An underwater robot based on vector eight-push layout

Abstract

The present invention discloses an underwater robot based on a vector eight-push layout. The structure is reasonably designed. By configuring an external environment monitoring mechanism on the buoyancy body, the monitoring needs of the underwater robot can be met. At the same time, the propulsion mechanism can realize multi-directional position adjustment of the robot such as forward, backward, lateral movement, diagonal movement and rotational movement by controlling the start or combined use of different propellers through the vector eight-push layout of the propellers, so that the robot is significantly improved in terms of the degree of freedom of movement and omnidirectionality, thereby significantly improving the flexibility and movement precision of the robot in a complex underwater environment, and can efficiently perform various tasks in a complex and dynamic underwater environment.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an underwater robot based on a vector eight-push layout. Background Art

[0002] Underwater robots can dive into the deep sea and have integrated multiple sensors. They are powerful helpers in exploring the ocean and have been widely used.

[0003] Traditional underwater robots are limited by their mechanical structure and propulsion mechanism, and mainly have problems such as low freedom of movement, poor flexibility, and low accuracy of operation and control, which makes some underwater robots unable to cope with complex underwater environments, have single functions, and cannot meet diverse task requirements. Therefore, the present invention proposes a new underwater robot to overcome the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a new type of underwater robot, which has significantly improved the freedom of movement and omnidirectionality by adopting a vector eight-push layout, and can efficiently perform various tasks in a complex and dynamic underwater environment to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides an underwater robot based on a vector eight-push layout, comprising:

[0007] A buoyancy body, wherein a control system is disposed in the buoyancy body, and the control system can be communicatively connected with a remote terminal;

[0008] A propulsion mechanism, the propulsion mechanism comprising a plurality of propellers evenly distributed on the buoyant body, any of the propellers being in communication connection with the control system, and the propulsion mechanism being capable of driving the buoyant body to operate in multiple directions underwater;

[0009] An external environment monitoring mechanism is provided on the buoyancy body, the external environment monitoring mechanism is communicatively connected with the control system, the external environment monitoring mechanism can monitor the marine environment information, and transmit the collected marine environment information to the control system.

[0010] In one embodiment, the propulsion mechanism includes eight propellers, and the eight propellers are arranged in two layers, and the first layer of propellers and the second layer of propellers each include four propellers, wherein:

[0011] The four thrusters of the first layer of thrusters are distributed on the outer periphery of the buoyancy body, and the four thrusters are arranged parallel to the up and down directions of the buoyancy body;

[0012] The four thrusters of the second layer of thrusters are evenly distributed on the outer periphery of the buoyancy body, and the four thrusters are grouped in pairs, and the two thrusters in each group are parallel and facing opposite directions: the two thrusters of one group are arranged parallel to a diagonal line in the horizontal direction of the buoyancy body, and the two thrusters are respectively arranged at the left front and right rear of the buoyancy body; the two thrusters of the other group are arranged parallel to another diagonal line in the horizontal direction of the buoyancy body, and the two thrusters are respectively arranged at the left rear and right front of the buoyancy body.

[0013] In one embodiment, the first layer of propellers is located above or below the second layer of propellers, and the central axis of the two layers of propellers coincides with the central axis of the buoyant body.

[0014] In one embodiment, the underwater robot further includes a structurally symmetrical collision buffer frame, wherein the collision buffer frame is sleeved on the outer periphery of the buoyancy body and fixedly connected to the buoyancy body.

[0015] In one embodiment, the collision buffer frame is an icosahedral structural frame and is made of high-strength energy-absorbing material. A shock-absorbing unit is disposed at any tip position of the icosahedral structural frame.

[0016] In one embodiment, a pressure sensor and / or sonar is further provided on the shock absorbing unit, and the pressure sensor and / or sonar are communicatively connected with the control system.

[0017] In one embodiment, the external environment monitoring mechanism includes:

[0018] A bracket, arranged at the front end of the buoyancy body;

[0019] An image collector is arranged on the bracket and is communicatively connected with the control system;

[0020] A flow field information collector is disposed on the bracket and is communicatively connected with the control system;

[0021] A speed meter is arranged on the support or the buoyancy body and is communicatively connected with the control system.

[0022] In one embodiment, the underwater robot also includes an information relay unit, which is arranged on the collision buffer frame, and the image collector, the flow field information collector and the speed meter are all communicatively connected to the information relay unit, and the information relay unit is communicatively connected to the control system.

[0023] In one embodiment, the buoyancy body is made of a high-strength alloy material, and a plurality of battery compartments are symmetrically arranged on the periphery of the buoyancy body. The battery compartments can supply power to at least one of the control system, the propulsion mechanism, and the external environment monitoring mechanism, and any one of the battery compartments has a high-strength alloy packaging shell.

[0024] In one embodiment, the underwater robot also includes an intelligent power management system, which is disposed in the buoyancy body and is communicatively connected to the control system, and the intelligent power management system is used to monitor the battery status in the battery compartment.

[0025] Compared with the prior art, the present invention has achieved the following technical effects:

[0026] The underwater robot based on the vector eight-push layout proposed in the present invention has a reasonable structural design. By configuring an external environment monitoring mechanism on the buoyancy body, the monitoring needs of the underwater robot can be met. At the same time, the propulsion mechanism realizes a vector eight-push layout of multiple thrusters on the buoyancy body. By controlling the start-up or combined use of different thrusters, the robot can be adjusted in all directions such as forward, backward, lateral movement, diagonal movement and rotational movement, which significantly improves the robot's freedom of movement and omnidirectionality, thereby significantly improving the robot's flexibility and movement precision in complex underwater environments, and can efficiently perform various tasks in complex and dynamic underwater environments.

[0027] In some technical solutions disclosed in the present invention, the buoyancy body, battery compartment and collision buffer frame are all made of high-strength alloy materials, which can ensure the stability and pressure resistance of the robot in the deep-sea high-pressure environment, enhance the overall strength and safety of the underwater robot, and enable it to operate under extreme conditions.

[0028] In some technical solutions disclosed in the present invention, each component such as the buoyancy body, battery compartment, collision buffer frame, external environment monitoring mechanism and information relay unit adopts an independent modular design, which is convenient for independent maintenance and upgrading of each component, thereby improving the overall maintainability and scalability of the robot and reducing the difficulty of repairing and replacing components.

[0029] In some technical solutions disclosed in the present invention, the collision buffer frame is designed based on an icosahedral structure and adopts high-strength energy-absorbing materials, which can effectively absorb and disperse collision energy, protect internal components, and enhance the impact resistance of the robot.

[0030] In some technical solutions disclosed in the present invention, accessories such as battery compartments, thrusters, and collision buffer frames are evenly distributed around the periphery of the robot body, which can ensure the balance of the robot in water and the safety of the robot in a high-pressure underwater environment.

[0031] In some technical solutions disclosed in the present invention, the front external environment monitoring mechanism can collect flow field information in real time, analyze water flow speed, direction and turbulence characteristics, assist the robot in navigation and obstacle avoidance, improve the robot's environmental perception ability and navigation accuracy, and ensure its stability and safety in complex water flow environments.

[0032] In some technical solutions disclosed in the present invention, the shock absorption system composed of a pressure sensor, a sonar and a collision buffer frame realizes the combination of pressure detection nodes and buffer energy absorption technology. The shock absorption system designed with elastic materials and energy absorption structures can reduce the impact of external shocks on internal components. The high-precision sensing components can monitor the pressure changes inside and outside the frame in real time. The shock absorption system improves the reliability and life of the underwater robot in high-pressure and impact environments, and can ensure its safe operation under extreme conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a schematic diagram of the overall structure of an underwater robot based on a vector eight-push layout disclosed in an embodiment of the present invention;

[0035] Figure 2 It is a front view of an underwater robot based on a vector eight-push layout disclosed in an embodiment of the present invention;

[0036] Figure 3 A top view of an underwater robot based on a vector eight-push layout disclosed in an embodiment of the present invention;

[0037] Figure 4 A bottom view of an underwater robot based on a vector eight-push layout disclosed in an embodiment of the present invention;

[0038] Figure 5 It is a side view of an underwater robot based on a vector eight-push layout disclosed in an embodiment of the present invention;

[0039] Figure 6 It is a schematic diagram of the overall structure of a collision buffer frame in an underwater robot based on a vector eight-push layout disclosed in an embodiment of the present invention;

[0040] Figure 7 It is a top view of the collision buffer frame in the underwater robot based on the vector eight-push layout disclosed in an embodiment of the present invention.

[0041] In the figure, the reference numerals are:

[0042] 100. Underwater robot based on vector eight-push layout;

[0043] 1. Buoyancy body;

[0044] 2. Propulsion mechanism; 21. Propeller 1; 22. Propeller 2; 23. Propeller 3; 24. Propeller 4; 25. Propeller 5; 26. Propeller 6; 27. Propeller 7; 28. Propeller 8;

[0045] 3. Collision buffer frame;

[0046] 4. Shock absorption unit;

[0047] 5. Pressure sensor;

[0048] 6. Sonar;

[0049] 7. External environment monitoring mechanism; 71. Bracket; 72. Image collector; 73. Flow field information collector;

[0050] 8. Information relay unit;

[0051] 9. Battery compartment. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] One of the purposes of the present invention is to provide an underwater robot based on a vector eight-push layout, which has significantly improved the freedom of movement and omnidirectionality by adopting a vector eight-push layout of the thruster, and can efficiently perform various tasks in a complex and dynamic underwater environment to solve the problems existing in the prior art.

[0054] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] Example 1

[0056] like Figure 1 to Figure 5As shown, this embodiment provides an underwater robot 100 based on a vector eight-push layout, including a buoyancy body 1, a propulsion mechanism 2 and an external environment monitoring mechanism 7. A control system is configured in the buoyancy body 1, and the control system can be connected to a remote terminal for communication. The remote terminal is generally set on the shore and is mainly used to collect and process a series of information collected by the underwater robot 100. The propulsion mechanism 2 includes a plurality of propellers evenly distributed on the buoyancy body 1, and any propeller is connected to the control system for communication. The propulsion mechanism 2 can drive the buoyancy body 1 to move forward, backward, move sideways, move diagonally and rotate underwater under the control of the control system, thereby realizing the multi-directional operation of the buoyancy body 1 underwater; the external environment monitoring mechanism 7 is arranged on the buoyancy body 1, and the external environment monitoring mechanism 7 is connected to the control system for communication. The external environment monitoring mechanism 7 can monitor the marine environment information and transmit the collected marine environment information to the control system.

[0057] In a feasible implementation manner, the propulsion mechanism 2 includes eight propellers, and the eight propellers are arranged in two layers, the first layer of propellers and the second layer of propellers each include four propellers, wherein: Figure 1 to Figure 5 As shown, the four thrusters of the first layer of thrusters are thruster 1 21, thruster 22, thruster 3 23 and thruster 4 24, thrusters 1 21, thrusters 22, thrusters 3 23 and thrusters 4 24 are respectively arranged at the four corners of the buoyancy body 1, and thrusters 1 21, thrusters 22, thrusters 3 23 and thrusters 4 24 of the first layer are evenly distributed on the periphery of the buoyancy body 1, thrusters 1 21, thrusters 22, thrusters 3 23 and thrusters 4 24 are arranged parallel to the up and down directions of the buoyancy body 1, and by regulating the forward and reverse rotation and / or thrust size of thrusters 1 21, thrusters 22, thrusters 3 23 and thrusters 4 24, the buoyancy body 1 can sink, ascend or maintain up and down balance in the water. Correspondingly, as Figure 3 and Figure 4As shown, the four thrusters of the second layer of thrusters are thruster 5 25, thruster 6 26, thruster 7 27 and thruster 8 28, wherein thruster 5 25 and thruster 7 27 are a group, respectively arranged at the left front and right rear of the buoyancy body 1, thruster 5 25 and thruster 7 27 face oppositely and are both arranged parallel to a diagonal line in the horizontal direction of the buoyancy body 1, wherein thruster 5 25 faces the left rear, and thruster 7 27 faces the right front; similarly, thruster 6 26 and thruster 8 28 are a group, respectively arranged at the left rear and right front of the buoyancy body 1, thruster 6 26 and thruster 8 28 face oppositely and are both arranged parallel to another diagonal line in the horizontal direction of the buoyancy body 1, wherein thruster 6 26 faces the left front, and thruster 8 28 faces the right rear. The two diagonals in the horizontal direction of the above-mentioned buoyancy body 1 intersect, and the angle between the two diagonals can be 90 degrees to 110 degrees, and the vertical state of the two diagonals is the best.

[0058] The second-layer propeller is mainly used to control the robot to accurately adjust its position in various directions, such as forward, backward, left and right lateral movement, diagonal movement, and rotation. Several feasible control methods are as follows:

[0059] (i) Forward: Turn off the two rear thrusters (thruster six 26 and thruster seven 27), and simultaneously start the two front thrusters (thruster five 25 and thruster eight 28) to run in the same direction and with the same thrust.

[0060] (ii) Backward: Turn off the two front thrusters (thruster five 25 and thruster eight 28), and simultaneously start the two rear thrusters (thruster six 26 and thruster seven 27) to run in the same direction and with the same thrust.

[0061] (III) Left lateral movement: turn off the two thrusters on the left side (thruster five 25 and thruster six 26), and simultaneously start the two thrusters on the right side (thruster seven 27 and thruster eight 28) to run in the same direction and with the same thrust.

[0062] (IV) Right lateral movement: turn off the two thrusters on the right side (thruster seven 27 and thruster eight 28), and simultaneously start the two thrusters on the left side (thruster five 25 and thruster six 26) to run in the same direction and with the same thrust.

[0063] (V) Rotational motion: Close one of the two groups and start the other group in the same direction and with the same thrust.

[0064] (vi) Diagonal movement: Close one of the two groups and start the other group with different thrust in the same direction.

[0065] It should be noted that there are many ways to achieve the robot's forward, backward, left and right lateral movement, diagonal movement and rotational movement, which are not limited to the above-mentioned ones. The forward, backward, left and right lateral movement, diagonal movement and rotational movement of the above-mentioned robot can be achieved by controlling the thrusters in different combinations.

[0066] In a feasible implementation, Figure 3 to Figure 5 As shown, the first layer of thrusters is preferably located on the upper or lower layer of the second layer of thrusters, and the thrusters in the two layers of thrusters are preferably arranged evenly and symmetrically, and the central axes of the two layers of thrusters coincide with the central axis of the buoyancy body 1, so as to improve the control accuracy of the movement direction of the buoyancy body 1 and ensure the balance and stability of the underwater robot.

[0067] In a feasible implementation, it is preferred that the first layer of propellers is located on the upper layer of the second layer of propellers. The first layer of propellers is arranged in layers above and below the second layer of propellers, which can reduce the peripheral volume of the robot and improve integration. The second layer of propellers is located below the first layer of propellers, which is conducive to improving the accuracy of direction control.

[0068] The above-mentioned first-layer thrusters and the first-layer thrusters realize the vector eight-thrust layout of the thrusters. The two-layer thrusters are used in combination, and each thruster can be independently controlled by the control system to control the steering and thrust. On the basis of ensuring the rising and sinking functions of the buoyancy body 1, the buoyancy body 1 is realized. Precise position adjustment in multiple directions such as forward, backward, left and right lateral movement, diagonal movement and rotational movement is achieved, which significantly improves the robot's freedom of movement and omnidirectionality, thereby significantly improving the robot's flexibility and movement precision in complex underwater environments.

[0069] In a feasible implementation manner, the buoyancy body 1 preferably has an independent packaging shell to achieve modularization. At the same time, the buoyancy body 1 is preferably made of high-strength alloy materials, such as titanium alloy, to ensure its stability and pressure resistance in deep-sea high-pressure environments, so as to enhance the overall strength and safety of the underwater robot and enable it to operate under extreme conditions.

[0070] In a feasible implementation, each thruster is preferably fixed to the outside of the buoyancy body 1 through a high-strength alloy frame to ensure its stability in a high-pressure environment. Each thruster is connected to the control system through a waterproof cable to ensure the reliability of signal transmission.

[0071] In this solution, by configuring an external environment monitoring mechanism 7 on the buoyancy body 1 of the underwater robot 100, the monitoring needs of the underwater robot can be met. At the same time, the propulsion mechanism 2 realizes a vector eight-push layout of multiple thrusters on the buoyancy body 1. By controlling the start-up or combined use of different thrusters, the robot can be adjusted in all directions such as forward, backward, lateral movement, diagonal movement and rotational movement, which significantly improves the robot's freedom of movement and omnidirectionality, thereby significantly improving the robot's flexibility and movement precision in complex underwater environments, and can efficiently perform various tasks in complex and dynamic underwater environments.

[0072] Example 2

[0073] like Figure 1 to Figure 7 As shown, this embodiment proposes an underwater robot 100 based on a vector eight-push layout. On the basis of Example 1, a structurally symmetrical collision buffer frame 3 is further provided on the underwater robot 100. The collision buffer frame 3 is mounted on the outer periphery of the buoyancy body 1 and is fixedly connected to the buoyancy body 1.

[0074] In a feasible implementation, the collision buffer frame 3 is preferably an icosahedral structure frame, and is made of high-strength energy-absorbing material, such as polyurethane foam material, and any tip position of the icosahedral structure frame is provided with a shock absorbing unit 4. The shock absorbing unit 4 can specifically be a silicone pad.

[0075] Collision buffer frame 3 adopts Figure 1 to Figure 7 The icosahedral structural design shown in the figure adopts high-strength energy-absorbing materials, which can effectively absorb and disperse the collision energy; the icosahedral structural frame cooperates with the shock-absorbing unit 4 to form a shock-absorbing system outside the buoyancy body 1, which can reduce the impact of external shocks on internal components and enhance the impact resistance of the underwater robot.

[0076] In a feasible implementation manner, the aforementioned icosahedral structural frame adopts an icosahedron-based intelligent roll cage.

[0077] In a feasible implementation, some or all of the shock absorbing units 4 are also provided with pressure sensors 5 and sonars 6, and both the pressure sensors 5 and sonars 6 are connected to the control system in communication. The collision buffer frame 3 with the additional pressure sensors 5 and sonars 6 has a pressure detection node, which can monitor the pressure changes inside and outside the frame in real time, provide accurate external environmental characteristics for the underwater robot, improve the reliability and life of the underwater robot in high pressure and impact environments, and ensure its safe operation under extreme conditions. Among them, the pressure sensor 5 is mainly used to sense the pressure changes in the underwater environment, especially the water pressure that increases with depth. By real-time monitoring of the environmental pressure, the robot can automatically adjust the buoyancy or posture according to the pressure feedback to ensure stable operation; the pressure sensor 5 can also be used to detect the integrity of the underwater structure or monitor potential external pressure mutations to prevent the robot from being damaged. The sonar 6 is mainly used to detect the distance of obstacles. It calculates the distance between the robot and the surrounding objects by emitting sound waves and measuring the echo time; this function of the sonar 6 is very suitable for helping the robot to perform safe navigation and obstacle avoidance operations in the underwater environment, especially under the condition of low visibility underwater, the sonar 6 is a very effective detection means.

[0078] The above-mentioned collision buffer frame 3 realizes the integration of the buffer energy absorption frame and the sensor system, and can monitor and feedback the collision situation in real time.

[0079] Example 3

[0080] like Figure 1 to Figure 5 As shown, this embodiment proposes an underwater robot 100 based on a vector eight-push layout, which, on the basis of Example 2, specifically discloses: the external environment monitoring mechanism 7 includes a bracket 71, an image collector 72, a flow field information collector 73 and a speedometer, the bracket 71 is arranged at the front end of the buoyancy body 1, the image collector 72 is arranged on the bracket 71, the flow field information collector 73 is arranged on the bracket 71, the speedometer is arranged on the bracket 71 or the buoyancy body 1, and the bracket 71, the image collector 72, the flow field information collector 73 and the speedometer are all communicatively connected with the control system.

[0081] In a feasible implementation, Figure 1 to Figure 5 As shown, the bracket 71 preferably adopts a bilaterally symmetrical six-claw bracket, the top midpoint of which is fixed to the front center of the buoyancy body 1, and the six branches are diffusely pointed forward and extended to the outside of the collision buffer frame 3. A flow field information collector 73 is respectively set at the end of the six branches to facilitate the all-round collection of flow field information.

[0082] In a feasible implementation manner, the image collector 72 is preferably a binocular camera.

[0083] In a feasible implementation, the speed meter is preferably a Doppler speed meter. If a plurality of speed meters are arranged on the buoyancy body 1, they are preferably symmetrically distributed.

[0084] The above-mentioned external environment monitoring mechanism 7 adopts a front-end form, which can collect flow field information in real time, analyze water flow speed, direction and turbulence characteristics, assist the robot in navigation and obstacle avoidance, improve the robot's environmental perception ability and navigation accuracy, and ensure its stability and safety in complex water flow environments.

[0085] Example 4

[0086] like Figure 1 to Figure 7 As shown, this embodiment proposes an underwater robot 100 based on a vector eight-push layout, which, on the basis of Embodiment 3, further provides an information relay unit 8, the information relay unit 8 is arranged on the collision buffer frame 3, the image collector 72, the flow field information collector 73 and the speed meter are all communicated with the information relay unit 8, and the information relay unit 8 is communicated with the control system.

[0087] like Figure 1 to Figure 7 As shown, a plurality of information relay units 8 are provided on the collision buffer frame 3, and the plurality of information relay units 8 are evenly distributed on the collision buffer frame 3, which is beneficial to maintaining the overall balance of the robot.

[0088] Example 5

[0089] This embodiment proposes an underwater robot 100 based on a vector eight-push layout. Based on any one of Embodiments 1 to 4, multiple battery compartments 9 are symmetrically arranged on the periphery of the buoyancy body 1. The battery compartments 9 can supply power to at least one of the control system, the propulsion mechanism 2, and the external environment monitoring mechanism 7 to ensure the normal underwater operation of the robot. In this embodiment, the battery compartments 9 are preferably arranged symmetrically on the left and right sides of the buoyancy body 1 to ensure the balance of the robot in the water.

[0090] In a feasible implementation, any battery compartment 9 has a high-strength waterproof packaging shell, such as titanium alloy, which not only realizes the modular design of the battery and can be connected to the buoyancy body 1 through a standard interface, which is convenient for rapid disassembly, replacement and maintenance from the buoyancy body 1, but also the high-strength alloy packaging shell provides the battery compartment with high strength and good sealing performance, ensuring the safety of the battery in a high-pressure underwater environment.

[0091] In a feasible implementation, an intelligent power management system is also provided, which is preferably provided in the buoyancy body 1 and is communicatively connected with the control system. The intelligent power management system is used to monitor the battery status in the battery compartment 9, which not only simplifies the management and maintenance of the battery, but also ensures that the battery compartment can provide continuous power support during the mission execution.

[0092] Example 6

[0093] This embodiment proposes a workflow and operation of an underwater robot 100 based on a vector eight-push layout:

[0094] 1. Startup and preparation:

[0095] System self-check: After startup, the robot performs a system self-check to ensure that all components are working properly.

[0096] Environmental perception: The pressure sensor 5, sonar 6 and external environment monitoring mechanism 7 collect information about the surrounding environment and provide data support for subsequent movements and operations.

[0097] 2. Motion control:

[0098] Forward / Backward: By controlling the thrust of the front and rear thrusters, the robot can move forward and backward.

[0099] Lateral movement: By controlling the thrust of the left and right thrusters, the robot can be moved left and right and its position adjusted.

[0100] Rotational motion: The thrust of the thrusters on the second layer enables the robot to rotate around the vertical axis or move in a diagonal direction.

[0101] 3. Task Execution:

[0102] Data collection: During the mission, the pressure sensor 5, sonar 6 and external environment monitoring mechanism 7 collect data in real time, and analyze and process it through the control system.

[0103] Operational feedback: The robot adjusts the thrust and direction of each thruster in real time according to task requirements and environmental changes to ensure the smooth completion of the task.

[0104] 4. Maintenance and upgrade:

[0105] Modular design: Each component adopts modular design to facilitate quick replacement and maintenance.

[0106] Intelligent power management: The intelligent power management system monitors the battery status in the battery compartment to ensure stable power support for the robot during task execution.

[0107] Based on the above embodiments 1 to 6, the present invention mainly has the following beneficial effects:

[0108] (1) High-strength pressure-resistant structure:

[0109] The buoyancy body, battery compartment and collision buffer frame are all made of high-strength alloy materials, which can ensure the robot's stability and pressure resistance in deep-sea high-pressure environments, enhance the overall strength and safety of the underwater robot, and enable it to operate under extreme conditions.

[0110] (II) Vector eight push layout:

[0111] Eight thrusters are installed in eight different directions of the robot's buoyant body, forming an omnidirectional layout that ensures the robot can achieve all-round movement. Each thruster can independently control its thrust and direction, and precise motion control can be achieved through vector synthesis of different thrusters, significantly improving the robot's flexibility and freedom of movement in complex underwater environments.

[0112] (III) Modular design:

[0113] Each component, including the buoyancy body, battery compartment, collision buffer frame, external environment monitoring mechanism and information relay unit, adopts an independent modular design to facilitate independent maintenance and upgrade of each component, thereby improving the overall maintainability and scalability of the robot and reducing the difficulty of repairing and replacing components.

[0114] (IV) Collision buffer device:

[0115] The collision buffer frame is based on an icosahedral structure design and uses high-strength energy-absorbing materials. It can effectively absorb and disperse collision energy, protect internal components, and enhance the robot's impact resistance.

[0116] (V) Excellent balance and stability:

[0117] Accessories such as the battery compartment, thrusters, collision buffer frame, etc. are evenly distributed around the robot body to ensure the robot's balance in the water and its safety in high-pressure underwater environments.

[0118] (VI) Waterproof sealing:

[0119] The battery compartment, buoyancy body and other electrical components all have independent packaging shells to meet the waterproof and sealing requirements for underwater operation.

[0120] 7. Good environmental perception and navigation accuracy

[0121] The front external environment monitoring mechanism can collect flow field information in real time, analyze water flow speed, direction and turbulence characteristics, assist the robot in navigation and obstacle avoidance, improve the robot's environmental perception ability and navigation accuracy, and ensure its stability and safety in complex water flow environments.

[0122] The shock absorption system composed of pressure sensors, sonar and collision buffer frames realizes the combination of pressure detection nodes and buffer energy absorption technology. The shock absorption system designed with elastic materials and energy absorption structures can reduce the impact of external shocks on internal components. High-precision sensing components can monitor the pressure changes inside and outside the frame in real time. The shock absorption system improves the reliability and life of the underwater robot in high-pressure and impact environments, and can ensure its safe operation under extreme conditions.

[0123] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An underwater robot based on a vector eight-push layout, characterized in that: include: A buoyancy body (1), wherein a control system is arranged inside the buoyancy body (1), and the control system can be communicatively connected with a remote terminal; A propulsion mechanism (2), wherein the propulsion mechanism (2) comprises eight propellers, and the eight propellers are arranged in two layers, the first layer of propellers and the second layer of propellers respectively comprising four propellers, wherein: the four propellers of the first layer of propellers are evenly distributed on the periphery of the buoyancy body (1), and the four propellers are all arranged parallel to the up and down direction of the buoyancy body (1); the four propellers of the second layer of propellers are evenly distributed on the periphery of the buoyancy body (1), and the four propellers are arranged in groups of two, and the two propellers in each group are parallel and facing opposite directions. : The two propellers of one group are arranged parallel to a diagonal line in the horizontal direction of the buoyancy body (1), and the two propellers are respectively arranged at the left front and right rear of the buoyancy body (1); the two propellers of the other group are arranged parallel to another diagonal line in the horizontal direction of the buoyancy body (1), and the two propellers are respectively arranged at the left rear and right front of the buoyancy body (1); any one of the propellers is communicatively connected with the control system, and the propulsion mechanism (2) can drive the buoyancy body (1) to operate in multiple directions underwater; An external environment monitoring mechanism (7), the external environment monitoring mechanism (7) is arranged on the buoyancy body (1), the external environment monitoring mechanism (7) is communicatively connected with the control system, and the external environment monitoring mechanism (7) is capable of monitoring marine environment information and transmitting the collected marine environment information to the control system.

2. The underwater robot based on the vector eight-push layout according to claim 1 is characterized in that: The first layer of propellers is located above or below the second layer of propellers, and the central axis of the two layers of propellers coincides with the central axis of the buoyant body (1).

3. The underwater robot based on the vector eight-push layout according to claim 1 or 2, characterized in that: It also comprises a collision buffer frame (3) with a symmetrical structure, wherein the collision buffer frame (3) is sleeved on the outer periphery of the buoyancy body (1) and is fixedly connected to the buoyancy body (1).

4. The underwater robot based on the vector eight-push layout according to claim 3 is characterized in that: The collision buffer frame (3) is an icosahedral structural frame and is made of a high-strength energy-absorbing material. A shock-absorbing unit (4) is provided at any tip position of the icosahedral structural frame.

5. The underwater robot based on the vector eight-push layout according to claim 4 is characterized in that: The shock absorbing unit (4) is also provided with a pressure sensor (5) and / or a sonar (6), and the pressure sensor (5) and / or the sonar (6) are communicatively connected with the control system.

6. The underwater robot based on the vector eight-push layout according to claim 3 is characterized in that: The external environment monitoring mechanism (7) comprises: A bracket (71) is arranged at the front end of the buoyancy body (1); An image collector (72) is disposed on the support (71) and is communicatively connected with the control system; A flow field information collector (73) is disposed on the support (71) and is communicatively connected with the control system; A speed meter is arranged on the support (71) or the buoyancy body (1) and is communicatively connected with the control system.

7. The underwater robot based on the vector eight-push layout according to claim 6 is characterized in that: It also includes an information relay unit (8), the information relay unit (8) being arranged on the collision buffer frame (3), the image collector (72), the flow field information collector (73) and the velocimeter being communicatively connected to the information relay unit (8), and the information relay unit (8) being communicatively connected to the control system.

8. The underwater robot based on the vector eight-push layout according to claim 1 or 2, characterized in that: The buoyancy body (1) is made of a high-strength alloy material. A plurality of battery compartments (9) are symmetrically arranged on the periphery of the buoyancy body (1). The battery compartments (9) are capable of supplying power to at least one of the control system, the propulsion mechanism (2) and the external environment monitoring mechanism (7). Any of the battery compartments (9) has a high-strength alloy packaging shell.

9. The underwater robot based on the vector eight-push layout according to claim 8 is characterized in that: It also includes an intelligent power management system, which is arranged in the buoyancy body (1) and is communicatively connected with the control system, and is used to monitor the battery status in the battery compartment (9).

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