PID stable adjusting device for angle ring of underwater robot

Abstract

The invention discloses an underwater robot angle ring PID stable adjusting device, and belongs to the technical field of underwater robots. An underwater robot angle loop PID stable adjusting device comprises a robot body and further comprises a first propeller and a second propeller which are used for controlling an underwater robot to adjust the posture of the underwater robot; the first fixing frame and the second fixing frame are used for mounting the robot main body, the first propeller and the second propeller; the first fixing frame and the second fixing frame are provided with a pressurized water tank, and the pressurized water tank is composed of a first water storage part, a second water storage part, a third water storage part, a fourth water storage part, a fifth water storage part, a sixth water storage part, a seventh water storage part and an eighth water storage part; according to the method, the posture of the underwater robot is adjusted by ingeniously utilizing the weight and volume of water, the underwater robot can be assisted to cope with the influence of water flow changes, output of the propeller is reduced, the posture stability of the robot is improved, and the cruising ability of the robot is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to an underwater robot angle loop PID stabilization regulating device. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater; they are widely used in marine surveys, scientific research and teaching, safety search and rescue, pipeline inspections, ship and river offshore oil development, underwater entertainment, energy industry, archaeology, fisheries and other fields. In order to cope with the complex underwater water flow environment, existing underwater robots generally use PID (proportional-integral-differential) control principles to achieve stable adjustment of the underwater robot's posture angle.

[0003] The underwater robot is controlled by multiple sets of thrusters to adjust its angle and lift. Under water, in response to changes in water flow, the multiple sets of thrusters can be differentially controlled, and the direction of the thrusters can be adjusted to directly control the robot's rotation direction and speed, thereby coping with the impact of water flow impact on the underwater robot's motion stability, control performance, structural safety and energy consumption, thereby improving the underwater robot's task execution efficiency. However, when the underwater robot works for a long time and the water flow changes continuously, the traditional PID stability control device responds to water flow changes by adjusting and maintaining the continuous output of the thrusters, but this will increase energy consumption and reduce endurance. Summary of the invention

[0004] The purpose of the present invention is to solve the problems in the prior art and to propose an underwater robot angle loop PID stabilization adjustment device.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The invention comprises a robot body, and also comprises: a first propeller and a second propeller, which are used to control the underwater robot to adjust its own posture; a first fixed frame and a second fixed frame, which are used to install the robot body, the first propeller and the second propeller; a pressure tank is arranged on the first fixed frame and the second fixed frame, and the pressure tank is composed of a first water storage part, a second water storage part, a third water storage part, a fourth water storage part, a fifth water storage part, a sixth water storage part, a seventh water storage part, and an eighth water storage part; the first water storage part, the second water storage part, the third water storage part, the fourth water storage part, the fifth water storage part, the sixth water storage part, the seventh water storage part, The eighth water storage part is respectively placed at the eight vertex positions of a virtual cuboid, wherein the first water storage part and the second water storage part are located on the same vertical side, the third water storage part and the fourth water storage part are located on the same vertical side, the fifth water storage part and the sixth water storage part are located on the same vertical side, and the seventh water storage part and the eighth water storage part are located on the same vertical side; by controlling the water storage conditions in the first water storage part, the second water storage part, the third water storage part, the fourth water storage part, the fifth water storage part, the sixth water storage part, the seventh water storage part, and the eighth water storage part, the underwater robot's own posture is adjusted.

[0007] Preferably, the first fixed frame and the second fixed frame are respectively provided with a first mounting plate and a second mounting plate, the first propeller is provided with a plurality of groups, and the plurality of groups of the first propeller are respectively mounted on the first mounting plate and the second mounting plate, and the second propeller is provided with four groups, and the four groups of the second propeller are respectively arranged at the two end corners of the first fixed frame and the second fixed frame.

[0008] Preferably, a piston block is slidably connected to the first water storage part, a groove is provided in the piston block, a retreat rod is provided in the groove, the other end of the retreat rod is placed outside the first water storage part, a spring is sleeved on the retreat rod, and the two ends of the spring are respectively fixed to the groove and the first water storage part.

[0009] Furthermore, the internal structures of the second water storage section, the third water storage section, the fourth water storage section, the fifth water storage section, the sixth water storage section, the seventh water storage section, and the eighth water storage section are consistent with the first water storage section.

[0010] Preferably, the sensor arranged inside the underwater robot acquires the roll angle, pitch angle and yaw angle of the underwater robot in real time, and thus obtains its current attitude angle; the detected attitude angle is compared with the expected attitude angle, and the error is calculated; the calculated attitude error is input into the PID controller, and the PID controller calculates the control signal according to the error; according to the output of the PID controller, the control signal is distributed to the corresponding thruster, and the control signal includes the thrust size and direction; the thruster adjusts the thrust and direction according to the received control signal, and thus changes the attitude angle of the underwater robot; the sensor is used again to detect the adjusted attitude angle, and check whether the new attitude angle is close to or reaches the expected attitude angle, and judge whether it is stable. If so, the process ends and enters a stable state, otherwise, return to the "calculate attitude error" step to continue adjustment.

[0011] Preferably, the output power of the propeller is reduced according to the thrust size and direction of the propeller, and the amount of water in the water pressure tank is adjusted to compensate for the impact of reducing the output power of the propeller. Then, the sensor set inside the underwater robot obtains the roll angle, pitch angle and yaw angle of the underwater robot in real time, and then obtains its current attitude angle. The sensor is used again to detect the adjusted attitude angle, check whether the new attitude angle is close to or reaches the expected attitude angle, and judge whether it is stable. If so, the process ends and enters a stable state. Otherwise, continue to adjust the water amount in the water pressure tank.

[0012] Furthermore, according to the current posture angle of the underwater robot, the micro water pump is controlled to adjust the water volume in the water pressure tank. When the micro water pump adjusts the water volume in the water pressure tank, on the one hand, the position of the piston block is detected by the sensor to obtain the volume of water stored in the water storage part, and then the water volume in the water storage part is obtained. On the other hand, the water injection volume of the micro water pump is calculated by flow integration method.

[0013] Furthermore, by comparing and analyzing the two water volume values ​​obtained above, if the values ​​are consistent or similar, the water volume in the pressure tank is continuously adjusted until the water filling requirement is met, and it is determined whether the posture of the underwater robot is stable.

[0014] Furthermore, by comparing and analyzing the two water volume values ​​obtained above, if the values ​​differ greatly, it is determined that the micro water pump or the sensor is damaged.

[0015] Furthermore, if the micro water pump or sensor is damaged, the four water storage parts on the same horizontal plane as the micro water pump or sensor are immediately disabled. At the same time, the sensors installed inside the underwater robot obtain the roll angle, pitch angle and yaw angle of the underwater robot in real time, detect its current attitude angle, and adjust the thruster output power and the water volume in the pressure tank according to the current attitude angle of the underwater robot. Then, the current attitude angle of the underwater robot is detected again to check whether the new attitude angle is close to or reaches the expected attitude angle and whether it is stable. If so, the process ends and enters a stable state. Otherwise, continue to adjust the thruster output power and the water volume in the pressure tank.

[0016] Compared with the prior art, the present invention provides an underwater robot angle loop PID stabilization adjustment device, which has the following beneficial effects:

[0017] 1. The underwater robot angle loop PID stabilization adjustment device adjusts the posture of the underwater robot by auxiliary means of pressurized water tanks distributed on the first fixed frame and the second fixed frame, thereby improving the posture stability of the robot, reducing the output power of the first thruster and the second thruster, and significantly increasing its endurance.

[0018] 2. The underwater robot angle loop PID stable adjustment device forms a double-layer adjustment mechanism through eight water storage parts, which has a larger fault tolerance rate and can ensure the stable operation of the underwater robot.

[0019] The parts not involved in the underwater robot angle loop PID stability adjustment device are the same as the existing technology or can be implemented by the existing technology. The present invention adds a pressurized water tank around the underwater robot and cleverly uses the weight and volume of water to adjust the posture of the underwater robot. It can assist the underwater robot to cope with the impact of water flow changes and reduce the output of the thruster. This method not only improves the robot's posture stability, but also significantly increases its endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The overall structure of the PID stabilization adjustment device for the angle loop of an underwater robot proposed by the present invention is shown in FIG. Figure 1 ;

[0021] Figure 2 The overall structure of the PID stabilization adjustment device for the angle loop of an underwater robot proposed by the present invention is shown in FIG. Figure 2 ;

[0022] Figure 3 This is a schematic diagram of the structure inside the second water storage part of the underwater robot angle loop PID stabilization adjustment device proposed by the present invention;

[0023] Figure 4This is a schematic diagram of the structure inside the piston block of an underwater robot angle ring PID stability adjustment device proposed by the present invention;

[0024] Figure 5 The operation process of the underwater robot angle loop PID stability adjustment device proposed by the present invention is as follows: Figure 1 ;

[0025] Figure 6 The operation process of the underwater robot angle loop PID stability adjustment device proposed by the present invention is as follows: Figure 2 ;

[0026] Figure 7 The operation process of the underwater robot angle loop PID stability adjustment device proposed by the present invention is as follows: Figure 3 ;

[0027] Figure 8 The operation process of the underwater robot angle loop PID stability adjustment device proposed by the present invention is as follows: Figure 4 .

[0028] In the figure: 1. robot body; 2. first fixed frame; 201. first mounting plate; 3. second fixed frame; 301. second mounting plate; 4. first thruster; 5. second thruster; 6. micro water pump; 7. pressure tank; 701. first water storage part; 702. second water storage part; 703. third water storage part; 704. fourth water storage part; 705. fifth water storage part; 706. sixth water storage part; 707. seventh water storage part; 708. eighth water storage part; 8. piston block; 801. groove; 9. retreat rod; 10. spring. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0030] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] Reference Figure 1-Figure 8, including a robot body 1, and also including: a first propeller 4 and a second propeller 5, used to control the underwater robot to adjust its own posture; a first fixed frame 2 and a second fixed frame 3, used to install the robot body 1, the first propeller 4 and the second propeller 5; the first fixed frame 2 and the second fixed frame 3 are provided with a pressure tank 7, and the pressure tank 7 is composed of a first water storage part 701, a second water storage part 702, a third water storage part 703, a fourth water storage part 704, a fifth water storage part 705, a sixth water storage part 706, a seventh water storage part 707, and an eighth water storage part 708; the first water storage part 701, the second water storage part 702, the third water storage part 703, the fourth water storage part 704, the fifth water storage part 705, the sixth water storage part 706, the seventh water storage part 707, and the eighth water storage part 708 The first water storage part 701 and the second water storage part 702 are located on the same vertical side, the third water storage part 703 and the fourth water storage part 704 are located on the same vertical side, the fifth water storage part 705 and the sixth water storage part 706 are located on the same vertical side, and the seventh water storage part 707 and the eighth water storage part 708 are located on the same vertical side; by controlling the water storage conditions in the first water storage part 701, the second water storage part 702, the third water storage part 703, the fourth water storage part 704, the fifth water storage part 705, the sixth water storage part 706, the seventh water storage part 707 and the eighth water storage part 708, the posture of the underwater robot itself is adjusted.

[0032] In the present invention, the first propeller 4 controls the underwater robot to rise and fall, the second propeller 5 is used to control the underwater robot to rotate and turn, and the pressure tank 7 has multiple water storage parts, namely the first water storage part 701, the second water storage part 702, the third water storage part 703, the fourth water storage part 704, the fifth water storage part 705, the sixth water storage part 706, the seventh water storage part 707, and the eighth water storage part 708;

[0033] By controlling the water storage conditions in the first water storage section 701, the second water storage section 702, the third water storage section 703, the fourth water storage section 704, the fifth water storage section 705, the sixth water storage section 706, the seventh water storage section 707, and the eighth water storage section 708, the forces exerted on the underwater robot by different water storage sections can be accurately adjusted, thereby assisting the first propeller 4 and the second propeller 5 to adjust the posture of the underwater robot, thereby improving the posture stability of the underwater robot, reducing energy consumption, and increasing the cruising range of the underwater robot.

[0034] In one embodiment, the force generated by the two water storage parts on each vertical side is in a vertical direction, so there are four external forces in the same vertical direction, and the four external forces in the same vertical direction can be projected on the same plane.

[0035] Reference Figure 1-Figure 8The first fixed frame 2 and the second fixed frame 3 are respectively provided with a first mounting plate 201 and a second mounting plate 301, a plurality of first propellers 4 are provided, and the plurality of first propellers 4 are respectively installed on the first mounting plate 201 and the second mounting plate 301, a plurality of second propellers 5 are provided, and the four second propellers 5 are respectively arranged at the two end corners of the first fixed frame 2 and the second fixed frame 3; a piston block 8 is slidably connected in the first water storage part 701, a groove 801 is opened in the piston block 8, a retreat rod 9 is provided in the groove 801, the other end of the retreat rod 9 is placed outside the first water storage part 701, a spring 10 is sleeved on the retreat rod 9, and the two ends of the spring 10 are respectively fixed on the groove 801 and the first water storage part 701; the internal structures of the second water storage part 702, the third water storage part 703, the fourth water storage part 704, the fifth water storage part 705, the sixth water storage part 706, the seventh water storage part 707, and the eighth water storage part 708 are consistent with the first water storage part 701.

[0036] In the present invention, the first fixed frame 2 and the second fixed frame 3 are made of pressure-resistant materials and can withstand water pressure and water flow impact without deformation.

[0037] In one embodiment, when the first water storage portion 701 is filled with water, the piston block 8 compresses the spring 10 into the groove 801. Through the design of the groove 801, it is possible to ensure that the first water storage portion 701 can accommodate more water as much as possible, and the retreat rod 9 also slides outward;

[0038] The piston block 8 is placed horizontally to prevent the piston block 8 from shaking and becoming unstable due to vibration of the underwater robot and gravity.

[0039] Reference Figure 1-Figure 8 The sensors installed inside the underwater robot obtain the roll angle, pitch angle and yaw angle of the underwater robot in real time, and then obtain its current attitude angle; compare the detected attitude angle with the expected attitude angle, and calculate the error; input the calculated attitude error into the PID controller, and the PID controller calculates the control signal according to the error; according to the output of the PID controller, the control signal is distributed to the corresponding thruster, and the control signal includes the thrust size and direction; the thruster adjusts the thrust and direction according to the received control signal, thereby changing the attitude angle of the underwater robot; use the sensor again to detect the adjusted attitude angle, check whether the new attitude angle is close to or reaches the expected attitude angle, and judge whether it is stable. If so, the process ends and enters a stable state, otherwise, return to the "calculate attitude error" step to continue adjustment.

[0040] In the present invention, the sensor for measuring the roll angle, pitch angle and yaw angle of the underwater robot is an inertial measurement unit (including an accelerometer, a gyroscope and a magnetometer), and may also include a pressure sensor, a temperature sensor, a water flow velocity sensor, etc.;

[0041] Specifically, when the current attitude angle of the underwater robot is obtained, we can infer the torque generated by the water flow on the robot. According to the output of the PID controller, the control signal is distributed to the corresponding thruster, and the thrust of each thruster is determined. The thrust of each thruster can generate a combined force to offset this torque, thereby changing the attitude angle of the underwater robot. Then, the sensor is used again to detect the adjusted attitude angle, check whether the new attitude angle is close to or reaches the expected attitude angle, and judge whether it is stable. If so, it means that the underwater robot is in a stable state, and the process ends. Otherwise, return to the "calculate attitude error" step to continue adjustment until the underwater robot is in a stable state.

[0042] Sensors can only detect changes in angles, but cannot directly measure torque. Therefore, it is necessary to establish the relationship between angle changes and torque through other methods (such as dynamic models, experimental data, etc.), so that the posture of the underwater robot can be judged more accurately.

[0043] Reference Figure 1-Figure 8 , according to the thrust size and direction of the propeller, reduce the output power of the propeller, and adjust the water volume in the water tank 7 to compensate for the impact of reducing the output power of the propeller. Then, the sensor set inside the underwater robot obtains the roll angle, pitch angle and yaw angle of the underwater robot in real time, and then obtains its current attitude angle. The sensor is used again to detect the adjusted attitude angle, check whether the new attitude angle is close to or reaches the expected attitude angle, and judge whether it is stable. If so, the process ends and enters a stable state. Otherwise, continue to adjust the water volume in the water tank 7; according to the current attitude angle of the underwater robot, control the micro robot to move forward and backward. The water pump 6 adjusts the amount of water in the pressure tank 7. When the micro water pump 6 adjusts the amount of water in the pressure tank 7, on the one hand, the position of the piston block 8 is detected by the sensor, so that the volume of water stored in the water storage part can be obtained, and then the amount of water in the water storage part can be obtained. On the other hand, the water injection amount of the micro water pump 6 is calculated and analyzed by the flow integration method; by comparing and analyzing the two water volume values ​​obtained above, if the values ​​are consistent or similar, the water volume in the pressure tank 7 is continued to be adjusted until the water injection requirement is met, and it is judged whether the posture of the underwater robot is stable; by comparing and analyzing the two water volume values ​​obtained above, if the values ​​are greatly different, it is judged that the micro water pump 6 or the sensor is damaged.

[0044] In the present invention, in the initial state, there is no water inside the water pressure chamber 7. When the underwater robot is placed on the water surface, half of the water is injected into the first water storage part 701, the second water storage part 702, the third water storage part 703, the fourth water storage part 704, the fifth water storage part 705, the sixth water storage part 706, the seventh water storage part 707, and the eighth water storage part 708 through the micro water pump 6, so that the underwater robot sinks into the water;

[0045] The sensor for detecting the position of the piston block 8 may be an ultrasonic sensor, a laser ranging sensor, etc.;

[0046] According to the thrust size and direction of the propeller, the force required to maintain the stability of the underwater robot is determined, the output power of the propeller is reduced, and the amount of water in the pressure tank 7 is adjusted to compensate for the impact of reducing the output power of the propeller. This can reduce the rapid energy consumption caused by the continuous high power output of the propeller, thereby improving its endurance and extending the service life of the propeller;

[0047] Specifically,

[0048] F1=G 水 +F 浮 , G 水 =ρ 水 ·V 注 g, F 浮 =ρ 水 ·g·V 排 ;

[0049] F A =F1+F2;

[0050] F B =F3+F4;

[0051] F C =F5+F6;

[0052] F D =F7+F8;

[0053] G 水 ——Gravity of injected water

[0054] ρ 水 ——Density of water

[0055] V 注 ——Volume of water injected

[0056] g——acceleration due to gravity

[0057] F 浮 - Buoyancy generated

[0058] V 排 ——Volume of water discharged

[0059] F1 is the vertical force of the first water storage part 701 after the water volume is adjusted. Similarly, F2, F3, F4, F5, F6, F7, and F8 are the vertical forces of the second water storage part 702, the third water storage part 703, the fourth water storage part 704, the fifth water storage part 705, the sixth water storage part 706, the seventh water storage part 707, and the eighth water storage part 708, respectively. The calculation method is the same as F1.

[0060] F A 、F B 、F C 、F D is the resultant force on the same vertical side, by controlling the water volume of the first water storage part 701, the second water storage part 702, the third water storage part 703, the fourth water storage part 704, the fifth water storage part 705, the sixth water storage part 706, the seventh water storage part 707, and the eighth water storage part 708, A 、F B 、F C 、F D Adjust the size of

[0061] It should be noted that the above forces are all vectors; for the calculated F A 、F B 、F C 、F D , through the spatial moment formula, it can be integrated into a moment. Further, the moment generated by each force is calculated by the vector cross product formula of the moment, and they are added together to obtain the total moment: in,

[0062] The size of is R, R is the distance between the center of mass of the underwater robot and each water storage part, that is, the distance from the center of mass to the corner of the virtual cuboid;

[0063] This further assists the first thruster 4 and the second thruster 5 to cope with the instability of the underwater robot caused by changes in the water flow environment;

[0064] The calculated torque, the torque generated by the first thruster 4 and the second thruster 5, and the torque generated by the external water flow offset each other, thus ensuring the stability of the underwater robot.

[0065] By using 3D scanning technology to obtain precise data on the surface of the underwater robot, obtaining the 3D point cloud data of the underwater robot through scanning equipment, and processing and reconstructing it with modeling software, a 3D model of the device can be obtained. In the model, the position of the center of mass can be accurately calculated through calculation software based on the shape, size and mass distribution of each component. The combination of the two can accurately analyze the center of mass of the underwater robot. If conditions permit, a special center of mass measuring instrument can be used for measurement.

[0066] Furthermore, after the micro water pump 6 pumps water into the water pressure chamber 7, in order to maintain the stability of the interior of the water pressure chamber 7, an electronic valve can be provided in the water delivery channel between the micro water pump 6 and the water pressure chamber 7 to control the opening and closing of the water delivery channel.

[0067] It is necessary to design an error range in advance. By comparing and analyzing the two water volume values ​​obtained above, if the values ​​are consistent or similar (that is, they are within the error range), the water volume in the pressure tank 7 will continue to be adjusted until the water injection requirements are met, and whether the posture of the underwater robot is stable is judged; by comparing and analyzing the two water volume values ​​obtained above, if the values ​​differ greatly (that is, they are beyond the error range), it is judged that the micro water pump 6 or the sensor is damaged.

[0068] Reference Figure 1-Figure 8 If the micro water pump 6 or the sensor is damaged, the four water storage parts on the same horizontal plane as the micro water pump 6 or the sensor are immediately disabled. At the same time, the sensors arranged inside the underwater robot obtain the roll angle, pitch angle and yaw angle of the underwater robot in real time, detect its current attitude angle, and adjust the propeller output power and the water volume in the pressure tank 7 according to the current attitude angle of the underwater robot. Then, the current attitude angle of the underwater robot is detected again to check whether the new attitude angle is close to or reaches the expected attitude angle and determine whether it is stable. If so, the process ends and enters a stable state. Otherwise, continue to adjust the propeller output power and the water volume in the pressure tank 7.

[0069] In the present invention, if the micro water pump 6 or the sensor is damaged, the four water storage parts on the same horizontal plane as the micro water pump 6 or the sensor are immediately deactivated. In this way, the four water storage parts on the same horizontal plane are deactivated synchronously without affecting the overall stability of the underwater robot. The stability of the underwater robot continues to be maintained by the remaining four water storage parts and the first propeller 4 and the second propeller 5. At this time, the output power of the first propeller 4 and the second propeller 5 needs to be increased to meet the loss caused by the lack of four water storage parts.

[0070] In the present invention, by adding a water pressure chamber 7 around the underwater robot and cleverly using the weight and volume of water to adjust the posture of the underwater robot, the underwater robot can be assisted to cope with the impact of water flow changes and reduce the output of the thruster. This method not only improves the posture stability of the robot, but also significantly increases its endurance, and is an effective optimization solution.

[0071] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An underwater robot angle loop PID stabilization adjustment device, comprising a robot body (1), characterized in that: Also includes: The first thruster (4) and the second thruster (5) are used to control the underwater robot to adjust its posture; A first fixed frame (2) and a second fixed frame (3) for mounting the robot body (1), the first thruster (4) and the second thruster (5); A water pressure tank (7) is provided on the first fixed frame (2) and the second fixed frame (3), and the water pressure tank (7) is composed of a first water storage part (701), a second water storage part (702), a third water storage part (703), a fourth water storage part (704), a fifth water storage part (705), a sixth water storage part (706), a seventh water storage part (707), and an eighth water storage part (708); The first water storage section (701), the second water storage section (702), the third water storage section (703), the fourth water storage section (704), the fifth water storage section (705), the sixth water storage section (706), the seventh water storage section (707), and the eighth water storage section (708) are respectively placed at the eight vertex positions of a virtual rectangular parallelepiped, wherein the first water storage section (701) and the second water storage section (702) are located on the same vertical side, the third water storage section (703) and the fourth water storage section (704) are located on the same vertical side, the fifth water storage section (705) and the sixth water storage section (706) are located on the same vertical side, and the seventh water storage section (707) and the eighth water storage section (708) are located on the same vertical side; By controlling the water storage conditions in the first water storage section (701), the second water storage section (702), the third water storage section (703), the fourth water storage section (704), the fifth water storage section (705), the sixth water storage section (706), the seventh water storage section (707), and the eighth water storage section (708), the posture of the underwater robot can be adjusted.

2. The underwater robot angle loop PID stabilization adjustment device according to claim 1, characterized in that: The first fixed frame (2) and the second fixed frame (3) are respectively provided with a first mounting plate (201) and a second mounting plate (301); the first propeller (4) is provided with a plurality of groups, and the plurality of groups of the first propeller (4) are respectively installed on the first mounting plate (201) and the second mounting plate (301); the second propeller (5) is provided with four groups, and the four groups of the second propeller (5) are respectively arranged at the two end corners of the first fixed frame (2) and the second fixed frame (3).

3. The underwater robot angle loop PID stability adjustment device according to claim 1 is characterized in that: A piston block (8) is slidably connected inside the first water storage portion (701), a groove (801) is provided inside the piston block (8), a retreat rod (9) is provided inside the groove (801), the other end of the retreat rod (9) is placed outside the first water storage portion (701), a spring (10) is sleeved on the retreat rod (9), and two ends of the spring (10) are respectively fixed on the groove (801) and the first water storage portion (701).

4. The underwater robot angle loop PID stability adjustment device according to claim 3 is characterized in that: The internal structures of the second water storage section (702), the third water storage section (703), the fourth water storage section (704), the fifth water storage section (705), the sixth water storage section (706), the seventh water storage section (707), and the eighth water storage section (708) are consistent with those of the first water storage section (701).

5. The underwater robot angle loop PID stability adjustment device according to claim 1, characterized in that: The sensors installed inside the underwater robot obtain the roll angle, pitch angle and yaw angle of the underwater robot in real time, and then obtain its current attitude angle; compare the detected attitude angle with the expected attitude angle and calculate the error; input the calculated attitude error into the PID controller, and the PID controller calculates the control signal according to the error; according to the output of the PID controller, the control signal is distributed to the corresponding thruster, and the control signal includes the thrust size and direction; the thruster adjusts the thrust and direction according to the received control signal, thereby changing the attitude angle of the underwater robot; use the sensor again to detect the adjusted attitude angle, check whether the new attitude angle is close to or reaches the expected attitude angle, and judge whether it is stable. If so, the process ends and enters a stable state, otherwise, return to the "calculate attitude error" step to continue adjustment.

6. The underwater robot angle loop PID stability adjustment device according to claim 1, characterized in that: According to the thrust size and direction of the propeller, the output power of the propeller is reduced, and at the same time, the amount of water in the water pressure tank (7) is adjusted to compensate for the impact of reducing the output power of the propeller. Then, the sensor set inside the underwater robot obtains the roll angle, pitch angle and yaw angle of the underwater robot in real time, and then obtains its current attitude angle. The sensor is used again to detect the adjusted attitude angle, check whether the new attitude angle is close to or reaches the expected attitude angle, and judge whether it is stable. If so, the process ends and enters a stable state. Otherwise, the water amount in the water pressure tank (7) continues to be adjusted.

7. The underwater robot angle loop PID stability adjustment device according to claim 6, characterized in that: According to the current posture angle of the underwater robot, the micro water pump (6) is controlled to adjust the water volume in the water pressure chamber (7). When the micro water pump (6) adjusts the water volume in the water pressure chamber (7), on the one hand, the position of the piston block (8) is detected by the sensor to obtain the volume of water stored in the water storage part, and then the water volume in the water storage part is obtained. On the other hand, the water injection volume of the micro water pump (6) is obtained by analyzing and calculating through the flow integration method.

8. The underwater robot angle loop PID stability adjustment device according to claim 7, characterized in that: By comparing and analyzing the two water volume values ​​obtained above, if the values ​​are consistent or similar, the water volume in the pressure tank (7) is continuously adjusted until the water filling requirement is met, and it is determined whether the posture of the underwater robot is stable.

9. The underwater robot angle loop PID stabilization adjustment device according to claim 8, characterized in that: By comparing and analyzing the two water volume values ​​obtained above, if the values ​​differ greatly, it is determined that the micro water pump (6) or the sensor is damaged.

10. The underwater robot angle loop PID stability adjustment device according to claim 9, characterized in that: If the micro water pump (6) or the sensor is damaged, the four water storage parts on the same horizontal plane as the micro water pump (6) or the sensor are immediately disabled. At the same time, the sensors arranged inside the underwater robot obtain the roll angle, pitch angle and yaw angle of the underwater robot in real time, detect its current attitude angle, adjust the propeller output power and the water volume in the pressure tank (7) according to the current attitude angle of the underwater robot, and then detect the current attitude angle of the underwater robot again to check whether the new attitude angle is close to or reaches the expected attitude angle and determine whether it is stable. If so, the process ends and enters a stable state. Otherwise, the propeller output power and the water volume in the pressure tank (7) are continuously adjusted.

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