A PID stabilization adjustment device for the angle loop of an underwater robot

Abstract

The present invention discloses a PID stabilization adjustment device for an underwater robot angle loop, belonging to the technical field of underwater robots. The device comprises a robot body, a first propeller and a second propeller for controlling the underwater robot to adjust its posture; a first fixed frame and a second fixed frame for mounting the robot body, the first propeller and the second propeller; a pressurized water tank provided on the first and second fixed frames, the pressurized water tank comprising a first water storage section, a second water storage section, a third water storage section, a fourth water storage section, a fifth water storage section, a sixth water storage section, a seventh water storage section, and an eighth water storage section. The present invention cleverly utilizes the weight and volume of water to adjust the underwater robot's posture, assisting the underwater robot in coping with the effects of water flow changes and reducing the output of the propellers. This method not only improves the robot's posture stability but also significantly increases its endurance.

Description

Technical Field

[0001] The present 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 robots that operate underwater for extreme operations. They are widely used in marine surveys, scientific research and teaching, safety search and rescue, pipeline inspection, ship and river channel offshore oil development, underwater entertainment, energy industry, archaeology, fisheries and other fields. To cope with the complex underwater water flow environment, existing underwater robots generally use the PID (proportional-integral-differential) control principle to achieve stable adjustment of the underwater robot's posture angle.

[0003] The underwater robot's angle adjustment and lifting are controlled by multiple sets of thrusters. Underwater, in response to changes in water flow, the robot's rotation direction and speed can be directly controlled by differentially controlling multiple sets of thrusters and adjusting the direction of the thrusters. This can cope with the impact of water flow impact on the underwater robot's motion stability, control performance, structural safety and energy consumption, and improve 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 stabilization 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 robot comprises a main body, and also comprises: a first propeller and a second propeller for controlling the underwater robot to adjust its own posture; a first fixed frame and a second fixed frame for installing the robot main body, the first propeller and the second propeller; a pressure tank is provided 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 posture of the underwater robot itself 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 multiple groups, and the multiple groups of the first propeller are respectively installed 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 provided 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 on the groove and the first water storage part.

[0009] Furthermore, the internal structures of 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 are consistent with those of the first water storage part.

[0010] Preferably, the sensors installed inside the underwater robot obtain the roll angle, pitch angle and yaw angle of the underwater robot in real time, and thus obtain 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, thereby changing the attitude angle of the underwater robot; 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, 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 water volume in the water pressure tank is adjusted at the same time to compensate for the impact of reducing the output power of the propeller. Then, the sensors set 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. 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 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 analyzed and calculated through the 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 there is a large difference between the values, 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 deactivated. 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 propeller 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 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.

[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 uses pressurized water tanks distributed on the first and second fixed frames to assist in adjusting the underwater robot's posture, thereby improving the robot's posture stability, reducing the output power of the first and second thrusters, 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 stabilization adjustment device are the same as the existing technology or can be implemented using existing technology. The present invention adds pressurized water tanks 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 in coping 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 This is a schematic diagram of the overall structure of the underwater robot angle loop PID stabilization adjustment device proposed by the present invention. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the overall structure of the underwater robot angle loop PID stabilization adjustment device proposed by the present invention. 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 internal structure of the piston block of the underwater robot angle loop PID stabilization adjustment device proposed by the present invention;

[0024] Figure 5 This is the process of operating the PID stabilization adjustment device for the angle loop of an underwater robot proposed by the present invention. Figure 1 ;

[0025] Figure 6 This is the process of operating the PID stabilization adjustment device for the angle loop of an underwater robot proposed by the present invention. Figure 2 ;

[0026] Figure 7 This is the process of operating the PID stabilization adjustment device for the angle loop of an underwater robot proposed by the present invention. Figure 3 ;

[0027] Figure 8 This is the process of operating the PID stabilization adjustment device for the angle loop of an underwater robot proposed by the present invention. 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. Pressurized water 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. Retraction rod; 10. Spring. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described 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 should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying 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 direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0031] Reference Figures 1-8, including a robot body 1, and also including: a first propeller 4 and a second propeller 5, for controlling the underwater robot to adjust its own posture; a first fixed frame 2 and a second fixed frame 3, for installing the robot body 1, the first propeller 4 and the second propeller 5; a pressure tank 7 is provided on the first fixed frame 2 and the second fixed frame 3, 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 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 underwater robot's own posture 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 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 forces exerted on the underwater robot by different water storage parts 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 Figures 1-8The 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, and there are multiple groups of first propellers 4, which are respectively mounted on the first mounting plate 201 and the second mounting plate 301, and there are four groups of second propellers 5, which 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 to 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, and 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 those of the first water storage part 701.

[0036] In the present invention, the first fixing frame 2 and the second fixing 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. The design of the groove 801 ensures that the first water storage portion 701 can accommodate as much water 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 Figures 1-8 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; 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, thereby changing the attitude angle of the underwater robot; 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 the stable state, otherwise, return to the "calculate attitude error" step to continue adjustment.

[0040] In the present invention, the sensors for measuring the roll angle, pitch angle and yaw angle of the underwater robot are inertial measurement units (including accelerometers, gyroscopes and magnetometers), and may also include pressure sensors, temperature sensors, water flow velocity sensors, 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 resultant 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 angle, but cannot directly measure torque. Therefore, other methods (such as dynamic models and experimental data) are needed to establish the relationship between angle changes and torque, so that the posture of the underwater robot can be more accurately determined.

[0043] Reference Figures 1-8 , 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 at the same time 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, and uses the sensor to detect the adjusted attitude angle again, 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 to obtain the volume of water stored in the water storage part, and then the amount of water in the water storage part is obtained. On the other hand, the water injection amount of the micro water pump 6 is calculated by the flow integration method; by comparing and analyzing the two water amount values ​​obtained above, if the values ​​are consistent or similar, the water amount in the pressure tank 7 is continued to be adjusted until the water injection requirements are met, and it is judged whether the posture of the underwater robot is stable; by comparing and analyzing the two water amount values ​​obtained above, if the values ​​differ greatly, 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, the micro water pump 6 is used to inject half of the water 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, so that the underwater robot sinks into the water.

[0045] The sensor for detecting the position of the piston block 8 can 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, and the output power of the propeller is reduced. At the same time, the water volume 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 The 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 on the first water storage section 701 after the water volume is adjusted. Similarly, F2, F3, F4, F5, F6, F7, and F8 are the vertical forces on the second, third, fourth, fifth, sixth, seventh, and eighth water storage sections 702, 703, 704, 705, 706, 707, and 708, respectively. Their 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;

[0061] It should be noted that the above forces are all vectors; for the calculated F A 、F B 、F C 、F D , it can be integrated into a torque through the spatial torque formula. Further, the torque generated by each force is calculated through the vector cross product formula of the torque, and they are added together to obtain the total torque: 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 assists the first propeller 4 and the second propeller 5 in dealing 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 propeller 4 and the second propeller 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 accurate 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 using 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 computing software based on the shape, size and mass distribution of each component. Combining the two, the center of mass of the underwater robot can be accurately analyzed. 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 pressure water tank 7, in order to maintain the stability of the interior of the pressure water tank 7, an electronic valve can be set in the water supply channel between the micro water pump 6 and the pressure water tank 7 to control the opening and closing of the water supply channel.

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

[0068] Reference Figures 1-8 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 will be immediately disabled. At the same time, the sensors installed inside the underwater robot will 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 will be 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, which will not affect 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 pressurized water tank 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 propeller. 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 embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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: A first thruster (4) and a 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 propeller (4) and the second propeller (5); A water pressure chamber (7) is provided on the first fixed frame (2) and the second fixed frame (3), and the water pressure chamber (7) is composed of a first water storage portion (701), a second water storage portion (702), a third water storage portion (703), a fourth water storage portion (704), a fifth water storage portion (705), a sixth water storage portion (706), a seventh water storage portion (707), and an eighth water storage portion (708); The first water storage portion (701), the second water storage portion (702), the third water storage portion (703), the fourth water storage portion (704), the fifth water storage portion (705), the sixth water storage portion (706), the seventh water storage portion (707), and the eighth water storage portion (708) are respectively placed at the eight vertex positions of a virtual cuboid, wherein the first water storage portion (701) and the second water storage portion (702) are located on the same vertical side, the third water storage portion (703) and the fourth water storage portion (704) are located on the same vertical side, the fifth water storage portion (705) and the sixth water storage portion (706) are located on the same vertical side, and the seventh water storage portion (707) and the eighth water storage portion (708) are located on the same vertical side; The posture of the underwater robot is adjusted 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); A piston block (8) is slidably connected in the first water storage portion (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 those of the first water storage part (701); 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, continue to adjust the water amount in the water pressure tank (7); According to the current attitude angle of the underwater robot, the micro water pump (6) is controlled to adjust the water volume in the pressure water chamber (7). When the micro water pump (6) adjusts the water volume in the pressure water 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 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 continuously adjusted until the water filling requirement is met, and it is determined whether the posture of the underwater robot is stable; 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; 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. At the same time, the sensors provided 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.

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 stabilization adjustment device according to claim 1, characterized in that: A groove (801) is provided 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 portion (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 portion (701).

4. The underwater robot angle loop PID stabilization adjustment device according to claim 1, characterized in that: The sensors installed inside the underwater robot acquire the underwater robot's roll, pitch, and yaw angles in real time, thereby determining its current attitude angle. The detected attitude angle is compared with the desired attitude angle to calculate the error. The calculated attitude error is input into a PID controller, which calculates a control signal based on the error. Based on the output of the PID controller, the control signal is distributed to the corresponding thruster. The control signal includes the thrust magnitude and direction. The thruster adjusts the thrust and direction based on the received control signal, thereby changing the attitude angle of the underwater robot. The adjusted attitude angle is again detected using the sensor to check whether the new attitude angle is close to or reaches the desired attitude angle and determine whether it is stable. If so, the process ends and enters a stable state. Otherwise, the process returns to the "calculate attitude error" step to continue adjustment.

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