An underwater robot tail section device

Abstract

The application relates to an underwater robot tail section device and belongs to the technical field of ocean engineering underwater vehicles, which solves the problems of large sealing structure space, high weight and ineffective water leakage monitoring in the prior art. The underwater robot tail section device comprises a tail cabin section; a rudder, a propeller and a control driving module are arranged in the tail cabin section; the rudder and the propeller are electrically connected with the control driving module; the tail cabin section further comprises a sealing assembly which is used for sealing the tail cabin section to prevent water in the external environment from entering the tail cabin section. The application realizes real-time detection of water leakage under the premise of effectively ensuring the sealing of the water-tight tail cabin section, and guarantees the reliable operation of the underwater robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater vehicles for ocean engineering, in particular to a tail section device of an underwater robot. BACKGROUND

[0002] An autonomous underwater vehicle (AUV) is an underwater robot integrating artificial intelligence, system integration, detection and identification, etc. It can complete the predetermined underwater operation task through autonomous decision and control system. The AUV has the advantages of small size, low noise and low cost, and can complete the tasks of mine detection, intelligence collection and target indication in the military field. In the civil field, it can be applied to the tasks of ocean environment measurement, observation and data collection. The AUV points out the direction for the development of underwater robots and has a wide development space.

[0003] The tail section has two functions: one is to control the yaw or pitch attitude of the AUV by rotating the wing surface driven by the rudder; the other is to provide the motion power of the AUV by rotating the propeller at high speed driven by the propeller, so as to realize the attitude control and motion propulsion function of the AUV.

[0004] At present, the technical approach of the traditional AUV tail section is as follows: one way is to use a non-sealed cabin section, equipped with waterproof rudders and waterproof propellers. Since the rudders and propellers need to be waterproof, a special waterproof structure needs to be designed, or the electrical part of the underwater working components and the control driving function needs to be waterproof designed, resulting in a large structure space and high weight. Another way is to use a fish tail type bionic structure. This technical approach uses the fish tail type swing to realize the attitude and propulsion function, and the tail section needs to have relative motion with the front cabin section of the AUV, which is easy to cause motion conduction to the front cabin section of the AUV, which is not conducive to the attitude stability, especially when the equipment with detection or reconnaissance function is arranged in the front cabin section of the AUV, which affects the task completion ability of the AUV. SUMMARY

[0005] Based on the above analysis, the present application aims to provide a tail section device of an underwater robot, which solves the problems of large sealing structure space, high weight and ineffective water leakage monitoring in the prior art.

[0006] The purpose of the present application is mainly realized by the following technical scheme:

[0007] A tail section device of an underwater robot, comprising a tail cabin section; a rudder, a propeller and a control driving module are installed inside the tail cabin section; the rudder and the propeller are electrically connected with the control driving module respectively; the tail cabin section further comprises a sealing assembly for sealing the tail cabin section to prevent water from the outside environment from entering the inside of the tail cabin section.

[0008] Further improvement based on the above tail section device, the sealing assembly includes a dynamic sealing assembly, the dynamic sealing assembly includes a first sealing assembly arranged at the connection between the tail cabin section and the rudder output shaft.

[0009] Further improvement based on the above tail section device, the tail cabin section is connected with an anti-winding cover, the inside of the anti-winding cover is provided with a propeller blade, and the propeller blade is arranged on the propeller output shaft between the tail cabin section and the anti-winding cover.

[0010] Further improvement based on the above tail section device, the dynamic sealing assembly further includes a second sealing assembly arranged at the connection between the tail cabin section and the anti-winding cover.

[0011] Further improvement based on the above tail section device, the sealing assembly further includes a static sealing assembly arranged between the sealing end cover and the tail cabin section.

[0012] Further improvement based on the above tail section device, the rudder includes a plurality of rudders, each of which is connected with a rudder output shaft, and the outer end of the rudder output shaft extends out of the tail cabin section.

[0013] Further improvement based on the above tail section device, the control driving module is arranged at the front end of the tail cabin section, and the tail cabin section is provided with a sealing end cover for closing the internal chamber thereof.

[0014] Further improvement based on the above tail section device, the propeller output shaft is provided with a thrust bearing.

[0015] Further improvement based on the above tail section device, the first sealing assembly is 4.

[0016] Further improvement based on the above tail section device, the second sealing assembly is 1.

[0017] Further improvement based on the above tail section device, the inside of the watertight tail cabin section is provided with a water leakage detection module and a control driving module; the water leakage detection module includes a first printed circuit board, the first printed circuit board is arranged at the lowest point in the watertight tail cabin section and is electrically connected with the control driving module; the first printed circuit board is provided with two conductive test points, and the levels of the two conductive test points are different.

[0018] Further improvement based on the above tail section device, the number of the first printed circuit boards is multiple, and the multiple first printed circuit boards are circumferentially distributed in the watertight tail cabin section.

[0019] Further improvement based on the above tail section device, the first printed circuit board is flexible.

[0020] Based on the further improvement of the tail section device, the base material of the first printed circuit board is polyester film.

[0021] Based on the further improvement of the tail section device, the water leakage detection module further comprises a second printed circuit board; the second printed circuit board is electrically connected with the control driving module.

[0022] Based on the further improvement of the tail section device, at least one side of the first printed circuit board is provided with the second printed circuit board.

[0023] Based on the further improvement of the tail section device, both sides of the first printed circuit board are provided with the second printed circuit board.

[0024] Based on the further improvement of the tail section device, the second printed circuit board is provided with a plurality of pairs of conductive test points.

[0025] Based on the further improvement of the tail section device, the conductive test points are pins.

[0026] Based on the further improvement of the tail section device, the distance between each pair of pins and the first printed circuit board is different.

[0027] Based on the further improvement of the tail section device, the first printed circuit board and the second printed circuit board are arranged along the inner wall of the tail section cabin.

[0028] The present application can at least achieve one of the following beneficial effects:

[0029] (1) The existing AUV tail section adopts a non-sealed cabin section, and is equipped with waterproof rudders and waterproof thrusters. Since the rudders and thrusters need to be waterproofed, a special waterproof structure needs to be designed, or underwater working components need to be selected and the electrical parts that realize the control driving function need to be waterproofed, resulting in a larger structure space and higher weight. The present application does not waterproof the rudders and thrusters alone, but realizes the sealing and waterproofing of the entire cabin section through the matching arrangement of the dynamic sealing assembly and the static sealing assembly, and selects the sealing assembly according to the specific characteristics of different positions, thereby reducing the sealing components and the overall weight of the underwater robot.

[0030] (2) the water leakage detection module of the prior art is usually a hygrometer, which detects whether water leaks by detecting the humidity in the cabin section, and this detection method has the following disadvantages: first, it cannot discover water leakage in time because a certain period of time is needed for the humidity to increase after water leakage; second, the cabin section is in an underwater environment, and the humidity is high even in the case of no water leakage, so there is a possibility of false positives. The water leakage detection module of the present application is a flexible printed circuit board, which uses the conductivity of water to make the copper wire of the flexible printed circuit board conductive, sends an electrical signal to the control driving module, triggers a water leakage alarm, can monitor the water tightness of the watertight tail cabin section in real time, can stop the loss in time, and ensures the reliability of the underwater robot operation.

[0031] (3) The present application is provided with flexible printed circuit boards on both sides of the flexible printed circuit board (first flexible printed circuit board) arranged at the lowest point, which not only can monitor whether water leaks, but also can monitor the specific depth of water leakage, thereby effectively guiding the operator to perform corresponding operations.

[0032] (4) The plurality of first flexible printed circuit boards and the plurality of second flexible printed circuit boards are arranged along the inner wall of the tail section cabin. After water leakage occurs, if the water accumulation position is not at the position of the first flexible printed circuit board (i.e. the lowest point generally considered), then the second flexible printed circuit boards arranged on both sides of the first flexible printed circuit board can also successfully monitor the water leakage, further improving the success rate of monitoring water leakage.

[0033] (5) According to the specific service condition, the present application is provided with a thrust bearing and a deep groove ball bearing outside the propeller output shaft. By providing a thrust bearing, the axial thrust is avoided from acting on the inside of the propeller, thereby avoiding the reducer from being stuck; by providing a deep groove ball bearing, the cantilever beam form of the propeller output shaft is changed into a simply supported beam, the end deflection effect of the propeller output shaft is eliminated, the rotation coaxiality of the propeller output shaft is optimized, and the sealing effect is improved.

[0034] (6) The present application realizes the integrated design of the steering engine, the propeller and the control driving module in the watertight tail cabin section, and ensures the overall sealing effect.

[0035] In the present application, the above technical solutions can be combined with each other to realize more preferred combination solutions. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification or be understood by implementing the present application. The purposes and other advantages of the present application can be realized and obtained from the contents specifically indicated in the specification examples and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings are included to provide a further understanding of the application and are incorporated herein and constitute a part of the detailed description. The drawings illustrate embodiments of the application and, together with the description, serve to explain the principles of the application. In the drawings:

[0037] Figure 1 The external structure schematic diagram of the underwater robot tail section device provided by the embodiment of the present application is shown in the figure;

[0038] Figure 2 The internal structure schematic diagram of the underwater robot tail section device provided by the embodiment of the present application is shown in the figure;

[0039] Figure 3 The principle schematic diagram of the water leakage detection module provided by the embodiment of the present application is shown in the figure;

[0040] Figure 4 The working principle block diagram of the propeller provided by the embodiment of the present application is shown in the figure;

[0041] Figure 5 The working principle block diagram of the rudder provided by the embodiment of the present application is shown in the figure;

[0042] Figure 6 The structure schematic diagram of the second flexible printed circuit board provided by the embodiment of the present application is shown in the figure;

[0043] Figure 7 The position relationship schematic diagram of the first flexible printed circuit board and the second flexible printed circuit board provided by the embodiment of the present application is shown in the figure.

[0044] Reference signs:

[0045] 1 - watertight tail cabin section; 11 - sealing end cover;

[0046] 2 - rudder; 21 - rudder output shaft;

[0047] 3 - propeller; 31 - propeller output shaft; 32 - propeller blade;

[0048] 4 - control driving module;

[0049] 5 - anti-winding cover;

[0050] 6 - static sealing assembly;

[0051] 7 - rudder sealing assembly;

[0052] 8 - propeller sealing assembly;

[0053] 9 - water leakage detection module; 91 - first flexible printed circuit board; 92 - conductive test point;

[0054] 10 - thrust bearing;

[0055] 11 - deep groove ball bearing;

[0056] 12 - second flexible printed circuit board. DETAILED DESCRIPTION

[0057] Preferred embodiments of the present application will be described in detail below with reference to the drawings, in which:

[0058] Referring to Figures 1-2 One specific embodiment of the present application discloses an underwater robot tail section device, comprising: a watertight tail cabin section 1, a rudder 2, a propeller 3, a control driving module 4, a sealing assembly and a water leakage detection module 9 are installed inside the watertight tail cabin section 1; the rudder 2, the propeller 3 and the water leakage detection module 9 are respectively electrically connected with the control driving module 4.

[0059] The underwater robot tail section device in the present application is mainly applied to a cableless underwater robot, the electrical connection of the control driving module 4 with the rudder 2 and the propeller 3 can control the motion posture of the AUV, provide forward power, the sealing assembly can form effective sealing of the internal cavity of the watertight tail cabin section 1, compared with the traditional waterproof rudder, waterproof propeller 3 and waterproof electrical design, the number of parts can be effectively reduced and the overall weight can be reduced through the distributed sealing assembly.

[0060] Based on the sealing assembly design, through the water leakage detection module 9 arranged inside the watertight tail cabin section 1, combined with the electrical connection with the control driving module 4, the real-time water leakage detection function of the watertight tail cabin section 1 is realized, the sealing state of the watertight tail cabin section 1 can be monitored in real time, and the reliable operation of the underwater robot is ensured.

[0061] The rudder 2, the propeller 3 and the water leakage detection module 9 are respectively connected with the control driving module 4 through cables to realize signal transceiving and power supply.

[0062] The rudder 2 in the present application comprises a plurality of rudders 2 installed at the front of the watertight tail cabin section 1, the rudder 2 is specifically a high-precision rudder 2, and the plurality of high-precision rudders 2 are uniformly arranged in the circumferential direction of the watertight tail cabin section 1. Each high-precision rudder 2 is respectively connected with a rudder 2 output shaft, the outer end of the rudder 2 output shaft is stretched out of the shell of the watertight tail cabin section 1 and is connected with a rudder surface.

[0063] The high-precision rudder 2 can receive PWM signals and motor commutation signals, collect sensor feedback signals at the same time, drive the rudder surface to deflect and control the motion posture of the AUV.

[0064] A tail section 1 is connected with a anti-entanglement cover 5 at the tail end, mainly used for installing a propeller blade 32, the propeller blade 32 is arranged at the radial inner side of the anti-entanglement cover 5, and the underwater sundries can be avoided from being entangled on the propeller blade 32. The propeller blade 32 is installed on a propeller output shaft 31 between the tail section 1 and the anti-entanglement cover 5. The propeller 3 in the embodiment is installed inside the tail section 1, a propeller output shaft is connected with the propeller 3, and extends from the inside of the tail section 1 to the anti-entanglement cover 5, and the propeller blade 32 is installed on the propeller output shaft 31. The propeller 3 in the embodiment is a high-power-density propeller 3, and the rotation speed of the propeller 3 is directly controlled by using a direct-current voltage, and the rotation speed of the propeller 3 is calculated by collecting a Hall signal, so that the rotation speed closed-loop control of the propeller 3 is realized.

[0065] The rudder 2 and the propeller 3 in the embodiment are all controlled by using a digital control mode, and the position and the rotation speed are closed-loop controlled by a control driving module 4. The control driving module 4 receives a signal of an AUV host computer, feeds back the working state of the tail section of the underwater robot, sends a position and a speed instruction to the rudder 2 and the propeller 3, and provides a power voltage.

[0066] By using the high-precision rudder 2 and the high-power-density propeller 3 in the tail section of the AUV, the rudder 2 and the propeller 3 are controlled by using a brushless direct-current servo motor and a driving technology, the rotation speed and the direction of the rudder 2 and the propeller 3 are changed quickly, and the dynamic response capability of the AUV can be greatly improved.

[0067] The control driving module 4 is installed at the front end of the tail section 1, and a sealing end cover 11 for sealing the internal chamber of the tail section 1 is arranged on the tail section 1. By installing the sealing end cover 11 at the end of the tail section 1, the internal chamber of the tail section 1 is sealed, and the normal installation of the control driving module 4, the rudder 2 and the propeller 3 and other components is ensured.

[0068] The working principle of the control driving module is as follows:

[0069] An overall circular layout is adopted. The control part and the driving part are independently designed, the heat of the driving part can be directly conducted out through the surface of the shell, and the heat dissipation of the power device is facilitated. The cover plate is fixed on the outer surface of the shell by means of countersunk screws, assembly and disassembly and maintenance are facilitated. Considering the position of the temperature sensor, the temperature sensor is close to the structure and far away from the heat source.

[0070] The structure of the control part fully considers the division of the circuit, the layout of the connector and the requirement of the structure space, is optimally designed, meets the requirement of the circuit space, and also provides a good shielding environment for the control circuit, effectively prevents the electromagnetic interference between the control circuit and the external equipment, and improves the electromagnetic compatibility of the system.

[0071] The control part internally integrates a control board and a driving board. The control board completes instruction processing of the comprehensive control computer and generates motor control signals, and the driving board completes power amplification of the motor control signals.

[0072] The main functions of the control driving module include:

[0073] 1) receiving the rudder control instruction signals and the propeller speed control instruction signals of the comprehensive control computer through the CAN interface, and sending the collected rudder shaft position feedback signals and the propeller speed feedback signals to the comprehensive control computer;

[0074] 2) comparing the received rudder position control instruction signals with the rudder shaft position feedback signals, obtaining the rudder motor speed and steering control quantity through operation, and sending them to the driving circuit, so as to control the position of the rudder;

[0075] 3) converting the received propeller speed control instruction signals to obtain the speed and steering control quantity, and sending them to the propeller driving circuit, so as to control the speed.

[0076] The working principle of the propeller is as follows:

[0077] The control driving module receives the instructions of the comprehensive control computer in the underwater AUV, the driver adopts the combination form of the driving module and the driving board, the driving module directly controls the propeller speed by using the direct current voltage, and controls the rotation direction of the propeller through the F / R direction control I / O port. The propeller speed control is output by the PWM signal of the control driving module, the F / R direction control signal is output by the GPIO port of the control driving module, and the Hall signal of the propeller is detected in real time to calculate the propeller speed. The working principle block diagram is shown in Figure 4 .

[0078] The rudder of the present application adopts a digital control mode, and its main working principle is as follows:

[0079] In each control period, the controller collects the control instruction signals sent by the comprehensive control computer of the underwater AUV, and collects the sensor position feedback signals at the same time. After comparison and calculation of the instruction signals and the position feedback signals by the control driving module through the control software, the required PWM signal and commutation signal of the rudder motor are sent out, so that the motor moves at the corresponding speed and direction, and drives the rudder surface to deflect after being decelerated by the reducer, so as to ensure that the rudder surface approaches the given instruction deflection angle within the specified response time. The working principle of the rudder is shown in Figure 5 .

[0080] The sealing assembly in the present application specifically includes a dynamic sealing assembly and a static sealing assembly 6. The static sealing assembly 6 is arranged on the sealing end cover 11 at the front end of the control driving module 4, and includes a rubber O-shaped ring. The static sealing of the front end of the water-tight tail cabin section 1 is realized by pressing the rubber O-shaped ring by the sealing end cover 11.

[0081] The dynamic sealing assembly is arranged on the rudder output shaft 21 and the propeller output shaft 31, and specifically, the dynamic sealing assembly in the embodiment is arranged at the joint between the watertight stern cabin section 1 and the rudder output shaft 21, and arranged at the joint between the anti-winding cover 5 and the watertight stern cabin section 1.

[0082] Through the dynamic sealing assembly arranged at the joint respectively, the dynamic sealing of the propeller output shaft 31 and the rudder output shaft 21 during rotation can be effectively realized, so that the watertight stern cabin section 1 can be kept in a watertight state.

[0083] Specifically, the dynamic sealing assembly includes different forms according to different characteristics of the working states of the rudder output shaft 21 and the propeller output shaft 31.

[0084] The rudder sealing assembly 7 at the joint between the rudder output shaft 21 and the watertight stern cabin section 1 is arranged in the form of a combination of a nylon check ring and a rubber O-ring, so as to realize dynamic sealing, considering that the rotation speed is not high, the load is small, and the working time is intermittent.

[0085] The propeller sealing assembly 8 at the joint between the anti-winding cover 5 and the watertight stern cabin section 1 is arranged to bear the axial thrust, the radial force and the torque, considering that the working time is long, the rotation speed is high, and the axial thrust, the radial force and the torque are simultaneously borne, so as to avoid the axial thrust from acting on the inside of the propeller 3, and to avoid the reducer from being stuck, etc. Figure 2 The deep groove ball bearing 11 is arranged to bear the radial force, so as to change the cantilever beam form of the propeller output shaft 31 into a simply supported beam, as shown in the figure, to eliminate the deflection effect of the outer end of the propeller output shaft 31, to optimize the rotation coaxiality of the propeller output shaft 31, and to improve the sealing effect.

[0086] The propeller sealing assembly at the joint between the watertight stern cabin section 1 and the anti-winding cover 5 includes an O-shaped Gley ring, which realizes the dynamic sealing of the propeller output shaft 31 at the joint between the watertight stern cabin section 1 and the anti-winding cover 5.

[0087] Through the dynamic sealing assembly arranged on the rudder output shaft 21 and the propeller output shaft 31, and the static sealing assembly 6 arranged on the sealing end cover 11, the overall sealing of the watertight stern cabin section 1 can be realized, and the rudder 2 and the propeller 3 do not need to be separately designed to be watertight, so as to reduce the number of parts and achieve the effect of overall weight reduction.

[0088] In addition to the above-mentioned sealing assembly, in order to further prevent the water leakage of the water-tight tail cabin section 1, the underwater robot tail section device in the application further comprises a water leakage detection module 9 arranged inside the water-tight tail cabin section 1, the water leakage detection module 9 comprises a plurality of flexible printed circuit boards (first flexible printed circuit boards 91) for real-time sealing state monitoring of the cabin section, and the AUV can be quickly recovered after a water leakage fault is found, thereby reducing the loss.

[0089] The flexible printed circuit boards (first flexible printed circuit boards 91) in the embodiment comprise four pieces that are circumferentially and uniformly distributed on the water-tight tail cabin section 1, the four pieces of flexible printed circuit boards (first flexible printed circuit boards 91) are distributed at the lowest points in the water-tight tail cabin section 1, i.e. the positions where water first accumulates in the cabin section after water leakage, and are electrically connected with the control driving module 4, and any one of the flexible printed circuit boards (first flexible printed circuit boards 91) can transmit a water leakage signal to the control driving module 4 after detecting water leakage.

[0090] In combination with Figure 3 , the flexible printed circuit boards (first flexible printed circuit boards 91) are made of polyester film (for example, polyimide) as a substrate, and each circuit board has two conductive test points 92, when the water-tight tail cabin section 1 is flooded, the two conductive test points 92 are immersed in water, due to the conductivity of water, the test points change from open circuit to short circuit, so that the pin level of the flexible printed circuit board (first flexible printed circuit board 91) changes, the control driving module 4 monitors the pin level change in real time, and real-time water leakage detection is achieved.

[0091] In the detection process, each flexible printed circuit board (first flexible printed circuit board 91) comprises two pin-formed conductive test points 92, one pin is set to high level and the other pin is set to low level, the input level of the high level pin is continuously detected, and if the input level signal becomes low, a water leakage fault occurs, and the water leakage fault information is transmitted to the general control computer.

[0092] Through real-time monitoring of the state of the water leakage detection module 9 by the control driving module 4, the water leakage state inside the water-tight tail cabin section 1 can be sensed in time, the four flexible printed circuit boards (first flexible printed circuit boards 91) are arranged at the lowest points in the cabin section, after a water leakage fault occurs, the conductivity of water is used to make the flexible printed board copper wire conductive, an electrical signal is sent to the control driving module 4, a water leakage alarm is triggered, and the reliability of operation is greatly improved.

[0093] In another possible implementation, flexible printed circuit boards (second flexible printed circuit boards 12) are also arranged on both sides of the flexible printed circuit board (first flexible printed circuit board 91) arranged at the lowest point, as shown in Figure 6 .

[0094] The second flexible printed circuit board 12 is electrically connected with the control driving module 4, and can transmit the water leakage signal to the control driving module 4 after detecting water leakage.

[0095] The second flexible printed circuit board 12 is provided with a plurality of pairs of pins, which are arranged on both sides of the flexible printed circuit board (the first flexible printed circuit board 91) located at the lowest point, as shown in the figure. Figure 7 As shown in the figure, the height of each pair of pins on the second flexible printed circuit board 12 from the lowest point is different. Through the above design (that is, in addition to arranging the flexible printed circuit board at the lowest point, the flexible printed circuit boards are also arranged on both sides of the lowest point), not only whether water leakage occurs can be monitored, but also the specific depth of water leakage can be monitored, thereby effectively guiding the operator to perform corresponding operation.

[0096] Another advantage of the above design is that in the case that the flexible printed circuit board (the first flexible printed circuit board 91) at the lowest point and the second flexible printed circuit board 12 on one side thereof both fail to monitor water leakage, the second flexible printed circuit board 12 on the other side can still normally monitor water leakage, thereby improving the probability of successfully monitoring water leakage.

[0097] In a possible implementation, the plurality of first flexible printed circuit boards 91 and the plurality of second flexible printed circuit boards 12 are arranged along the inner wall of the tail section cabin. After water leakage occurs, if the position where water accumulates is not at the position of the first flexible printed circuit board 91 (that is, the generally considered lowest point), then the second flexible printed circuit boards 12 arranged on both sides of the first flexible printed circuit board 91 can also successfully monitor water leakage, thereby further improving the success rate of monitoring water leakage.

[0098] The underwater robot tail section device in the application integrates the high-precision rudder 2 and the high-power density thruster 3 in the watertight tail cabin section 1 through the static sealing assembly 6 and the dynamic sealing assembly, provides posture control and power for the AUV, and realizes integrated design; on the basis of the sealing assembly, the real-time water leakage detection function is arranged, so that the AUV can be recovered in time after an abnormal fault is found, and further loss is avoided.

[0099] The application further provides an underwater robot comprising the underwater robot tail section device, the rudder 2, the thruster 3 and the control driving module 4 can be integrated and designed through the sealing assembly, the motion posture of the AUV is controlled, forward power is provided, and the tail section underwater sealing state is monitored in real time through the water leakage detection module 9, so as to ensure reliable operation of the underwater robot.

[0100] Embodiment two

[0101] Another specific embodiment of the application discloses an underwater robot operation method, which comprises the following steps:

[0102] Step 1: Detect the performance of each component of the robot before launching the robot into water, including detecting whether the rudder, propeller, control drive module, water leakage detection module and watertight tail section of the tail section are working normally.

[0103] Since the tail section of the present application is a watertight tail section, unlike the conventional separate waterproofing of the rudder and propeller, the sealing performance of the watertight tail section needs to be checked before launching, including checking the waterproof performance of the static sealing assembly and checking the waterproof performance of the dynamic sealing assembly.

[0104] Checking the waterproof performance of the static sealing assembly includes checking the sealing performance of the sealing assembly of the sealing end cover and the rubber O-ring.

[0105] Checking the waterproof performance of the dynamic sealing assembly includes checking the sealing performance of the sealing assembly at the interface between the watertight tail section 1 and the rudder output shaft 21, and checking the sealing performance of the sealing assembly at the interface between the anti-winding cover 5 and the watertight tail section 1.

[0106] Specifically, checking the sealing performance of the sealing assembly at the interface between the watertight tail section 1 and the rudder output shaft 21 includes checking the sealing performance of the combination of the nylon check ring and the rubber O-ring. Checking the sealing performance of the sealing assembly at the interface between the anti-winding cover 5 and the watertight tail section 1 includes checking whether the O-shaped Gley ring has a self-tightening effect with changes in rotational speed or surface wear.

[0107] Step 2: Launch the robot, adjust the motion attitude of the AUV.

[0108] The high-precision rudder 2 receives PWM signals and motor commutation signals, while collecting sensor feedback signals, drives the rudder deflection, so as to achieve the adjustment of the AUV pitch attitude and yaw attitude, quickly and accurately executes the rudder deflection instruction issued by the path planning computer, improves the dynamic characteristics of the AUV such as anti-interference and obstacle avoidance, and improves the detection and reconnaissance precision of the AUV carrying sonar and sensors for specific targets.

[0109] Step 3: The robot performs underwater tasks;

[0110] Step 4: If a water leakage fault occurs, control the AUV to return, if no water leakage fault occurs, the robot continues to perform underwater tasks until the underwater tasks are completed and returns.

[0111] If a water leakage fault occurs during the underwater work of the tail section with the AUV, the flexible plate water leakage detection module can quickly detect the water leakage phenomenon, and the controller reports the water leakage fault to the comprehensive control computer. The AUV operator can determine the position of the water leakage detection module that detects water leakage and the degree of water leakage according to the water leakage fault report of the comprehensive control computer.

[0112] Specifically, if the water leakage detection module at the lowest point detects water leakage, while other water leakage detection modules at non-lowest points do not detect water leakage, it can be determined that water leakage has just occurred; if not only the water leakage detection module at the lowest point detects water leakage, but also other water leakage detection modules at non-lowest points detect water leakage, the specific depth of water leakage can be determined according to the positions of the pins that detect water leakage.

[0113] The AUV operator comprehensively determines the corresponding measures to be taken according to the water leakage condition. For example, the AUV is caused to quickly return to the vicinity of an anchor ground or a work ship for recovery operation, so as to reduce the equipment loss caused by water leakage failure or even avoid the loss of the AUV failure.

[0114] The above merely describes the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An underwater robotic tail section apparatus, characterized by, The tail cabin section is provided with a rudder, a propeller and a control driving module; The rudder and the propeller are electrically connected with the control driving module respectively; The tail cabin section is further provided with a sealing assembly for sealing the tail cabin section to prevent water from the outside environment from entering the inside of the tail cabin section; The sealing assembly comprises a dynamic sealing assembly, which comprises a first sealing assembly arranged at the connection between the tail cabin section and the output shaft of the rudder; The tail cabin section is connected with an anti-winding cover at the tail end, and the inside of the anti-winding cover is provided with a propeller blade arranged on the output shaft of the propeller between the tail cabin section and the anti-winding cover; The dynamic sealing assembly further comprises a second sealing assembly arranged at the connection between the tail cabin section and the anti-winding cover; The sealing assembly further comprises a static sealing assembly arranged between a sealing end cover and the tail cabin section. The rudder comprises a plurality of rudders, each of which is connected with a rudder output shaft, and the outer end of each of the rudder output shafts extends out of the tail cabin section.

2. The underwater robotic tail section apparatus of claim 1, wherein, The control driving module is arranged at the front end of the tail cabin section, and the tail cabin section is provided with a sealing end cover for closing the internal chamber thereof.

3. The underwater robotic tail section apparatus of claim 1, wherein, The output shaft of the propeller is provided with a thrust bearing.

4. The underwater robotic tail section apparatus of claim 1, wherein, The first sealing assembly is 4.

5. The underwater robotic tail section apparatus of claim 1, wherein, The second sealing assembly is 1.

6. The underwater robotic tail section apparatus of claim 1, wherein, ​

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