Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Control method of underwater robot, underwater robot and storage medium
The invention discloses a control method of an underwater robot, the underwater robot and a storage medium, and the control method of the underwater robot comprises the following steps: if it is detected that the water outlet time is greater than a first time length, executing a machine protection action, and obtaining attitude detection data, the attitude detection data comprising an acceleration and/or an inclination angle; according to the attitude detection data, determining attitude variation in a preset time period; and if the posture variation is smaller than a preset threshold value, executing a return action. It can be seen that the attitude data of the underwater robot after the underwater robot goes out of water are obtained, the attitude variation in the preset time period is obtained according to the attitude data, and when the attitude variation is smaller than the preset threshold value, it is indicated that the current water outlet mode of the current underwater robot is step water outlet, namely active water outlet; the underwater robot can enter water again to execute the cleaning task again, cleaning interruption after water is discharged is avoided, and then the cleaning efficiency is improved.
本发明公开了水下机器人的控制方法、水下机器人及存储介质，其中，所述水下机器人的控制方法包括以下步骤：若检测到出水时间大于第一时长，执行机器保护动作，并获取姿态检测数据，所述姿态检测数据包括加速度和/或倾斜角度；根据所述姿态检测数据，确定预设时段内的姿态变化量；若所述姿态变化量小于预设阈值，执行返回动作。可以看出，获取水下机器人出水后的姿态数据，根据姿态数据获取预设时段内的姿态变化量，并在姿态变化量小于预设阈值时，说明当前水下机器人当前的出水方式为台阶出水也即主动出水，通过执行返回动作，使得水下机器人能够重新入水进而重新执行清洁任务，避免出水后清洁中断，进而提高清洁效率。
Control method of underwater robot, underwater robot and storage medium
The invention discloses a control method of an underwater robot, the underwater robot and a storage medium, and the control method of the underwater robot comprises the following steps: if it is detected that the water outlet time is greater than a first time length, executing a machine protection action, and obtaining attitude detection data, the attitude detection data comprising an acceleration and/or an inclination angle; according to the attitude detection data, determining attitude variation in a preset time period; and if the posture variation is smaller than a preset threshold value, executing a return action. It can be seen that the attitude data of the underwater robot after the underwater robot goes out of water are obtained, the attitude variation in the preset time period is obtained according to the attitude data, and when the attitude variation is smaller than the preset threshold value, it is indicated that the current water outlet mode of the current underwater robot is step water outlet, namely active water outlet; the underwater robot can enter water again to execute the cleaning task again, cleaning interruption after water is discharged is avoided, and then the cleaning efficiency is improved.
本发明公开了水下机器人的控制方法、水下机器人及存储介质，其中，所述水下机器人的控制方法包括以下步骤：若检测到出水时间大于第一时长，执行机器保护动作，并获取姿态检测数据，所述姿态检测数据包括加速度和/或倾斜角度；根据所述姿态检测数据，确定预设时段内的姿态变化量；若所述姿态变化量小于预设阈值，执行返回动作。可以看出，获取水下机器人出水后的姿态数据，根据姿态数据获取预设时段内的姿态变化量，并在姿态变化量小于预设阈值时，说明当前水下机器人当前的出水方式为台阶出水也即主动出水，通过执行返回动作，使得水下机器人能够重新入水进而重新执行清洁任务，避免出水后清洁中断，进而提高清洁效率。
Control method of underwater robot, underwater robot and storage medium
水下机器人的控制方法、水下机器人及存储介质
DENG ZHINENG (Autor:in)
28.07.2023
Patent
Elektronische Ressource
Chinesisch
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