CN112243194A - Self-dive type mobile sensor device, control method, computer device, and storage medium - Google Patents
Self-dive type mobile sensor device, control method, computer device, and storage medium Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The application relates to a self-submerging type mobile sensing device, a control method, a computer device and a storage medium, wherein the self-submerging type mobile sensing device comprises a shell, the shell is arranged in a columnar shape, one end of the shell is provided with at least two first propellers for pushing the shell to move along the length direction of the shell, and one end of the shell, which is far away from the first propellers, is provided with a second propeller, the central axis of the second propeller is perpendicular to the length direction of the shell; the inside sensing system that is equipped with of casing, sensing system include following module: the communication module is used for carrying out information transmission with the outside; a positioning module for confirming the position of the shell; the pressure sensing module is used for sensing the pressure of the position where the shell is located; the attitude sensing module is used for sensing the rotation angle of the shell; a fine detection module for turbidity and chlorophyll detection; and the storage module is used for storing information. The method and the device have the effects of integrating various sensors and realizing flexible control of the sensing equipment.
Description
Technical Field
The application relates to the field of water quality monitoring, in particular to self-submersible mobile sensing equipment, a control method, computer equipment and a storage medium.
Background
At present, along with the attention of people to the environment and the improvement of water quality monitoring and treatment level, more and more water areas need to be subjected to targeted water quality monitoring and monitoring operation, when the operation is carried out, two monitoring modes are generally adopted, one mode is sampling operation, the detection of water quality is completed by taking a sample to a laboratory, the other mode is field detection, and the water quality monitoring is carried out in the water areas through detection equipment, wherein a large amount of sensing equipment is generally needed to be used in the field detection process.
In view of the above-mentioned related art, the inventors consider that there are defects that the sensor type mounted on the sensor device without a tag is single, the control of the device is not flexible enough, and it is difficult to ensure the achievement of the effect of high-precision detection.
Disclosure of Invention
In order to integrate various sensors and realize flexible sensing equipment control, the application provides self-submersible type mobile sensing equipment, a control method, computer equipment and a storage medium.
In a first aspect, the present application provides a self-dive mobile sensor device, which adopts the following technical scheme:
a self-submersible type mobile sensing device comprises a shell, wherein the shell is arranged in a columnar shape, one end of the shell is provided with at least two first propellers for pushing the shell to move along the length direction of the shell, and one end of the shell, far away from the first propellers, is provided with a second propeller with a central axis perpendicular to the length direction of the shell;
the inside sensing system that is equipped with of casing, sensing system include following module:
the communication module is used for carrying out information transmission with the outside;
a positioning module for confirming the position of the shell;
the pressure sensing module is used for sensing the pressure of the position where the shell is located;
the attitude sensing module is used for sensing the rotation angle of the shell;
a fine detection module for turbidity and chlorophyll detection;
and the storage module is used for storing information.
Through adopting above-mentioned technical scheme, on the one hand, through accurate detection module, can be convenient carry out the detection of multiple mode to quality of water, on the other hand, cooperation through first propeller and second propeller, can enough realize the propulsion of equipment, can carry out the adjustment of equipment position and gesture through the second propeller again, rotate the equipment parallel with the horizontal plane to the state of perpendicular to horizontal plane or rotate the equipment of perpendicular to horizontal plane to the state parallel with the horizontal plane, thereby conveniently let equipment remove at the state parallel with the horizontal plane, dive and come-up with horizontal plane vertically state, thereby effectively reduce equipment and remove the power consumption, reduce the moving resistance.
Preferably, a handle is fixedly connected to the side wall of the shell.
Through adopting above-mentioned technical scheme, through the setting of handle, can be convenient retrieve equipment, use common hook isotructure alright catch on the handle and take out equipment from the aquatic, reduced the degree of difficulty that equipment was retrieved, improved the convenient degree of equipment use.
Preferably, the position department that the casing is close to the second propeller offers the holding tank that is used for holding the second propeller, and the holding tank runs through the casing setting, second propeller fixed connection in.
Through adopting above-mentioned technical scheme, when carrying out equipment propulsion, the resistance that the second propeller stretches out equipment and can lead to equipment to receive at the in-process casing that first propeller promoted is great and lead to the advancing direction of casing to appear squinting easily, with second propeller fixed connection in the holding tank, can conveniently carry out the propulsion operation of casing, because the holding tank runs through the casing, consequently when accomodating in the holding tank, also can use the second propeller to realize the rotation and the gesture adjustment operation to the casing.
Preferably, the position department that the casing corresponds the holding tank both ends all fixedly connected with baffle, has all seted up the water conservancy diversion hole on the baffle.
Through adopting above-mentioned technical scheme, the setting in baffle and water conservancy diversion hole can effectively reduce the probability that the aquatic foreign matter got into the second propeller and harms the second propeller, can ensure simultaneously that rivers can flow through the water conservancy diversion hole and produce the driving force through the second propeller.
In a second aspect, the present application provides a control method for a self-dive mobile sensor apparatus, which adopts the following technical solution:
a control method of a self-dive type mobile sensing apparatus includes:
a basic judgment step for calling the pressure information sent by the pressure module and judging whether the shell is submerged underwater or not;
a water surface propelling step for responding the positioning information output by the positioning module and the destination information input from the outside under the condition that the shell is not submerged and controlling the shell to move to the position corresponding to the destination information;
a submergence step for controlling the submergence of the shell when the shell reaches the position corresponding to the destination information;
and a fine adjustment step for adjusting the orientation of the shell in response to the orientation information output by the attitude sensing module and the orientation target information input from the outside under the condition that the shell is submerged.
By adopting the technical scheme, because the communication signal interference at the position close to the water surface is small, the equipment position can be more accurately confirmed, when the equipment is not submerged, the equipment is preferentially controlled to move to the monitoring position, and then the equipment is controlled to submerge and the posture of the position is adjusted, so that the operation of monitoring the water quality at the specified position and the specified depth can be realized.
Preferably, the surface propulsion step specifically performs the following operations:
generating a regional map;
responding to the positioning information output by the positioning module and externally input destination information, marking the positioning information and the destination information on the area map, and drawing a straight line segment between the positioning information and the destination information;
calling orientation information output by the attitude sensing module, judging whether the length direction of the shell is on the straight line section, and outputting driving information to control the first propeller to start if the judgment result is yes;
if the judgment result is negative, outputting steering information to control the second propeller to start, and if the judgment result is positive, controlling the second propeller to stop;
responding to the starting state of the first propeller, and shutting down the second propeller when the first propeller is started;
calling positioning information output by the positioning module in real time, and controlling the first propeller to be shut down when the positioning information is coincident with the destination information;
calling the destination information and the positioning information, judging whether the position coordinates corresponding to the positioning information and the destination information are consistent,
if the judgment result is negative, repeating the water surface propelling step;
if the judgment result is yes, the second propeller is controlled to be propelled forwards, the first propeller is controlled to be propelled backwards, orientation information sent by the attitude sensing module is called, and submergence information is sent out until the shell is in a vertical state that the first propeller faces downwards.
Through adopting above-mentioned technical scheme, when controlgear removed, because need adjust the position of equipment in the time of detecting, gesture such as orientation, and it is complicated to start the atress condition that first propeller and second propeller can lead to equipment simultaneously, consequently, separately control first propeller and second propeller, advance equipment to appointed position earlier, rethread second propeller adjusting device's gesture, whether the mode of final judgement through the condition is located accurate position to equipment and checks, alright realize more accurate equipment position control.
Preferably, the step of going down specifically performs the following operations:
controlling the first propeller to reversely propel when the diving information is received;
responding to the pressure information output by the pressure sensing module and the pressure calibration information input from the outside, judging whether the pressure information numerical value is equal to the pressure calibration information numerical value, and if so, shutting down the first propeller;
if the judgment result is negative, whether the pressure information is larger than the pressure calibration information or not is judged, if the judgment result is positive, the first propeller is controlled to propel forwards, and if the judgment result is negative, the first propeller is controlled to propel reversely.
By adopting the technical scheme, when the control equipment submerges, because the equipment is adjusted to the vertical state through the water surface propelling step at the moment, the first propeller is controlled to reversely propel so as to drive the equipment to submerge, and when the control equipment submerges to the depth close to the pressure calibration information, the height of the equipment can be conveniently adjusted according to the judgment result so as to move the equipment to the specified depth by judging the size relation between the instant pressure information and the pressure calibration information.
Preferably, the fine tuning step specifically performs the following operations:
calling orientation information output by the response gesture sensing module and orientation target information input by the outside to generate rotation angle information;
controlling a second propeller to propel forwards or reversely until the orientation information is the same as the orientation target information;
and calling the positioning information and the destination information, judging whether the positioning information and the destination information are positioned at the same position, if so, sending completion information, and if not, repeating the water surface propelling step.
Through adopting above-mentioned technical scheme, after equipment is located the appointed degree of depth, need adjust the gesture of equipment, at this moment, main operation is through rotating equipment, with the induction system on the equipment towards the direction of demand, through the drive of second propeller, can rotate equipment to the orientation of adjusting equipment realizes the fine setting operation to equipment.
In a third aspect, the present application provides a computer device, which adopts the following technical solution:
a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
a basic judgment step for calling the pressure information sent by the pressure module and judging whether the shell is submerged underwater or not;
a water surface propelling step for responding the positioning information output by the positioning module and the destination information input from the outside under the condition that the shell is not submerged and controlling the shell to move to the position corresponding to the destination information;
a submergence step for controlling the submergence of the shell when the shell reaches the position corresponding to the destination information;
and a fine adjustment step for adjusting the orientation of the shell in response to the orientation information output by the attitude sensing module and the orientation target information input from the outside under the condition that the shell is submerged.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
a basic judgment step for calling the pressure information sent by the pressure module and judging whether the shell is submerged underwater or not;
a water surface propelling step for responding the positioning information output by the positioning module and the destination information input from the outside under the condition that the shell is not submerged and controlling the shell to move to the position corresponding to the destination information;
a submergence step for controlling the submergence of the shell when the shell reaches the position corresponding to the destination information;
and a fine adjustment step for adjusting the orientation of the shell in response to the orientation information output by the attitude sensing module and the orientation target information input from the outside under the condition that the shell is submerged.
In summary, the present application includes at least one of the following beneficial technical effects:
1. through the layout of two groups of three propellers, a system provided with a water environment and an image sensor device can independently move in three dimensions on the water surface and under the water of 0-200 meters, and the acquired data is processed and analyzed and then sent to a shore-based data center in a wireless communication mode when the sensor system is exposed out of the water surface;
2. equipment can be conveniently recycled, so that the convenience degree of the equipment is improved;
3. the equipment can be flexibly controlled at multiple angles, so that the collected water quality information meets the requirements and is accurate.
Drawings
Fig. 1 is an overall schematic diagram of the movement sensing apparatus in the present embodiment.
Fig. 2 is a partial sectional view of the embodiment highlighting the second impeller.
Fig. 3 is a flowchart illustrating the control method according to the present embodiment.
Fig. 4 is an internal structural diagram of a computer device in the embodiment.
Description of reference numerals: 1. a housing; 11. a first propeller; 12. a second propeller; 13. accommodating grooves; 14. a handle.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
The embodiment of the application discloses from latent type removal sensing equipment, refer to fig. 1 and fig. 2, including casing 1, casing 1 is cylindricly setting, and casing 1 one end is equipped with two first propellers 11 that are used for promoting casing 1 to remove along casing 1 length direction. When the water-saving water dispenser is used, the shell 1 is placed into water, and the first propeller 11 is started, so that the shell 1 can be driven.
Referring to fig. 1 and 2, a sensing system is provided inside a housing 1, and the sensing system includes the following modules:
the communication module is used for carrying out information transmission with the outside; the communication module can use wireless communication technologies and devices such as Bluetooth and local area network.
A positioning module for confirming the position of the housing 1; wherein, the positioning module can use a satellite positioning device based on a GPS or a Beidou navigation system, and can also adopt a positioning device based on a magnetic positioning technology.
The pressure sensing module is used for sensing the pressure of the position where the shell 1 is located; the pressure sensing module adopts a common water pressure sensor in the prior art, and the submergence depth of the equipment is displayed through the characteristic that the water pressure is different when the sensor is positioned at different depths.
The attitude sensing module is used for sensing the rotation angle of the shell 1; the attitude sensing module can use a single-axis attitude sensor or a three-axis gyroscope and other attitude sensors common in the prior art.
A fine detection module for turbidity and chlorophyll detection; wherein, the detection module can use a CTD sensor capable of detecting the temperature and salt depth or an optical sensor for turbidity, chlorophyll and the like; the sensor has more models, different dimensions can be sensed and detected by different models, and the sensor is the prior art.
And the storage module is used for storing information and comprises storage media such as a hard disk and the like.
Referring to fig. 1 and 2, a second propeller 12 having a central axis perpendicular to the longitudinal direction of the casing 1 is provided at an end of the casing 1 away from the first propeller 11. The housing 1 is close to the accommodating groove 13 that the second propeller 12 penetrates through the housing 1, and the second propeller 12 is fixedly connected to the accommodating groove 13. The equal fixedly connected with baffle of position department that casing 1 corresponds holding tank 13 both ends has all seted up the water conservancy diversion hole on the baffle. Because the axis direction of second propeller 12 is perpendicular with the axis direction of casing 1, through second propeller 12, can controlgear be close to the one end rotation of second propeller 12 to different operations such as turn, turn to or rotation, thereby can be when equipment be located the aquatic more convenient realization to the control of equipment.
Referring to fig. 1 and 2, a handle 14 is fixedly connected to a side wall of the housing 1. Handle 14's setting can make things convenient for operating personnel to salvage the recovery to equipment, through equipment such as hooks alright convenient retrieve the equipment of aquatic, the convenient degree of improve equipment use.
Wherein, the first propeller 11 and the second propeller 12 both use a propeller type propulsion device capable of performing forward and reverse bidirectional propulsion.
The embodiment discloses a control method for the self-dive mobile sensing device, and with reference to fig. 3, the control method includes:
a basic judgment step: and calling pressure information sent by the pressure module to judge whether the shell 1 is submerged underwater.
Wherein, pressure information includes pressure numerical value at least, and through the pressure numerical value of pressure module feedback and the contrast of surface of water pressure numerical value, alright confirm whether casing 1 is located near the surface of water to can enlarge the observation scope of casing 1, need not operating personnel to be close to casing 1 all the time and judge its position.
Water surface propelling step: and under the condition that the shell 1 is not submerged, responding to the positioning information output by the positioning module and the destination information input by the outside, and controlling the shell 1 to move to the position corresponding to the destination information.
The water surface propelling step specifically executes the following operations:
generating a regional map;
responding to the positioning information output by the positioning module and externally input destination information, marking the positioning information and the destination information on the area map, and drawing a straight line segment between the positioning information and the destination information;
calling orientation information output by the attitude sensing module, judging whether the length direction of the shell 1 is on the straight line segment or not, and if so, outputting driving information to control the first propeller 11 to start;
if the judgment result is negative, outputting steering information to control the second propeller 12 to start, and if the judgment result is positive, controlling the second propeller 12 to stop in the length direction of the shell 1 and the length direction of the straight line segment;
shutting down the second thruster 12 when the first thruster 11 is started, in response to the starting state of the first thruster 11;
calling the positioning information output by the positioning module in real time, and controlling the first propeller 11 to be shut down when the positioning information is coincident with the destination information;
calling the destination information and the positioning information, judging whether the position coordinates corresponding to the positioning information and the destination information are consistent,
if the judgment result is negative, repeating the water surface propelling step;
if the judgment result is yes, the second propeller 12 is controlled to propel in the forward direction and the first propeller 11 propels in the reverse direction, orientation information sent by the attitude sensing module is called until the shell 1 is in a vertical state with the first propeller 11 facing downwards, and submergence information is sent.
Wherein:
the regional map is a GPS map or a water area modeling map called by an operator based on the detection range.
The positioning information at least comprises longitude and latitude data of the position of the shell 1, and the positioning information is updated in real time according to the position of the shell 1.
The destination information at least comprises a group of longitude and latitude data, and an operator can carry out self-defined naming on the positioning degree data contained in the destination information, so that the distinguishing effect is achieved.
The orientation information at least comprises the length direction information of the shell 1, and the orientation information is updated in real time along with the position change of the shell 1.
A submerging step: and controlling the shell 1 to dive when the shell 1 reaches the position corresponding to the destination information.
The step of diving specifically executes the following operations:
controlling the first propeller 11 to reversely propel when the diving information is received;
responding to the pressure information output by the pressure sensing module and the pressure calibration information input from the outside, judging whether the pressure information value is equal to the pressure calibration information value, if so, shutting down the first propeller 11;
if the judgment result is negative, whether the pressure information is larger than the pressure calibration information is judged, if the judgment result is positive, the first propeller 11 is controlled to propel in the forward direction, and if the judgment result is negative, the first propeller 11 is controlled to propel in the reverse direction.
The pressure calibration information comprises a group of pressure values, based on the objective fact that the pressure is higher at deeper places, whether the shell 1 reaches a proper depth can be determined by comparing the pressure values in the pressure information with the pressure values in the pressure calibration information, if the pressure values of the pressure information are smaller, the submerging depth is insufficient, the position of the shell 1 needs to be lowered, and otherwise, the position of the shell 1 needs to be lifted.
Fine adjustment: under the submergence condition of the shell 1, the orientation of the shell 1 is adjusted in response to the orientation information output by the attitude sensing module and the orientation target information input by the outside.
The fine tuning step specifically performs the following operations:
calling orientation information output by the response gesture sensing module and orientation target information input by the outside to generate rotation angle information;
controlling the second propeller 12 to propel forward or backward until the heading information is the same as the heading information;
and calling the positioning information and the destination information, judging whether the positioning information and the destination information are positioned at the same position, if so, sending completion information, and if not, repeating the water surface propelling step.
Wherein the operation of generating the rotation angle information is as follows:
and drawing a three-dimensional coordinate system by taking the position of the attitude sensing module as an origin, drawing a straight line from the origin along the orientation of the attitude sensing module in the three-dimensional coordinate system, wherein the information of the orientation target at least comprises a position angle and a slope based on the geographic position, drawing the straight line of the orientation target in the three-dimensional coordinate system based on the information of the orientation target, and calling the rotation angle to generate the rotation angle information, wherein the three-dimensional angle between the two straight lines is the rotation angle.
The implementation principle of the embodiment of the application is as follows: when needing to carry out water quality exploration, put into aquatic with casing 1 to set for the destination information that casing 1 corresponds, gesture information of demarcating and the information of pressure mark, alright starting means, through the propulsion and the drive effect of first propeller 11 and second propeller 12, remove casing 1 to the assigned position, realize the detection operation to quality of water through the smart detection module that sets up in the casing 1 of one or more equipment. After the detection is finished, the first propeller 11 is started to push the shell 1 to a position close to the water surface, information collected by the shell 1 can be obtained through the communication module, and subsequent detection or recovery of the shell 1 is carried out.
The embodiment provides a computer device, which may be a server, and the internal structure diagram of the computer device may be as shown in fig. 4. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data such as service requests, service data and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a data processing method.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The computer device comprises a memory in which a computer program is stored and a processor which, when executing the computer program, carries out the steps in the above-described method embodiments.
The present embodiment provides a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A self-dive mobile sensing device, comprising: the device comprises a shell (1), wherein the shell (1) is arranged in a columnar shape, one end of the shell (1) is provided with at least two first propellers (11) for pushing the shell (1) to move along the length direction of the shell (1), and one end of the shell (1) far away from the first propellers (11) is provided with a second propeller (12) with a central axis perpendicular to the length direction of the shell (1);
the shell (1) is internally provided with a sensing system, and the sensing system comprises the following modules:
the communication module is used for carrying out information transmission with the outside;
a positioning module for confirming the position of the housing (1);
the pressure sensing module is used for sensing the pressure of the position where the shell (1) is located;
the attitude sensing module is used for sensing the rotation angle of the shell (1);
a fine detection module for turbidity and chlorophyll detection;
and the storage module is used for storing information.
2. The self-dive mobile sensing apparatus according to claim 1, characterized in that: the side wall of the shell (1) is fixedly connected with a handle (14).
3. The self-dive mobile sensing apparatus according to claim 1, characterized in that: the position department that casing (1) is close to second propeller (12) offers holding tank (13) that are used for holding second propeller (12), and holding tank (13) run through casing (1) and set up, and second propeller (12) fixed connection is in (13).
4. The self-dive mobile sensing apparatus according to claim 3, characterized in that: the position of the shell (1) corresponding to the two ends of the accommodating groove (13) is fixedly connected with a baffle, and the baffle is provided with a flow guide hole.
5. A control method of the self-dive type mobile sensing apparatus according to claim 1, comprising:
a basic judgment step for calling pressure information sent by the pressure module and judging whether the shell (1) is submerged underwater;
a water surface propelling step for responding the positioning information output by the positioning module and destination information input from the outside under the condition that the shell (1) is not submerged and controlling the shell (1) to move to the position corresponding to the destination information;
a submergence step for controlling the submergence of the shell (1) when the shell (1) reaches the position corresponding to the destination information;
and a fine adjustment step for adjusting the orientation of the shell (1) in response to the orientation information output by the attitude sensing module and the orientation target information input from the outside under the condition that the shell (1) is submerged.
6. The control method according to claim 5, characterized in that: the water surface propelling step specifically executes the following operations:
generating a regional map;
responding to the positioning information output by the positioning module and externally input destination information, marking the positioning information and the destination information on the area map, and drawing a straight line segment between the positioning information and the destination information;
calling orientation information output by the attitude sensing module, judging whether the length direction of the shell (1) is on the straight line segment or not, and if so, outputting driving information to control the first propeller (11) to start;
if the judgment result is negative, outputting steering information to control the second propeller (12) to start, and controlling the second propeller (12) to stop when the length direction of the shell (1) and the length direction of the straight line segment are in the same direction;
in response to the activation state of the first thruster (11), shutting down the second thruster (12) when the first thruster (11) is activated;
calling the positioning information output by the positioning module in real time, and controlling the first propeller (11) to be shut down when the positioning information is coincident with the destination information;
calling the destination information and the positioning information, judging whether the position coordinates corresponding to the positioning information and the destination information are consistent,
if the judgment result is negative, repeating the water surface propelling step;
if the judgment result is yes, the second propeller (12) is controlled to propel forwards, the first propeller (11) propels reversely, orientation information sent by the attitude sensing module is called, and submerging information is sent out until the shell (1) is in a vertical state that the first propeller (11) faces downwards.
7. The control method according to claim 6, characterized in that the step of diving specifically performs the following operations:
controlling the first propeller (11) to propel reversely when the diving information is received;
responding to the pressure information output by the pressure sensing module and the pressure calibration information input from the outside, judging whether the pressure information numerical value is equal to the pressure calibration information numerical value, if so, shutting down the first propeller (11);
if the judgment result is negative, whether the pressure information is larger than the pressure calibration information is judged, if the judgment result is positive, the first propeller (11) is controlled to propel in the forward direction, and if the judgment result is negative, the first propeller (11) is controlled to propel in the reverse direction.
8. The control method according to claim 5, wherein the fine tuning step specifically performs the following operations:
calling orientation information output by the response gesture sensing module and orientation target information input by the outside to generate rotation angle information;
controlling the second propeller (12) to propel forwards or backwards until the orientation information is the same as the orientation target information;
and calling the positioning information and the destination information, judging whether the positioning information and the destination information are positioned at the same position, if so, sending completion information, and if not, repeating the water surface propelling step.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that: the processor, when executing the computer program, realizes the steps of the method of any one of claims 5 to 8.
10. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implementing the steps of the method of any one of claims 5 to 8.
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Application publication date: 20210119 |