This invention discloses a six-degree-of-freedom
underwater robot, comprising a frame, a propulsion
system, a sensor
monitoring system, and a controller. The propulsion
system includes four horizontal vector thrusters and two vertical thrusters. The controller is communicatively connected to the propulsion
system and the sensor
monitoring system, and achieves independent, decoupled control of the propulsion system's
six degrees of freedom based on multi-dimensional sensor data collected by the sensor
monitoring system. This invention also discloses a corresponding six-degree-of-freedom
underwater robot control system, including a host computer layer, a ROS core layer, a
control layer, a drive layer, and a hardware terminal layer, all connected by communication. This solution optimizes the hardware
layout, achieves independent, decoupled control of the
six degrees of freedom, and improves
underwater motion and hovering stability. This design features deep hardware and
software synergy, improving underwater
operational stability, shortening the development cycle, and enhancing
operational safety, making it suitable for various scenarios such as underwater exploration, detection, and scientific research.