coordinates When the difference is less than the third threshold, determine whether the difference between the azimuth and the initial azimuth is less than the fourth threshold; if the difference between the azimuth and the initial azimuth is less than the fourth threshold, determine the The underwater robot returns to the initial point. 8. The underwater robot according to claim 6, wherein the control unit is further configured to have a difference between the maximum value and the minimum value of the abscissa or the maximum value of the ordinate and the minimum value greater than the first In the case of five thresholds, reset the initial position of the underwater robot, the first threshold and the second threshold, and control the underwater robot to move to the reset initial position. 9. An electronic device, characterized in that it comprises: one or more processors; memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors are made to execute the method according to any one of claims 1-5. 10. A computer-readable storage medium, on which a computer program is stored, wherein, when the program is executed by a processor, the method according to any one of claims 1-5 is implemented.

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