Flexible and posture-adjustable benthic underwater robot and control method

Abstract

The invention provides a smart posture-adjustable benthic underwater robot and a control method, and relates to the field of underwater resource exploration equipment. Comprising a robot body which is composed of a top sealing flange, a shell and a tail sealing flange. A camera module, a main control module, a navigation module, a gravity center adjusting module and a buoyancy adjusting module are arranged in the shell; a floating and sinking module and a driving module are arranged outside the shell. A dual-mode posture adjusting mechanism combining floating and sinking adjustment and gravity center adjustment is provided, a posture adjusting mode with better energy consumption can be flexibly selected, and the overall energy consumption of the robot is effectively reduced. Task-track-execution decoupling is achieved through a three-layer control architecture, the response speed and control precision of the system are improved, a dynamic priority algorithm is introduced into the top layer, the real-time performance and robustness of task planning are enhanced, quintic polynomial interpolation is adopted in the middle layer, a smooth track is generated, and motion sudden change is avoided; and the bottom layer adopts multi-degree-of-freedom PID control, so that accurate control on the executing mechanism is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater resource exploration equipment, in particular, especially relates to a flexible attitude-adjustable benthic underwater robot and a control method. BACKGROUND

[0002] The ocean, as the largest global ecosystem, contains huge resource potential and strategic development value. However, the traditional underwater operation mode relying on divers has significant limitations such as low operation efficiency, high comprehensive cost, and prominent safety risks, which is difficult to meet the growing demand for deep-sea resource exploration and development. Therefore, developing intelligent benthic underwater robot equipment technology with the ability of shipwreck detection and salvage, marine ecological exploration, underwater resource exploration, etc. has become a key technical path to promote the upgrading of the marine industry and ensure operation safety and efficiency.

[0003] The existing benthic robot mainly adopts a cubic structure and a four or more propeller distribution design, which has the following disadvantages: 1. The robot body is large in size, and the production, operation, and maintenance costs are high, which cannot form a multi-robot cluster for operation; 2. The four or more propeller layout will produce jet interference during propulsion, causing effective thrust loss and aggravating bottom sediment resuspension.

[0004] The Chinese patent document with publication number CN119239886A discloses an attitude-adjustable underwater robot based on a buoyancy adjustment system. The robot presents a vertical state when starting and entering water, and the propellers are distributed on both sides of the middle layer at the tail. The attitude is adjusted by the translation and rotation of part of the battery, and the robot can present two working states. Due to the distribution position of the propeller, the rotation and translation of the battery are required to cooperate with each other, and the energy supply stability is poor, and the robot may be paralyzed.

[0005] Therefore, in view of the deficiencies of the prior art, it is particularly important to design and implement an underwater exploration robot with high mobility, multi-working mode switching capability suitable for different operation conditions, modular layout and collaborative control mechanism, and stable energy supply. SUMMARY

[0006] In view of the technical problem of poor energy supply stability of the existing adjustable underwater robot, which is prone to robot paralysis, a flexible attitude-adjustable benthic underwater robot and a control method are provided. The present application mainly provides a dual-mode attitude adjustment mechanism combining buoyancy adjustment and gravity center adjustment. For different operation conditions, the more energy-efficient attitude adjustment mode can be flexibly selected to effectively reduce the overall energy consumption of the robot.

[0007] The technical means adopted by the present application are as follows: A flexible attitude-adjustable benthic underwater robot, comprising a robot body composed of a top sealing flange, a shell and a tail sealing flange; a camera module, a main control module, a navigation module, a gravity center adjusting module and a buoyancy adjusting module are arranged inside the shell; a sink-float module and a driving module are arranged outside the shell; Wherein, the gravity center adjusting module comprises a battery, a lead screw, a nut, a shaft coupling, a DC brush motor, a front end positioning plate and a motor positioning plate, the lead screw is fixedly connected with the motor column of the DC brush motor through the shaft coupling, the battery is fixedly connected with the nut, and the nut is sleeved on the lead screw, the DC brush motor is fixed on the motor positioning plate, and the gravity center adjusting module is fixed in the shell through the front end positioning plate and the motor positioning plate; The sink-float module comprises a water outlet end, a sink-float cabin, a water inlet end, a rudder and a linkage mechanism, the rudder is fixed on the rudder fixed plate and is hinged through a small connecting rod and a Z-shaped connecting rod, the Z-shaped connecting rod is pinned with a moving rod, and the two ends of the moving rod are hinged with the water inlet end end cover and the water outlet end end cover through large connecting rods respectively; The buoyancy adjusting module comprises an electric push rod, the electric push rod is fixed in the shell through an electric push rod positioning plate, the tail end of the electric push rod is fixedly connected with a syringe rod, and an outer sleeve of the syringe rod is fixedly connected with a small hole in the bottom plate of the tail sealing flange.

[0008] Further, the camera module comprises a holder and a camera, the holder is fixed on the top sealing flange, and the camera is connected with the holder through a rotating shaft, which is used for multi-angle collection of underwater images.

[0009] Further, the main control module comprises a flight controller, a data transmission radio and an antenna seat and mounting mechanism, the flight controller is fixed on the base, the middle layer is placed above the base through four small support columns, the data transmission radio and the navigation module are fixedly arranged on the middle layer, the top cover is placed above the middle layer through four small support columns, the arrow forward direction of the flight controller needs to be consistent with the forward direction of the robot, and the antenna seat penetrates through the shell and is exposed.

[0010] Further, the sink-float module further comprises a multi-hole positioning plate and a large support column, the rudder is fixed in the sink-float cabin through the multi-hole positioning plate and the large support column; the water inlet end and the water outlet end of the sink-float module are respectively provided with a water inlet end sealing rubber ring and a water outlet end sealing rubber ring; the end covers at both ends are synchronously controlled to open and close through the linkage mechanism when the rudder rotates.

[0011] Further, the driving module comprises an angle adjusting piece, a driver connecting piece, a driver protection shell and a driver composed of a motor, a propeller and a fixing bolt, the angle adjusting piece is rotationally connected with the tail sealing flange through a bolt, the angle adjusting piece is provided with an arc-shaped groove, the driver connecting piece is slidingly connected in the arc-shaped groove, the propeller is fixed on a motor column of the motor through the fixing bolt, the motor is installed on the driver connecting piece through a bolt, the propeller is protected by the driver protection shell, so that waterweeds are prevented from winding and the suspension of sediments during benthic work is reduced.

[0012] The application further provides a control method of the agile attitude-adjustable benthic underwater robot. The task instruction set is received, the priority of each task instruction is calculated through a dynamic priority algorithm, and a waypoint sequence is generated based on the priority. The continuous smooth trajectory is generated through five times polynomial interpolation between adjacent waypoints, and the expected state vector is calculated based on the trajectory. The difference between the expected state vector and the current state vector is calculated, the control amount of each actuator is calculated by the PID controller based on the difference and is distributed to each actuator. After the task is completed, the robot is adjusted to a vertical state, the driving module pushes it to float up, the float-sink module drains water and closes the end cover, and the recycling is completed.

[0013] Further, the dynamic priority algorithm for calculating the priority of each task instruction comprises:

[0014] wherein, is the priority of the task i at the time t , is the task weight, is the remaining time, is the distance to the target, is the environmental risk assessment value, is the weight coefficient.

[0015] Further, the continuous trajectory is generated through five times polynomial interpolation between adjacent waypoints , and the trajectory expression is:

[0016] wherein, is a position vector, to is a coefficient vector, six coefficients are solved through boundary conditions of positions, speeds and accelerations of the starting point and the ending point, and the trajectory expression is obtained.

[0017] Further, the control law of the PID controller is:

[0018] wherein, is the control quantity of the k th degree of freedom, is the state deviation, , , is the proportional, integral, and differential coefficient.

[0019] Compared with the prior art, the present application has the following advantages: 1. The present application provides a dual-mode attitude adjustment mechanism combining buoyancy adjustment and gravity center adjustment. For different working conditions, the more energy-efficient attitude adjustment mode can be flexibly selected, effectively reducing the overall energy consumption of the robot.

[0020] 2. When performing underwater benthic operations, the robot's pose does not need to rely on continuous active energy supply. This feature significantly extends the robot's single underwater operation time, providing support for long-term benthic monitoring or operation tasks.

[0021] 3. The present application has excellent maneuverability and wide environmental adaptability. By adopting a hierarchical control architecture and combining modular structure design, it realizes functions such as surface free navigation, underwater depth control, underwater benthic operation residence and maneuvering, and multi-degree-of-freedom attitude adjustment.

[0022] 4. The present application adopts modular design, with reasonable layout of each functional unit and clear interface, effectively reducing the complexity and manufacturing cost of the robot, improving its maintainability and expandability, and is especially suitable for building a multi-robot collaborative operation system.

[0023] 5. The present application realizes the decoupling of task-trajectory-execution through a three-layer control architecture, improving system response speed and control accuracy. The top layer introduces a dynamic priority algorithm to adapt to complex environmental changes, enhancing the real-time performance and robustness of task planning. The middle layer uses a quintic polynomial interpolation to generate a smooth trajectory, avoiding motion mutations. The bottom layer uses multi-degree-of-freedom PID control to achieve precise control of the execution mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0025] Figure 1 is a structural schematic diagram of the present application.

[0026] Figure 2 Fig. 1 is a schematic diagram of the benthic state of the present invention.

[0027] Figure 3 Fig. 2 is a schematic diagram of the master module of the present invention.

[0028] Figure 4 Fig. 3 is a schematic diagram of the gravity adjustment module structure of the present invention.

[0029] Figure 5 Fig. 4 is a schematic diagram of the buoyancy adjustment module structure of the present invention.

[0030] Figure 6 Fig. 5 is a schematic diagram of the float-sink module external structure of the present invention.

[0031] Figure 7 Fig. 6 is a schematic diagram of the float-sink module internal structure of the present invention.

[0032] Figure 8 Fig. 7 is a schematic diagram of the drive module structure of the present invention.

[0033] Figure 9 Fig. 8 is a system block diagram of the hierarchical control architecture of the present invention.

[0034] Figure 10 Fig. 9 is a flowchart of the hierarchical control architecture of the present invention.

[0035] Figure 11 Fig. 10 is a schematic diagram of the relationship between the bottom layer control and the actuator of the hierarchical control architecture of the present invention.

[0036] In the figure: 1, camera module; 101, camera; 102, holder; 2, main control module; 201, antenna seat; 202, LR900 data radio; 203, top cover; 204, flight controller; 205, small support column; 206, middle layer; 207, base; 3, navigation module; 4, gravity center adjustment module; 401, front positioning plate; 402, screw; 403, battery; 404, nut; 405, coupling; 406, motor positioning plate; 407, DC brush motor; 5, floating and sinking module; 501, water outlet end; 502, floating and sinking cabin; 503, water inlet end; 504, water inlet end baffle; 505, water inlet end cover; 506, water inlet end sealing rubber ring; 507, water outlet end baffle; 508, water outlet end cover; 509, water outlet end sealing rubber ring; 510, large connecting rod; 511, moving rod; 512, multi-hole positioning plate; 513, Z-shaped connecting rod; 514, small connecting rod; 515, steering engine; 516, large support column; 517, steering engine fixing plate; 6, buoyancy adjustment module; 601, electric push rod; 602, electric push rod positioning plate; 603, core rod positioning plate; 604, syringe core rod; 605, syringe outer sleeve; 7, driving module; 701, angle adjustment piece; 702, driver connecting piece; 703, motor; 704, driver protection shell; 705, propeller; 706, fixing bolt; 8, top sealing flange; 9, shell; 10, tail sealing flange. DETAILED DESCRIPTION

[0037] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0038] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that, when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0040] The relative arrangement of parts and steps illustrated in these embodiments and the numerical expressions and values are not meant to limit the scope of the present application unless otherwise specifically stated. It is also to be understood that all examples shown and discussed herein are intended to be exemplary and not limiting of the scope of the application. Thus, other examples of the exemplary embodiments can be different from what is described herein. It should be noted that like numbers and letters refer to like elements throughout the several views of the drawings and that the exemplified embodiments should not be construed as limiting the scope of the application, unless otherwise specifically stated.

[0041] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by orientation words such as "front, back, upper, lower, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component itself.

[0042] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial positional relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the devices described in the drawings. For example, if the devices in the drawings are inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0043] In addition, it should be noted that the use of the words "first", "second" and the like to describe various components is merely intended to distinguish the corresponding components, and the words have no special meaning unless otherwise stated, and therefore cannot be construed as limiting the scope of protection of the present application.

[0044] The present application provides a smart type of benthic underwater robot, like Figures 1-8 , comprising: a robot body top sealing flange 8, a shell 9, a tail sealing flange 10, and a camera module 1, a main control module 2, a navigation module 3, a gravity center adjusting module 4, a buoyancy adjusting module 6 inside the robot body, and a float and sink module 5 and a drive module 7 outside the robot body; The camera module 1 comprises a holder 102 and a camera 101 arranged on the holder, the holder 102 is used to drive the rotation of the camera 101, and the camera 101 can adjust the angle to obtain underwater environment image information, assisting the navigation module 3 to position the robot; The main control module 2 comprises a flight controller 204, an LR900 data radio 202, an antenna seat 201, and a support composed of a base 207, four small support columns 205 of the same diameter and length, an intermediate layer 206, and a top cover 203, according to the state, position and set work of the robot, and the detection environment, the control module controls each module to cooperate to complete the work task and return to the recovery; the data radio 202 realizes communication with other individuals or the ground, forming a heterogeneous body or a cluster of collaborative work; The navigation module 3 is used for positioning the position of the robot; The gravity center adjusting module 4 comprises a battery 403, a lead screw 402, a nut 404, a shaft coupling 405, a DC brush motor 407, a front end positioning plate 401, and a motor positioning plate 406, the DC brush motor 407 is driven to rotate to change the position of the battery 403, adjust the gravity center of the robot, and change the attitude of the robot; The float and sink module 5 comprises a float and sink cabin 502, a water inlet end 503, a water outlet end 501, a water inlet end cover 505, a water outlet end cover 508, a water inlet end baffle 504, a water outlet end baffle 507, a water inlet end sealing rubber ring 506, a water outlet end sealing rubber ring 509, a rudder 515, a small connecting rod 514, a Z-shaped connecting rod 513, a moving rod 511, a large connecting rod 510, a multi-hole positioning plate 512, a large support column 516, and a rudder fixing plate 517, the angle of the rudder 515 is changed to open and close the water inlet and outlet end covers, and the benthic function of the robot is completed; The buoyancy adjusting module 6 comprises an electric push rod 601, an electric push rod positioning plate 602, a syringe core rod 604, a syringe outer sleeve 605, and a core rod positioning plate 603, the buoyancy of the robot body is changed by the forward or backward movement of the electric push rod 601, and the hovering and work of the robot at different depths are completed; The drive module 7 comprises an angle adjusting part 701, a drive connecting part 702, a drive protection shell 704, and a drive composed of a motor 703, a propeller 705, and a fixing bolt 706, two drives provide horizontal direction xy-axis movement and yaw axis rotation for the robot through differential rotation of the motor 703.

[0045] The robot buoyancy module 5 is located outside the robot, and the buoyancy module 5 is connected with the robot body through two connections of the shell 9; The robot drive module 7 is located outside the robot, the angle adjusting part 701 in the drive module 7 is bolt-nut connected with the tail sealing flange 10, the angle adjusting part 701 and the tail sealing flange 10 have a gap, can rotate around the bolt, the angle adjusting part 701 is provided with an arc-shaped groove, and the driver connecting part 702 rotates around the fixing bolt of the angle adjusting part 701 and slides in the arc-shaped groove; The robot flight controller 204 must keep the forward direction axial level, the forward direction of the flight controller 204 is consistent with the forward direction of the robot, and the antenna seat 201 needs to be exposed outside the robot body; The battery 403 in the robot gravity center adjusting module 4 is fixedly connected with the nut 404, the two ends of the shaft coupling 405 are fixedly connected with the lead screw 402 and the direct current brush motor 407, the motor column of the direct current brush motor 407 rotates to drive the shaft coupling 405 and the lead screw 402 to rotate, and the battery 403 only moves horizontally but does not rotate through friction between the battery 403 and the shell 9; The battery 403 of the robot gravity center adjusting module 4 is located at the shaft coupling 405, the robot gravity center is downward, the battery 403 is located at the front positioning plate 401, the robot gravity center is located in the middle, and the robot pitch angle also changes; The rudder 515 in the robot buoyancy module 5 is fixed to the rudder fixing plate 517 and connected with the small connecting rod 514, the small connecting rod 514 is linked with the Z-shaped connecting rod 513, the Z-shaped connecting rod 513 is connected with the moving rod 511, the pin column at the rear end of the moving rod 511 is connected with the circular pin ring of the rudder fixing plate 517 to move horizontally, the two ends of the moving rod 511 are connected with the large connecting rod 510, the two large connecting rods 510 are connected with the water inlet end cover 505 and the water outlet end cover 508 respectively, the rudder 515 rotates at an angle, drives the moving rod 511 to move up and down, and simultaneously opens the water inlet end cover 505 and the water outlet end cover 508; The water inlet end cover 505 and the water outlet end cover 508 of the robot buoyancy module 5 are provided with sealing rubber rings, so as to guarantee the sealing property; The water inlet end cover 505 and the water outlet end cover 508 of the robot buoyancy module 5 are opened to the outside of the buoyancy module 5, the end cover is opened, water enters the buoyancy cabin 502, the robot is in a vertical state and sinks into the water bottom, is floated out of the water surface through the cooperation of the buoyancy adjusting module 6 and the drive module 7, the water in the buoyancy cabin 502 flows out of the closed end cover, and the buoyancy module 5 continues to provide buoyancy; The robot buoyancy adjusting module 6 drives the syringe core column 604 through the pushing movement of the electric push rod 601, so that the space between the syringe core column 604 and the syringe outer sleeve 605 is smaller or larger, and the overall buoyancy of the robot is slightly adjusted; The robot floating and sinking module 5, the driving module 7, the top sealing flange 8 and the tail sealing flange 10 are detachable, and the functions can be built and deployed according to the working environment.

[0046] As Figures 9 to 11 The application also provides a control method of the agile attitude-adjustable benthic underwater robot, which comprises top layer control, middle layer control and bottom layer control. The top layer control receives task instructions, uses an optimization algorithm based on dynamic priority to perform task planning and decision-making of the robot, and controls output of a series of ordered waypoints. The middle layer control receives the waypoints generated by the top layer control, generates a smooth and feasible time-parameterized trajectory, and performs trajectory tracking. The bottom layer control accepts the expected state output by the middle layer control, combines the actual state fed back by each sensor, calculates the required motion instructions, and distributes them to the corresponding actuators. The hierarchical control architecture can realize free movement of the robot on the water surface, realize attitude control of the robot at a pitch angle of 0-90°, when the pitch angle is 90°, the end covers at both ends of the floating and sinking module 5 are opened, the robot presents a vertical state and sinks to the bottom of the water to perform benthic operation, and other depth operation requirements can be met. The buoyancy of the robot can be adjusted by the buoyancy adjusting module 6 to change the operation depth of the robot; the underwater robot can also be controlled in attitude by the gravity center adjusting module 4, when the battery 403 is located at the front positioning plate 401, the pitch angle of the robot is 0°, the robot presents a horizontal state, the operation depth of the robot can still be changed by the buoyancy adjusting module 6, the driving module 7 cooperates, and the robot can be intelligently moved at different depths; when the benthic or different depth operation is completed, the gravity center adjusting module 4 is adjusted to make the robot present a vertical state, the driving module 7 works to push the robot out of the water surface, the water in the floating and sinking module 5 is discharged and the end covers at both ends are closed, and the robot returns to the water surface and can be recycled.

[0047] The top layer control module uses the following dynamic priority evaluation function for task planning:

[0048] Among them, is the priority of the task i at time t , is the task weight, is the remaining time, is the distance to the target, is the environmental risk assessment value, is the weight coefficient.

[0049] The middle layer control module uses a quintic polynomial for trajectory interpolation, and the trajectory expression is: ​

[0050] wherein, is the position vector, to is the coefficient vector, the first-order derivative of the trajectory expression is taken to obtain the velocity expression, and the second-order derivative is taken to obtain the expression of the acceleration, and the boundary conditions: the positions, velocities and accelerations at the starting point and the ending point are brought in to obtain six coefficients, and the trajectory expression is obtained.

[0051] The bottom control module adopts a multi-degree-of-freedom PID controller, and the control law thereof is:

[0052] wherein, is the control amount of the k th degree-of-freedom, is the state deviation, , , is the proportional, integral and differential coefficient.

[0053] Specifically, the following steps are included: Step 1: top-level task planning, receiving a task instruction set, calculating the priority of each task based on a dynamic priority algorithm, and generating an ordered waypoint sequence ; Step 2: middle-level trajectory generation, performing five times polynomial interpolation between adjacent waypoints to generate a continuous and smooth trajectory , and calculating the expected state vector = ; Step 3: bottom-level control amount calculation, obtaining the current state and the expected state , calculating the deviation , and calculating the control amount of each degree-of-freedom according to the PID control law ; the current state is obtained through sensors, GPS and the IMU of the aircraft control itself.

[0054] Step 4: control amount distribution and execution, distributing the control amount to the actuators such as the thruster, the buoyancy adjusting module 6, the center of gravity adjusting module 4, etc.; the actuators of the robot are two drive motors, a steering wheel, a DC brush motor and an electric push rod, and according to the required work tasks, the generalized control force required for calculating and tracking the expected state vector is mapped to each physical actuator.

[0055] Step 5: state feedback and adjustment, obtaining the state of the robot in real time through sensors, feeding back to the bottom controller, and performing closed-loop control; Step 6: task termination and recovery, after the completion of the task, adjust the robot to the vertical state, drive the module to push it to float, the sink module to drain and close the end cap, complete the recovery.

[0056] The top layer control is improved to adapt to the dynamic complex marine environment, an improved optimization algorithm is proposed, a dynamic priority evaluation is introduced, a dynamic calculation based on implementation parameters is realized, an optimal instantaneous allocation of resources is realized, and an optimal waypoint is obtained. The middle layer control adopts polynomial interpolation to optimize the path tracking of the waypoint, and outputs the expected position, attitude, velocity and acceleration vector of the robot. The bottom layer control adopts classic PID control, and PID controllers are independently designed for each degree of freedom to realize accurate control of each actuator. In cooperation with the robot structure module, the functions of free motion on the water surface, underwater bottom operation, underwater depth control, and robot attitude change can be realized.

[0057] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A dexterous, attitude-adjustable benthic underwater robot, characterized in that, The robot body consists of a top sealing flange (8), a shell (9), and a tail sealing flange (10). Inside the shell are a camera module (1), a main control module (2), a navigation module (3), a center of gravity adjustment module (4), and a buoyancy adjustment module (6). Outside the shell are a buoyancy module (5) and a drive module (7). The center of gravity adjustment module (4) includes a battery (403), a lead screw (402), a nut (404), a coupling (405), a DC brushed motor (407), a front positioning plate (401), and a motor positioning plate (406). The lead screw (402) is fixedly connected to the motor column of the DC brushed motor (407) through the coupling (405). The battery (403) is fixedly connected to the nut (404), and the nut (404) is sleeved on the lead screw (402). The DC brushed motor (407) is fixed to the motor positioning plate (406). The center of gravity adjustment module (4) is fixed inside the housing (9) through the front positioning plate (401) and the motor positioning plate (406). The floating and sinking module (5) includes an outlet end (501), a floating and sinking chamber (502), an inlet end (503), a servo motor (515), and a linkage mechanism. The servo motor (515) is fixed to the servo motor fixing plate (517) and is hinged to the Z-shaped connecting rod (513) through a small connecting rod (514). The Z-shaped connecting rod (513) is pinned to the moving rod (511). The two ends of the moving rod (511) are hinged to the inlet end cap (505) and the outlet end cap (508) respectively through a large connecting rod (510). The buoyancy adjustment module (6) includes an electric actuator (601), which is fixed inside the housing (9) by an electric actuator positioning plate (602). The end of the electric actuator (601) is fixedly connected to the syringe core rod (604). A syringe jacket (605) is provided outside the syringe core rod (604), and the syringe jacket (605) is fixedly connected to a small hole on the bottom plate of the tail sealing flange (10).

2. The dexterous, attitude-adjustable benthic underwater robot according to claim 1, characterized in that, The camera module (1) includes a gimbal (102) and a camera (101). The gimbal (102) is fixed to the top sealing flange (8), and the camera (101) is connected to the gimbal (102) through a rotating shaft for acquiring underwater images from multiple angles.

3. The dexterous, attitude-adjustable benthic underwater robot according to claim 1, characterized in that, The main control module (2) includes a flight controller (204), a data transmission radio (202), an antenna mount (201), and an installation mechanism. The flight controller (204) is fixed to the base (207). The intermediate layer (206) is placed above the base (207) by four small support columns (205). The data transmission radio (202) and the navigation module (3) are fixedly installed on the intermediate layer (206). The top cover (203) is placed above the intermediate layer (206) by four small support columns (205). The forward direction of the arrow of the flight controller (204) must be consistent with the forward direction of the robot. The antenna mount (201) is exposed through the shell (9).

4. The dexterous, attitude-adjustable benthic underwater robot according to claim 1, characterized in that, The buoyancy module (5) also includes a perforated positioning plate (512) and a large support column (516). The servo motor (515) is fixed inside the buoyancy chamber (502) through the perforated positioning plate (512) and the large support column (516). The inlet end (503) and outlet end (501) of the buoyancy module (5) are respectively provided with an inlet end sealing rubber ring (506) and an outlet end sealing rubber ring (509). When the servo motor (515) rotates, the opening and closing of the end caps at both ends are controlled synchronously through the linkage mechanism.

5. The dexterous, attitude-adjustable benthic underwater robot according to claim 1, characterized in that, The drive module (7) includes an angle adjustment component (701), a driver connector (702), a driver protective shell (704), and a driver consisting of a motor (703), a propeller (705), and fixing bolts (706). The angle adjustment component (701) is rotatably connected to the tail sealing flange (10) by bolts. The angle adjustment component (701) is provided with an arc groove. The driver connector (702) is slidably connected in the arc groove. The propeller (705) is fixed to the motor column of the motor (703) by fixing bolts (706). The motor (703) is installed on the driver connector (702) by bolts. The propeller (705) is protected by the driver protective shell to prevent aquatic plants from getting tangled and to reduce the suspension of sediments during benthic operation.

6. A control method for a dexterous, attitude-adjustable benthic underwater robot, implemented based on the dexterous, attitude-adjustable benthic underwater robot described in any one of claims 1-5, characterized in that, Includes the following steps: Receive the task instruction set, calculate the priority of each task instruction through a dynamic priority algorithm, and generate a waypoint sequence based on the priority; A continuous and smooth trajectory is generated by performing fifth-order polynomial interpolation between adjacent waypoints, and the desired state vector is calculated based on the trajectory. The difference between the desired state vector and the current state vector is calculated. The PID controller calculates the control quantity for each actuator based on the difference and assigns it to each actuator for execution. After the task is completed, the robot is adjusted to a vertical position, the drive module pushes it to float, the buoyancy module drains water and closes the end cap, and the recovery is completed.

7. The control method for the dexterous, attitude-adjustable benthic underwater robot according to claim 6, characterized in that, The dynamic priority algorithm calculates the priority of each task instruction by including: in, For the task i At any moment t priority, As task weight, For the remaining time, Distance from the target This is the environmental risk assessment value. These are the weighting coefficients.

8. The control method for the dexterous, attitude-adjustable benthic underwater robot according to claim 6, characterized in that, Continuous trajectories are generated by performing fifth-order polynomial interpolation between adjacent waypoints. The trajectory expression is: in, For position vectors, arrive Given a coefficient vector, the six coefficients are obtained by considering the boundary conditions: the position, velocity, and acceleration of the starting and ending points, thus deriving the trajectory expression.

9. The control method for the dexterous, attitude-adjustable benthic underwater robot according to claim 6, characterized in that, The control law of the PID controller is: in, For the first k Control quantity for one degree of freedom This is a state deviation. , , These are the proportional, integral, and differential coefficients.

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