Vector underwater robot with standby homeward voyage system

Abstract

The invention discloses a vector underwater robot with a standby homeward voyage system, and relates to the field of underwater robots, the vector underwater robot comprises a robot main body frame, two front-end vector propulsion devices are mounted on two sides of the front end of the robot main body frame, and a rear-end vector propulsion device is arranged at the rear end of the robot main body frame; an equipment cabin is arranged in the robot body frame, two sets of side auxiliary propelling devices are symmetrically installed on the side faces of the robot body frame, and each set of side auxiliary propelling devices comprises two side auxiliary propelling devices. According to the underwater robot, the reinforcing structure wrapping the equipment cabin serves as a main frame, the overall structural strength of the underwater robot can be effectively enhanced, and meanwhile the stability and reliability of the propeller part can be guaranteed; and the underwater robot is comprehensively controlled by the front-end vector propelling device, the rear-end vector propelling device and the side auxiliary propelling device, so that the underwater posture adjustment of the underwater robot is more convenient, and the maneuverability is more excellent.

Description

Technical Field

[0001] The invention relates to the field of underwater robots, and in particular to a vector underwater robot with a backup return system. Background Art

[0002] As is known to all, with the development of economy, the application of underwater robots is becoming more and more extensive, and they are gradually showing their role in many fields such as landform survey, aquaculture, ship maintenance and cleaning, oil development, scientific research and exploration, pipeline inspection, etc.

[0003] At present, there are three mainstream underwater robot mechanical structures: frame type, streamlined type, and hybrid type. Frame type underwater robots generally use a frame as the main body, and the various components are distributed inside the frame structure. The structure of this design is relatively simple and easy to make, but the resistance will be slightly larger when running in water. The appearance design of the streamlined underwater robot imitates the appearance design of fish, and the resistance in water is small, but the internal equipment is difficult to design due to its small size, and it is also slightly troublesome to manufacture. The design of the hybrid underwater robot combines the frame type and streamlined design, but compared with the frame type, it lacks an external overall frame. While reducing the resistance in the water, the internal equipment can be well configured. Based on this, the present invention improves the hybrid underwater robot to achieve the effect that the underwater robot is both stable and reliable, and has better maneuverability. Summary of the invention

[0004] (I) Purpose of the invention

[0005] In view of this, the purpose of the present invention is to provide a vector underwater robot with a backup return system, so as to achieve the effect that the underwater robot can operate stably and reliably and has better maneuverability.

[0006] (II) Technical solution

[0007] In order to achieve the above-mentioned technical objectives, the present invention provides a vector underwater robot with a backup return system, which includes a robot main frame, two front-end vector propulsion devices are installed on both sides of the front end of the robot main frame, and a rear-end vector propulsion device is installed at the rear end of the robot main frame. An equipment cabin is arranged inside the robot main frame, and two groups of side auxiliary propulsion devices are symmetrically installed on the sides of the robot main frame, and each group of the side auxiliary propulsion devices is provided with two.

[0008] As a further description of the above technical solution: the front-end vector propulsion device is composed of a vector shaft and a propeller, wherein the vector shaft is installed at one end of the propeller, the vector shaft is composed of an encoder and a brushless motor, and is used to control the angle of the propeller, the propeller comprises: a housing, a fairing, a propeller, a brushless motor and an encoder, the fairing is installed inside one end of the housing, the propeller, the brushless motor and the encoder are all installed in the housing, the brushless motor and the encoder are used to control the rotation of the propeller, the encoder adopts the MT6816 encoder, the brushless motor adopts the DJI3510 motor, the front-end vector propulsion device can reach a full load power of 800W in water, and the thrust reaches 3.5KG, the propeller is divided into a positive propeller and a reverse propeller, which can achieve the offset of the spin force;

[0009] The rear-end vector propulsion device consists of a waterproof servo, a synchronous wheel, a synchronous belt, a propeller, a bearing and two rear arms. The waterproof servo is installed on the robot main body frame, and the two rear arms are respectively installed on both sides of the waterproof servo. The propeller is rotatably installed between the two rear arms through a bearing. The synchronous wheel and the synchronous belt are installed on the inner side of the waterproof servo to control the rotation angle of the propeller between the two rear arms.

[0010] As a further description of the above technical solution: the side-auxiliary propulsion device is composed of an encoder, a thruster seat, a brushless motor, a propeller and a fairing, wherein the encoder, brushless motor and propeller are all installed in the thruster seat, the encoder and brushless motor are used to control the rotation of the propeller, and the fairing is installed at the outer end of the thruster seat. The water flow pushed out by the side propulsion device is more stable through the fairing, so that the underwater robot can adapt to more extreme underwater environments. Specifically, the encoder adopts the MT6816 encoder, and the output mode uses 1024-line ABZ, which can accurately obtain the motor speed. The brushless motor adopts the DJI2312S motor, wherein the magnetic poles and coils of the brushless motor are sealed with sealant to achieve waterproof and corrosion resistance of the motor, and a fairing is installed on the outside of the propeller of the side-auxiliary propulsion device to reduce water turbulence and prevent it from affecting the robot's posture.

[0011] As a further description of the above technical solution: the equipment cabin includes: an equipment cabin body, a single-axis gimbal, a battery pack and a main control board, wherein the single-axis gimbal, the battery pack and the main control board are all installed in the equipment cabin body.

[0012] As a further description of the above technical solution: the equipment cabin body is composed of a ball head cover, a cabin body, a flange, a rubber ring, a back plate, a threading nut, a screw and other structures. The ball head cover is made of a 5mm acrylic plate through a mold. The cabin body uses a transparent acrylic pipe with a length of 320mm and a thickness of 5mm. It has high transparency and can clearly view the internal parts of the equipment cabin. The size of the rubber ring is an outer diameter of 105mm and a wire diameter of 3.5mm. Its function is to achieve waterproofing at the sealing of the equipment cabin body by fitting the flange and the ball head cover or the back plate. The threading nut is tightened by pressing the wire. The cable is used to achieve waterproofing between the cable, and the rubber ring is compressed by the nut at the back to achieve waterproofing between the rear plate. 8 screws are used on the front and rear flanges to balance the pre-pressure and obtain better waterproofing effect. Specifically, the single-axis gimbal is driven by a SIMPLEFOC brushless motor. The gimbal motor model is a 2804 gimbal with 8 pairs of magnetic poles, which can achieve precise angle control. Its small size can be fully extended inside the equipment cabin to provide motion control of the pitch axis. Compared with the servo gimbal, it can move more linearly and smoothly. Combined with a gyroscope, the pitch axis can be achieved Self-balancing, maintaining an absolute angle relative to the ground plane, convenient for human control. Specifically, the battery pack uses a 4S2P20AH lithium polymer battery, which has a capacity two to three times that of a general lead-acid battery, and it uses A+ grade batteries to enable it to last for a long time and provide more powerful power, which allows it to sail farther underwater and better adapt to the underwater environment. Secondly, the lithium polymer battery can provide a stronger current, with a discharge rate of 30C and a discharge current of up to 600A, which allows it to be equipped with more configuration equipment or load-bearing items, improving the efficiency of a single operation, and the rated power remains at 90% after one year of use, saving costs in a certain area. At the same time, the equipment compartment is equipped with a charging port space, which can be directly connected to the socket for charging, and the gap between the upper and lower covers is filled with waterproof glue, so as to achieve a good waterproof effect and better protect the battery. The battery pack is charged through the TYPEC interface to achieve PD100W charging power, with a built-in step-down control unit, supporting PD100W 20V high voltage step-down charging, which increases the convenience of charging compared to the general use of a dedicated lithium battery charger.

[0013] The present invention also discloses a backup return system for a vector underwater robot, including a vector underwater robot with a backup return system and a return route control unit, wherein the return route control unit includes: a mobile data acquisition module, a data analysis module and a return control module;

[0014] Among them, the mobile data acquisition module is used to collect the mobile data information of the vector underwater robot, the data analysis module generates a return route based on the mobile data information, and the return control module is used to control the vector underwater robot to return according to the return route.

[0015] As a further description of the above technical solution: the movement data information includes the diving depth and moving distance of the vector underwater robot. The diving depth is obtained by collecting and calculating through a depth meter installed inside the vector underwater robot, and the moving distance is obtained by collecting and calculating through an inertial sensor installed inside the vector underwater robot.

[0016] As a further description of the above technical solution: the moving distance calculation method of the vector underwater robot is as follows:

[0017] The inertial sensor collects the horizontal acceleration, velocity and rotation direction of the vector underwater robot;

[0018] The moving distance of the vector underwater robot is calculated according to the uniform movement formula s1=vt and the displacement formula s2=ut+(1 / 2)at2 of uniform accelerated movement, wherein s1 is the moving distance of the vector underwater robot in the uniform speed stage, v is the moving speed of the vector underwater robot in the uniform speed stage, s2 is the moving distance of the vector underwater robot in the acceleration stage, u is the initial speed of the vector underwater robot in the acceleration stage, t is the moving time of the vector underwater robot in the acceleration stage, and a is the acceleration of the vector underwater robot in the acceleration stage;

[0019] Whenever the moving direction of the vector underwater robot changes, the moving distance after turning is calculated. The distance between the vector underwater robot before and after turning and the initial position is:

[0020]

[0021] Wherein, c is the distance between the vector underwater robot and the initial position before and after turning, a is the distance between the vector underwater robot and the initial position before turning, b is the distance between the vector underwater robot and the turning position after turning, ∠c is the turning angle of the vector underwater robot;

[0022] The distance between the end point and the initial position of the vector underwater robot is calculated based on all the turning and forward and backward moving distances of the vector underwater robot.

[0023] As a further description of the above technical solution: the method in which the data analysis module generates a return route based on the mobile data information is as follows:

[0024] Taking the horizontal moving distance of the vector underwater robot as the horizontal vector and the diving depth of the vector underwater robot as the vertical vector, the return route is the connecting line between the initial position and the end point of the vector underwater robot, and the return direction is the direction from the end point to the initial position of the vector underwater robot.

[0025] As a further description of the above technical solution: the control method of the return module is as follows:

[0026] Preset the acceleration and return speed of the vector underwater robot during the return process;

[0027] The direction of the vector underwater robot is adjusted by controlling the front-end vector propulsion device, the rear-end vector propulsion device and the side auxiliary propulsion device so that the moving direction of the vector underwater robot corresponds to the return direction, and the vector underwater robot is controlled to move and return in the return direction with the planned return acceleration and return speed.

[0028] As a further description of the above technical solution: the length of the return route is planned. The calculation method of the acceleration and return speed in the return vector underwater robot is as follows:

[0029]

[0030] Among them, S is the length of the return route, a1 is the acceleration of the vector underwater robot in the acceleration phase, t1 is the time of the vector underwater robot in the acceleration phase, v1 is the speed of the vector underwater robot in the uniform speed phase, t2 is the time of the vector underwater robot in the uniform speed phase, t3 is the time of the vector underwater robot in the deceleration phase, a2 is the acceleration of the vector underwater robot in the deceleration phase, among which, t1+t2+t3=T, T is the total time of the return.

[0031] In the above technical scheme, the present invention provides a vector underwater robot with a backup return system. The underwater robot is composed of a reinforced structure wrapped outside the equipment cabin as the main frame, which can effectively strengthen the overall structural strength of the underwater robot while ensuring the stability and reliability of the propeller part. Therefore, when encountering external force impact during operation in the water, the main frame can effectively support the propeller and protect the main body of the equipment from damage. The underwater robot is comprehensively controlled by the front-end vector propulsion device, the rear-end vector propulsion device and the side auxiliary propulsion device, so that its posture adjustment underwater is more convenient and its maneuverability is more excellent.

[0032] The underwater robot is also equipped with an automatic return control system, which can automatically capture and calculate the return path after the operation is completed, and return automatically according to the preset speed and acceleration. Therefore, no additional manual intervention is required, making it more convenient to use. 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 or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 A schematic diagram of the overall structure of a vector underwater robot with a backup return system provided by the present invention;

[0035] Figure 2 A top view of a vector underwater robot with a backup return system provided by the present invention;

[0036] Figure 3 A left view of a vector underwater robot with a backup return system provided by the present invention;

[0037] Figure 4 A side view of a vector underwater robot with a backup return system provided by the present invention;

[0038] Figure 5 A schematic diagram of the structure of a front-end vector propulsion device in a vector underwater robot with a backup return system provided by the present invention;

[0039] Figure 6 A schematic diagram of the structure of an equipment compartment in a vector underwater robot with a backup return system provided by the present invention;

[0040] Figure 7 A schematic diagram of the internal structure of an equipment cabin in a vector underwater robot with a backup return system provided by the present invention;

[0041] Figure 8 A circuit diagram of a gyroscope chip on a main control board of a vector underwater robot with a backup return system provided by the present invention;

[0042] Fig. 9 This is a main control circuit diagram of a main control board in a vector underwater robot with a backup return system provided by the present invention.

[0043] Description of the drawings: 1. Robot main frame; 2. Front-end vector propulsion device; 201. Vector rotating shaft; 202. Thruster; 3. Rear-end vector propulsion device; 4. Equipment cabin; 401. Single-axis gimbal; 402. Battery pack; 403. Equipment cabin body; 404. Main control board; 5. Side auxiliary propulsion device. DETAILED DESCRIPTION

[0044] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0045] Example 1

[0046] Reference Figure 1-9 : This embodiment provides a technical solution: a vector underwater robot with a backup return system, including a robot main frame 1, two front-end vector propulsion devices 2 are installed on both sides of the front end of the robot main frame 1, and a rear-end vector propulsion device 3 is installed at the rear end of the robot main frame 1. An equipment cabin 4 is arranged inside the robot main frame 1, and two groups of side auxiliary propulsion devices 5 are symmetrically installed on the sides of the robot main frame 1, and each group of side auxiliary propulsion devices 5 is provided with two.

[0047] Specifically, the front-end vector propulsion device 2 is composed of a vector shaft 201 and a propeller 202, wherein the vector shaft 201 is installed at one end of the propeller 202, the vector shaft 201 is composed of an encoder and a brushless motor, and is used to control the angle of the propeller 202, and the propeller 202 includes: a housing, a fairing, a propeller, a brushless motor and an encoder, the fairing is installed inside one end of the housing, the propeller, the brushless motor and the encoder are all installed in the housing, the brushless motor and the encoder are used to control the rotation of the propeller, the encoder adopts the MT6816 encoder, and the brushless motor adopts the DJI3510 motor, the front-end vector propulsion device 2 can reach a full load power of 800W in water, and a thrust of 3.5KG, the propeller is divided into a positive propeller and a reverse propeller, which can achieve the offset of the spin force;

[0048] The rear-end vector propulsion device 3 is composed of a waterproof steering gear, a synchronous wheel, a synchronous belt, a propeller, a bearing and two rear arms. The waterproof steering gear is installed on the robot main frame 1, and the two rear arms are respectively installed on both sides of the waterproof steering gear. The propeller is rotatably installed between the two rear arms through the bearing. The synchronous wheel and the synchronous belt are installed on the inner side of the waterproof steering gear to control the rotation angle of the propeller between the two rear arms. In summary, the rear-end vector propulsion device 3 adopts a magnetic encoder steering gear drive mode to completely isolate the steering gear shaft from the angle detection sensor, which can effectively solve the problem of water corrosion of the steering gear potentiometer. Through the synchronous belt and synchronous wheel control The rear thruster can ensure the integrity of the robot. At the same time, a buoyancy block is installed at the rear end to help the robot adjust its self-stabilizing state in the unpowered state. Specifically, the waterproof servo uses the Dragon Tamer Hall servo, which can rotate 180° and has a torque of 50KG, ensuring the long-term waterproof requirement of the robot. The synchronous wheel and synchronous belt model are 2GT, which can achieve higher-precision transmission requirements. 6810 deep groove ball bearings are used between the rear arm and the thruster to increase the fixing strength of the thruster. The thruster is the same as the front-end vector propulsion device 2, and both use DJI3510 brushless motors to provide power.

[0049] Specifically, the side-auxiliary propulsion device 5 is composed of an encoder, a thruster seat, a brushless motor, a propeller and a fairing, wherein the encoder, the brushless motor and the propeller are all installed in the thruster seat, the encoder and the brushless motor are used to control the rotation of the propeller, the fairing is installed at the outer end of the thruster seat, the water flow pushed out by the side propulsion device is made more stable through the fairing, so that the underwater robot can adapt to more extreme underwater environments, specifically, the encoder adopts the MT6816 encoder, the output mode uses 1024-line ABZ, and the motor speed can be accurately obtained, the brushless motor adopts the DJI2312S motor, wherein the magnetic poles and coils of the brushless motor are sealed with sealant to achieve waterproof and corrosion resistance of the motor, and a fairing is installed on the outside of the propeller of the side-auxiliary propulsion device 5 to reduce water turbulence and prevent the robot's posture from being affected.

[0050] Specifically, the equipment cabin 4 includes: an equipment cabin body 403, a single-axis gimbal 401, a battery pack 402 and a main control board 404, wherein the single-axis gimbal 401, the battery pack 402 and the main control board 404 are all installed in the equipment cabin body 403. Specifically, the equipment cabin body 403 is composed of a ball head cover, a cabin body, a flange, a rubber ring, a back plate, a threading nut, a screw and other structures. The ball head cover is formed by pressing a 5mm acrylic plate through a mold. The cabin body uses a transparent acrylic pipe with a length of 320mm and a thickness of 5mm. It has high transparency and can clearly view the internal parts of the equipment cabin. The size of the rubber ring is an outer diameter of 105m m, wire diameter 3.5mm, its function is to realize waterproofing at the sealing part of the equipment cabin by fitting the flange and pressing the ball head cover or the back plate, the threading nut realizes waterproofing between the cable by pressing the cable, and realizes waterproofing between the back plate by pressing the rubber ring with the back nut, 8 screws are used on the front and rear flanges to balance the pre-pressure and obtain better waterproofing effect. Specifically, the single-axis gimbal 401 adopts SIMPLEFOC brushless motor drive, the gimbal motor model is 2804 gimbal, the number of magnetic poles is 8 pairs, which can realize precise angle control, and its small size can be fully extended inside the equipment cabin to provide the operation of the pitch axis. Dynamic control, compared with the servo gimbal, the movement is more linear and smooth. Combined with the gyroscope, the pitch axis can be self-balanced, maintaining the absolute angle relative to the ground plane, which is convenient for manual control. Specifically, the battery pack 402 adopts a 4S2P20AH lithium polymer battery, which has a capacity two to three times that of a general lead-acid battery, and it uses A+ grade batteries to enable it to last for a long time and provide more powerful power, which allows it to sail farther underwater and better adapt to the underwater environment. Secondly, the lithium polymer battery can provide a stronger current, with a discharge rate of 30C and a discharge current of up to 600A, which makes it possible to match It can be equipped with more equipment or load items, which improves the efficiency of a single operation, and the rated power remains at 90% after one year of use, saving costs to a certain extent. At the same time, the equipment compartment is equipped with a charging port space, which can be directly connected to the socket for charging, and the gap between the upper and lower covers is filled with waterproof glue to achieve a good waterproof effect and better protect the battery. The battery pack is charged through the TYPEC interface to achieve PD100W charging power, with a built-in step-down control unit, which supports PD100W 20V high voltage step-down charging. Compared with the general use of dedicated lithium battery chargers, it increases the convenience of charging.

[0051] The motion control program of the three-axis vector underwater robot is as follows:

[0052]

[0053]

[0054]

[0055]

[0056]

[0057]

[0058] Example 2

[0059] The present invention also discloses a backup return system for a vector underwater robot, including a vector underwater robot with a backup return system and a return route control unit, the return route control unit including: a mobile data acquisition module, a data analysis module and a return control module;

[0060] Among them, the mobile data acquisition module is used to collect the mobile data information of the vector underwater robot, the data analysis module generates a return route based on the mobile data information, and the return control module is used to control the vector underwater robot to return according to the return route.

[0061] Specifically, the movement data information includes the diving depth and moving distance of the vector underwater robot. The diving depth is obtained by collecting data through a depth meter installed inside the vector underwater robot, and the moving distance is obtained by collecting data through an inertial sensor installed inside the vector underwater robot.

[0062] Specifically, the calculation method of the moving distance of the vector underwater robot is as follows:

[0063] The inertial sensor collects the horizontal acceleration, velocity and rotation direction of the vector underwater robot;

[0064] The moving distance of the vector underwater robot is calculated according to the uniform movement formula s1=vt and the displacement formula s2=ut+(1 / 2)at2 of uniform accelerated movement, wherein s1 is the moving distance of the vector underwater robot in the uniform speed stage, v is the moving speed of the vector underwater robot in the uniform speed stage, s2 is the moving distance of the vector underwater robot in the acceleration stage, u is the initial speed of the vector underwater robot in the acceleration stage, t is the moving time of the vector underwater robot in the acceleration stage, and a is the acceleration of the vector underwater robot in the acceleration stage;

[0065] Whenever the moving direction of the vector underwater robot changes, the moving distance after turning is calculated. The distance between the vector underwater robot before and after turning and the initial position is:

[0066]

[0067] Wherein, c is the distance between the vector underwater robot and the initial position before and after turning, a is the distance between the vector underwater robot and the initial position before turning, b is the distance between the vector underwater robot and the turning position after turning, ∠c is the turning angle of the vector underwater robot;

[0068] The distance between the end point and the initial position of the vector underwater robot is calculated based on all the turning and forward and backward moving distances of the vector underwater robot.

[0069] Specifically, the method by which the data analysis module generates a return route based on the mobile data information is as follows:

[0070] Taking the horizontal moving distance of the vector underwater robot as the horizontal vector and the diving depth of the vector underwater robot as the vertical vector, the return route is the connecting line between the initial position and the end point of the vector underwater robot, and the return direction is the direction from the end point to the initial position of the vector underwater robot.

[0071] Specifically, the control method of the return module is as follows:

[0072] Preset the acceleration and return speed of the vector underwater robot during the return process;

[0073] The direction of the vector underwater robot is adjusted by controlling the front-end vector propulsion device 2, the rear-end vector propulsion device 3 and the side auxiliary propulsion device 5 so that the moving direction of the vector underwater robot corresponds to the return direction, and the vector underwater robot is controlled to move and return in the return direction with the planned return acceleration and return speed.

[0074] Specifically, the length of the return route is planned, and the calculation method of the return vector acceleration and return speed of the underwater robot is as follows:

[0075]

[0076] Among them, S is the length of the return route, a1 is the acceleration of the vector underwater robot in the acceleration phase, t1 is the time of the vector underwater robot in the acceleration phase, v1 is the speed of the vector underwater robot in the uniform speed phase, t2 is the time of the vector underwater robot in the uniform speed phase, t3 is the time of the vector underwater robot in the deceleration phase, a2 is the acceleration of the vector underwater robot in the deceleration phase, among which, t1+t2+t3=T, T is the total return time. It should be noted that: among them, a1, a2 and v1 are set by the technology in this field combined with the performance parameters of the vector underwater robot, and their values ​​are controlled within a certain range (a1, a2, v1 are too large to affect the overall structural stability of the vector underwater robot, and too small to affect the return efficiency).

[0077] The exemplary implementation scheme of the present disclosure is described in detail above with reference to the preferred embodiments. However, it can be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the protection scope of the present disclosure, which is determined by the attached claims.

Claims

1. A vector underwater robot with a backup return system, characterized in that: The robot comprises a main frame (1), two front-end vector propulsion devices (2) are installed at both sides of the front end of the main frame (1), a rear-end vector propulsion device (3) is installed at the rear end of the main frame (1), an equipment cabin (4) is arranged inside the main frame (1), and two groups of side auxiliary propulsion devices (5) are symmetrically installed on the side of the main frame (1), and each group of the side auxiliary propulsion devices (5) is provided with two.

2. A vector underwater robot with a backup return system according to claim 1, characterized in that: The front-end vector propulsion device (2) is composed of a vector shaft (201) and a propeller (202), wherein the vector shaft (201) is installed at one end of the propeller (202), the vector shaft (201) is composed of an encoder and a brushless motor, and is used to control the angle of the propeller (202), and the propeller (202) comprises: a housing, a fairing, a propeller, a brushless motor and an encoder, the fairing is installed inside one end of the housing, the propeller, the brushless motor and the encoder are all installed in the housing, and the brushless motor and the encoder are used to control the rotation of the propeller; The rear-end vector propulsion device (3) is composed of a waterproof steering gear, a synchronous wheel, a synchronous belt, a propeller, a bearing and two rear arms. The waterproof steering gear is installed on the robot main body frame (1), and the two rear arms are respectively installed on both sides of the waterproof steering gear. The propeller is rotatably installed between the two rear arms through a bearing. The synchronous wheel and the synchronous belt are installed on the inner side of the waterproof steering gear and are used to control the rotation angle of the propeller between the two rear arms.

3. The vector underwater robot with a backup return system according to claim 1, characterized in that: The side auxiliary propulsion device (5) is composed of an encoder, a propeller seat, a brushless motor, a propeller and a fairing, wherein the encoder, the brushless motor and the propeller are all installed in the propeller seat, the encoder and the brushless motor are used to control the rotation of the propeller, and the fairing is installed at the outer end of the propeller seat.

4. The vector underwater robot with a backup return system according to claim 1, characterized in that: The equipment cabin (4) comprises: an equipment cabin body (403), a single-axis pan-tilt head (401), a battery pack (402) and a main control board (404), wherein the single-axis pan-tilt head (401), the battery pack (402) and the main control board (404) are all installed in the equipment cabin body (403).

5. A backup return system for a vector underwater robot, characterized in that: It comprises a vector underwater robot with a backup return system and a return route control unit as claimed in any one of claims 1 to 4, wherein the return route control unit comprises: a mobile data acquisition module, a data analysis module and a return control module; Among them, the mobile data acquisition module is used to collect the mobile data information of the vector underwater robot, the data analysis module generates a return route based on the mobile data information, and the return control module is used to control the vector underwater robot to return according to the return route.

6. The vector underwater robot with a backup return system according to claim 5, characterized in that: The movement data information includes the diving depth and moving distance of the vector underwater robot. The diving depth is obtained by collecting data through a depth meter installed inside the vector underwater robot, and the moving distance is obtained by collecting data through an inertial sensor installed inside the vector underwater robot.

7. A vector underwater robot with a backup return system according to claim 6, characterized in that: The moving distance calculation method of the vector underwater robot is as follows: The inertial sensor collects the horizontal acceleration, velocity and rotation direction of the vector underwater robot; The moving distance of the vector underwater robot is calculated according to the uniform movement formula s1=vt and the displacement formula s2=ut+(1 / 2)at2 of uniform accelerated movement, wherein s1 is the moving distance of the vector underwater robot in the uniform speed stage, v is the moving speed of the vector underwater robot in the uniform speed stage, s2 is the moving distance of the vector underwater robot in the acceleration stage, u is the initial speed of the vector underwater robot in the acceleration stage, t is the moving time of the vector underwater robot in the acceleration stage, and a is the acceleration of the vector underwater robot in the acceleration stage; Whenever the moving direction of the vector underwater robot changes, the moving distance after turning is calculated. The distance between the vector underwater robot before and after turning and the initial position is: Wherein, c is the distance between the vector underwater robot and the initial position before and after turning, a is the distance between the vector underwater robot and the initial position before turning, b is the distance between the vector underwater robot and the turning position after turning, ∠c is the turning angle of the vector underwater robot; The distance between the end point and the initial position of the vector underwater robot is calculated based on all the turning and forward and backward moving distances of the vector underwater robot.

8. The vector underwater robot with a backup return system according to claim 7, characterized in that: The method for the data analysis module to generate a return route based on the movement data information is as follows: Taking the horizontal moving distance of the vector underwater robot as the horizontal vector and the diving depth of the vector underwater robot as the vertical vector, the return route is the connecting line between the initial position and the end point of the vector underwater robot, and the return direction is the direction from the end point to the initial position of the vector underwater robot.

9. The vector underwater robot with a backup return system according to claim 8, characterized in that: The control method of the return home module is as follows: Preset the acceleration and return speed of the vector underwater robot during the return process; The direction of the vector underwater robot is adjusted by controlling a front-end vector propulsion device (2), a rear-end vector propulsion device (3) and a side auxiliary propulsion device (5) so that the moving direction of the vector underwater robot corresponds to the return direction, and the vector underwater robot is controlled to move and return in the return direction with the planned return acceleration and return speed.

10. A vector underwater robot with a backup return system according to claim 9, characterized in that: The length of the return route is planned. The calculation method of the acceleration and return speed of the return vector underwater robot is as follows: Among them, S is the length of the return route, a1 is the acceleration of the vector underwater robot in the acceleration phase, t1 is the time of the vector underwater robot in the acceleration phase, v1 is the speed of the vector underwater robot in the uniform speed phase, t2 is the time of the vector underwater robot in the uniform speed phase, t3 is the time of the vector underwater robot in the deceleration phase, a2 is the acceleration of the vector underwater robot in the deceleration phase, among which, t1+t2+t3=T, T is the total time of the return.

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