Vector propulsion wearable small frogman carrier and control method

Abstract

The invention relates to the field of underwater frogman vector propulsion, in particular to a wearable small frogman carrier with a vector propulsion function and a control method, and the carrier comprises a bag body assembly, a propulsion assembly and a control system; the propelling assembly comprises four propellers; the control system comprises a function board, a main control board, four electronic speed regulators, a depth sensor, an inertial navigation module, a satellite positioning navigation module, an instruction controller, a battery pack and a waterproof navigation screen. Aiming at the defects of inconvenience in carrying, inconvenience in operation, backward control method, poor attitude stability, single function and the like of a traditional vehicle, a vector propulsion technology and a wearable technology are combined, and a wearable small frogman vehicle with vector propulsion is designed. When a frogman wears the carrier to prepare for operation, the carrier can be carried on the back, and instructions of advancing, retreating, steering, pitching posture changing, acceleration and deceleration are given to the propeller by rotating the adjusting knob.

Description

Technical Field

[0001] The present invention relates to the field of underwater frogman vector propulsion, and in particular to a vector-propelled wearable small-sized frogman carrier and a control method thereof. Background Art

[0002] As the "transportation tool" of underwater frogmen, small frogman carriers have become essential underwater special equipment for divers' underwater rescue operations due to their low cost, easy concealment and operation. The existing small frogman carriers in China can be divided into two categories according to the control method. The first category relies on the frogman's own body posture to adjust the heading, and the second category uses a connecting rod to control the mechanical rudder to adjust the heading; according to the propulsion method, they can be divided into three categories. The first category is "propeller + rudder" propulsion, the second category is built-in pump water spray vector propulsion, and the third category is traditional propeller vector propulsion. Traditional propeller vector propulsion technology is mainly used in autonomous submersibles. It realizes multi-directional movement through a combination of multiple fixed propellers or fixed propellers and binary vector propellers. The advantages of traditional propeller vector propulsion technology are practicality, high efficiency, no complex transmission system, and simple structure.

[0003] For example, patent application CN105947154A discloses an unmanned underwater vehicle for detecting ship radiation noise and magnetic signals: when the vehicle requires high maneuverability, it is driven by a thruster, a three-blade ducted propeller device is used for propulsion, the horizontal fin rudders of a cross-fin rudder device are used for diving depth control, the vertical fin rudders of a cross-fin rudder device are used for heading control, and a buoyancy adjustment mechanism is used to achieve ascent and descent. Patent application CN107628210A discloses an underwater vehicle controlled and ridden by a diver: the vehicle is composed of a front cabin and a rear cabin, wherein the front cabin includes an instrument display, a starting speed control controller, a main drive mechanism of a steering system and a head float of a buoyancy mechanism; the rear cabin includes a power supply cabin, a driven mechanism of a steering system, a propulsion mechanism and a tail float of a buoyancy mechanism; the shells of the front cabin and the rear cabin can slide against each other, so that the underwater vehicle can be in two states: expanded and contracted; when a diver rides the vehicle, the motor is turned on by starting the speed control controller to drive the propeller to absorb water in the flow cover, and water is sprayed through the grating blades, and at the same time, the cross rudder is driven by the main drive handle of the steering system. This navigation attitude control method combining the flow cover spraying with the cross rudder can realize the buoyancy, diving and left and right steering of the underwater vehicle. Patent application CN110104150A discloses a deformable underwater vehicle: a pair of head thrusters are respectively installed at the two ends of a rotating body connecting piece, a rotating drive mechanism is installed inside the main body shell cavity, and the rotating drive mechanism is transmission-connected to the middle part of the rotating body connecting piece; in an initial state, the axes of the pair of head thrusters are in a vertical state, and when the head and the main body of the submersible are perpendicular to each other, the axes of the pair of head thrusters are in a horizontal state; the head can be rotated and displaced so that the thrust direction of the head thrusters after the rotation and displacement is horizontal, thereby accurately adjusting the distance between the underwater robot and the observed object, and can effectively reduce the influence of underwater eddies when observing columnar objects, thereby realizing close-range surround detection of the target object.

[0004] Through the summary and analysis of the above small frogman carriers or frogman propulsion devices, it is found that the existing technology has the following disadvantages: ① Inconvenient to carry: too large and too heavy, it is not convenient to carry. ② Inconvenient operation and backward control method: Under normal circumstances, the frogman uses the force of his hand to pull the operating handle, and the connecting rod drives the mechanical rudder to control the carrier's heading in the form of mechanical force transmission; but when sailing at high speed, the rudder is greatly impacted by the water flow, and it is difficult for the frogman to overcome the water flow impact on the rudder and pull the operating handle. ③ Low attitude stability: When the frogman rides underwater, the carrier's attitude cannot be maintained due to the influence of the water flow, and it is easy to ride too deep and the direction deviation is large. ④ Complex mechanism: The propulsion and heading control of the carrier requires a large number of mechanisms such as propellers, rudders, buoyancy adjustment, etc. to cooperate, which makes the mechanism too complicated. ⑤ Single function: Most frogman carriers only have a single propulsion function and do not have functions such as underwater navigation. Summary of the invention

[0005] In order to solve the problems of inconvenient carrying, inconvenient operation, low posture stability, complex structure and single function of the current small frogman carrier, the present invention provides a vector-propelled wearable small frogman carrier and a control method.

[0006] The present invention is realized by the following technical scheme: a vector-propelled wearable small frogman carrier, comprising a body assembly, a propulsion assembly and a control system; The bag assembly includes a sealed shell and a pair of shoulder straps, wherein the exterior of the sealed shell has a back side, a front side and two side sides, and the pair of shoulder straps are symmetrically connected to the back side of the sealed shell; The propulsion assembly includes four propellers, two of which are arranged on the front of the closed shell, and the other two propellers are respectively arranged on the two sides of the closed shell, the axes of the drive shafts of all the propellers are located in the same direction, the propeller blades of the two propellers located on the front of the closed shell are in opposite directions, the propeller blades of the two propellers located on the two sides of the closed shell are in opposite directions, and the propeller blades of two adjacent propellers on the closed shell are in opposite directions; The control system includes a function board, a main control board, four electronic speed regulators, a depth sensor, an inertial navigation module, a satellite positioning navigation module, a command controller, a battery pack, and a waterproof navigation screen; The function board, the main control board, the four electronic speed regulators, the depth sensor, the inertial navigation module, the satellite positioning navigation module and the battery pack are all arranged in a sealed housing, and the probe of the depth sensor and the antenna of the satellite positioning navigation module extend out of the sealed housing; the command controller and the waterproof navigation screen are located outside the sealed housing; The command controller is provided with a plurality of adjustment knobs, each of which is electrically connected to the main control board; The main control board is stacked on the function board and electrically connected to the function board. The main control board is electrically connected to four electronic speed regulators, a depth sensor, an inertial navigation module, and a satellite positioning navigation module through the function board, respectively, for receiving command signals from the adjustment knob, collecting and calculating depth and attitude signals, and sending the command, depth, and attitude signals to the waterproof navigation screen and the electronic speed regulator; The four electronic speed regulators are electrically connected to the motors of the four thrusters respectively, and are used to receive signals from the main control board and control the direction and speed of the motors of the four thrusters; The battery pack has two voltage output terminals, the first voltage output terminal is electrically connected to the propeller through an electronic speed regulator, and the second voltage output terminal is electrically connected to the main control board, waterproof navigation screen, depth sensor, inertial navigation module, and satellite positioning navigation module through a function board.

[0007] As a further improvement of the vehicle technical solution of the present invention, there are four adjustment knobs on the command controller, namely a direction knob, a speed knob, a steering knob and a pitch angle knob.

[0008] As a further improvement of the technical solution of the carrier of the present invention, a command watertight cable is connected between the command controller and the function board, and each adjustment knob is electrically connected to the main control board through the command watertight cable and the function board.

[0009] As a further improvement of the vehicle technical solution of the present invention, a navigation watertight cable is connected between the waterproof navigation screen and the function board, and the waterproof navigation screen is electrically connected to the main control board through the navigation watertight cable and the function board.

[0010] As a further improvement of the vehicle technical solution of the present invention, a left wrist strap is provided on the command controller, and a right wrist strap is provided on the waterproof navigation screen.

[0011] As a further improvement of the technical solution of the carrier of the present invention, the propeller and the electronic speed governor are electrically connected through a power watertight cable.

[0012] As a further improvement of the carrier technical solution of the present invention, the package body assembly also includes a bottom fixing strap and a connecting strap, the connecting strap is connected between a pair of shoulder straps, one end of the bottom fixing strap is fixedly connected to the bottom of the back side of the sealed shell, and the other end of the bottom fixing strap is connected to the connecting strap via a locking assembly.

[0013] The present invention further provides a method for controlling the direction of a vector-propelled wearable small frogman vehicle. The control method adopts the above-mentioned vector-propelled wearable small frogman vehicle and comprises the following steps: 1) The direction knob sends a forward command signal to the main control board. At the same time, the speed knob sends a speed signal to the main control board. The main control board solves the command signal, solves the direction value, and uses the PID algorithm to calculate the speed values ​​of the motors of the four thrusters. Four PWM signals are output respectively, and four electronic speed regulators control the motors of the four thrusters respectively; the blades of the thrusters located on the left side and the right side of the front of the closed shell rotate counterclockwise, and the blades of the thrusters located on the right side and the left side of the front of the closed shell rotate clockwise; the speeds of the motors of the four thrusters are controlled respectively based on the four PWM signals; the main control board determines whether the operation of the carrier reaches the preset target value of the knob based on the depth and attitude information; 2) The direction knob sends a backward command signal to the main control board. At the same time, the speed knob sends a speed signal to the main control board, and the propeller blades of all propellers rotate in the opposite direction to the forward command signal.

[0014] The present invention further provides a steering control method for a vector-propelled wearable small frogman vehicle, the control method adopts the above-mentioned vector-propelled wearable small frogman vehicle, and comprises the following steps: 1) The steering knob sends a left turn command signal to the main control board. At the same time, the speed knob sends a speed signal to the main control board. The main control board solves the command signal, solves the steering value, and uses the PID algorithm to calculate the speed values ​​of the motors of the four thrusters. Four PWM signals are output respectively, and four electronic speed regulators control the motors of the four thrusters respectively; the blades of the thrusters on the left and right sides of the closed shell rotate clockwise, and the blades of the thrusters on the left and right sides of the front of the closed shell rotate counterclockwise; the speeds of the motors of the four thrusters are controlled based on the four PWM signals; the main control board determines whether the operation of the carrier reaches the preset target value of the knob based on the depth and attitude information; 2) The steering knob sends a right turn command signal to the main control board. At the same time, the speed knob sends a speed signal to the main control board, and the propeller blades of all propellers rotate in the opposite direction to the left turn command signal.

[0015] The present invention further provides a pitch control method for a vector-propelled wearable small frogman vehicle, the control method adopts the above-mentioned vector-propelled wearable small frogman vehicle, and comprises the following steps: 1) The pitch knob sends a head-up command signal to the main control board. At the same time, the speed knob sends a speed signal to the main control board. The main control board solves the command signal, solves the pitch angle value, and uses the PID algorithm to calculate the speed value of the motors of the four thrusters. Four PWM signals are output respectively, and four electronic speed regulators control the motors of the four thrusters respectively; the blades of the thrusters located on the left side and the left side of the front of the closed shell rotate counterclockwise, and the blades located on the right side and the right side of the front of the closed shell rotate clockwise; the speeds of the motors of the four thrusters are controlled respectively based on the four PWM signals; the main control board determines whether the operation of the carrier reaches the preset target value of the knob according to the depth and attitude information; 2) The pitch knob sends a pitch command signal to the main control board. At the same time, the speed knob sends a speed signal to the main control board. The propeller blades of all propellers rotate in the opposite direction to the pitch command signal.

[0016] The vector-propelled wearable small frogman carrier and the control method provided by the present invention have the following advantages compared with the prior art: (1) The present invention adopts an X-shaped arrangement of four propellers. This design simplifies the mechanical structure and reduces the volume of the vector propulsion system. Since the four-propeller vector propulsion technology can achieve attitude adjustment and control by simply controlling the speed and direction of each propeller, it has a faster response speed and better attitude control performance for attitude control.

[0017] (2) The present invention aims to solve the problems of traditional "handheld, prone" small frogman carriers, such as inconvenience in carrying, inconvenience in operation, backward control methods, poor posture stability, and single functions. The present invention combines vector propulsion technology with wearable technology to design a vector propulsion wearable small frogman carrier. After the frogman wears the carrier and enters the water, he can quickly reach the mission location under the control of the adjustment knob. According to the mission requirements, he can enter the water and perform dynamic hovering at a fixed depth and posture. When the frogman wears the carrier and prepares to work, he can carry the carrier on his back and give the propeller instructions to move forward, backward, turn, change pitch posture, and accelerate and decelerate by rotating the adjustment knob.

[0018] (3) When the frogman is working underwater, he can control the movement and posture of the vehicle by rotating the adjustment knob. He can also view the latitude and longitude coordinates, depth, speed, battery power and other information displayed on the waterproof navigation screen underwater to complete human-computer interaction.

[0019] (4) The navigation and positioning function of the present invention adopts a combined navigation technology: that is, a combined navigation method using an inertial navigation system underwater and GPS for auxiliary positioning on the surface, which can control the accumulation of inertial navigation errors, compensate for the signal deficiency problem of satellite navigation, improve navigation accuracy, and improve navigation continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0021] 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic structural diagram of a vector-propelled wearable small frogman carrier described in the present invention.

[0023] Figure 2 This is a side view of a vector-propelled wearable small frogman vehicle according to the present invention.

[0024] Figure 3 This is a top view of a vector-propelled wearable small frogman carrier described in the present invention.

[0025] Figure 4 It is a schematic diagram of the disassembly of the package body components.

[0026] Figure 5This is a schematic diagram of the interior of a vector-propelled wearable small frogman carrier described in the present invention.

[0027] Figure 6 It is a schematic diagram of the layout of the thruster when viewed from a top-down perspective of the enclosure assembly.

[0028] Figure 7 This is the operation flow chart of the control system.

[0029] In the figure: 11-sealed shell, 12-shoulder strap, 13-bottom fixing strap, 14-connecting strap, 15-buckle, 101-main shell, 102-sealed bottom cover, 103-O-ring, 21-thruster, 301-function board, 302-main control board, 303-electronic speed governor, 304-depth sensor, 305-inertial navigation module, 306-satellite positioning navigation module, 307-command controller, 308-adjustment knob, 309-battery pack, 310-waterproof navigation screen, 311-command watertight cable, 312-navigation watertight cable, 313-left wrist strap, 314-right wrist strap, 315-power watertight cable, 316-electronic compartment. DETAILED DESCRIPTION

[0030] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0032] The specific embodiments of the present invention are described in detail below. It should be noted that in the entire text of the present invention, the left side and the right side correspond to the left hand side and the right hand side of the frogman, respectively, rather than the left and right directions in the figures; the front side and the back side correspond to the side of the bag body away from the frogman's back and the side close to the frogman's back, respectively. And "upper" and "lower" correspond to the following. Figure 2 The up-down orientation of the package assembly is shown.

[0033] like Figures 1 to 5 As shown, the present invention provides a specific embodiment of a vector-propelled wearable small frogman vehicle, including a body assembly, a propulsion assembly, and a control system; The bag assembly includes a sealed shell 11 and a pair of shoulder straps 12. The sealed shell 11 has a back surface, a front surface and two side surfaces. The pair of shoulder straps 12 are symmetrically connected to the back surface of the sealed shell 11. The propulsion assembly includes four propellers 21, two of which are arranged on the front of the closed shell 11, and the other two propellers 21 are respectively arranged on the two sides of the closed shell 11, the axes of the drive shafts of all the propellers 21 are located in the same direction (i.e., in a parallel relationship), the propeller blades of the two propellers 21 located on the front of the closed shell 11 are in opposite directions, the propeller blades of the two propellers 21 located on the two sides of the closed shell 11 are in opposite directions, and the propeller blades of two adjacent propellers 21 on the closed shell 11 are in opposite directions; The control system includes a function board 301, a main control board 302, four electronic speed regulators 303, a depth sensor 304, an inertial navigation module 305, a satellite positioning navigation module 306, a command controller 307, a battery pack 309 and a waterproof navigation screen 310; The function board 301, the main control board 302, the four electronic speed regulators 303, the depth sensor 304, the inertial navigation module 305, the satellite positioning navigation module 306 and the battery pack 309 are all arranged in the sealed housing 11, and the probe of the depth sensor 304 and the antenna of the satellite positioning navigation module 306 extend out of the sealed housing 11; the command controller 307 and the waterproof navigation screen 310 are located outside the sealed housing 11; The command controller 307 is provided with a plurality of adjustment knobs 308, and each adjustment knob 308 is electrically connected to the main control board 302; The main control board 302 is stacked on the function board 301 and electrically connected to the function board 301. The main control board 302 is electrically connected to four electronic speed regulators 303, a depth sensor 304, an inertial navigation module 305, and a satellite positioning navigation module 306 through the function board 301, and is used to receive the command signal of the adjustment knob 308 and collect and solve the depth and attitude signals, and send the command, depth, and attitude signals to the waterproof navigation screen 310 and the electronic speed regulator 303; The four electronic speed regulators 303 are electrically connected to the motors of the four propellers 21 respectively, and are used to receive signals from the main control board 302 and control the direction and speed of the motors of the four propellers 21; The battery pack 309 has two voltage output terminals, the first voltage output terminal is electrically connected to the propeller 21 through the electronic speed regulator 303, and the second voltage output terminal is electrically connected to the main control board 302, the waterproof navigation screen 310, the depth sensor 304, the inertial navigation module 305, and the satellite positioning navigation module 306 through the function board 301.

[0034] The propeller 21 used in this embodiment is a conventional propeller-type vector propulsion technology. Figure 6As shown, the layout of the propellers seen from the top view of the enclosure assembly is approximately in an X-shaped arrangement. The propellers 21 in the upper left and upper right corners of the figure correspond to the propellers 21 on the right side and left side of the front face of the closed shell 11, respectively. The propellers 21 in the lower left and lower right corners of the figure correspond to the propellers 21 on the right side and left side of the closed shell 11, respectively. The propeller blades of the propellers 21 on the left side and right side of the front face of the closed shell 11 are positive propellers, and the propeller blades of the propellers 21 on the right side and left side of the front face of the closed shell 11 are reverse propellers. The positive propellers are arranged as follows: Figure 6 When the propeller rotates clockwise as shown, it pushes water to the enclosure assembly from bottom to top (with Figure 2 The thrust of the reverse propeller is as follows: Figure 6 When the propeller rotates counterclockwise, the propeller rotates and pushes water to give the enclosure assembly a thrust from bottom to top; similarly, when the positive propeller rotates counterclockwise, the propeller rotates and pushes water to give the enclosure assembly a thrust from top to bottom; when the reverse propeller rotates clockwise, the propeller rotates and pushes water to give the enclosure assembly a thrust from top to bottom.

[0035] like Figure 1 As shown, there are four adjustment knobs 308 on the command controller 307, namely a direction knob, a speed knob, a steering knob, and a pitch angle knob. In this embodiment, the main control board 302 can use a PCB circuit board with an STM32 single-chip microcomputer as the core; the function board 301 can also use a PCB circuit board with an STM32 single-chip microcomputer as the core.

[0036] Specifically, the direction knob is used to control the movement direction of the vehicle, such as forward or backward.

[0037] The speed knob is used to control the running speed of the carrier, which actually controls the motor speed of the propeller 21. The command signal of the speed knob can be a numerical value, and the numerical range is [0,10], where the larger the numerical value, the higher the motor speed of the propeller 21. When the speed command signal value is "0", the motor speed of the propeller 21 is 0.

[0038] The steering knob is used to control the direction of the vehicle, generally including left or right turn. The command signal of the steering knob can be a numerical value, and the value range is the union of [-1,0] and [0,+1], where the left turn direction value is "-1" and the right turn direction value is "+1". When the steering command signal value is "0", the vehicle's rotation direction remains unchanged.

[0039] The pitch angle knob is used to control the pitch angle of the vehicle, generally including the tilting action of the head or the body. The command signal of the pitch angle knob can be a numerical value, and the numerical range is the union of [-1,0] and [0,+1], where the value of the tilting command signal is "-1" and the value of the tilting command signal is "+1". When the value of the pitch angle command signal is "0", the vehicle angle remains unchanged.

[0040] like Figure 7 As shown, when the carrier starts running, the battery pack 309 is powered on first. At the same time, the battery pack 309 supplies power to the main control board 302, the function board 301, and the electronic speed regulator 303 respectively. Then, the battery pack 309 supplies power to the depth sensor 304, the inertial navigation module 305, and the satellite positioning navigation module 306 respectively through the function board 301, and the battery pack 309 supplies power to the propeller 21 through the electronic speed regulator 303. The satellite positioning and navigation module 306 obtains positioning information from the satellite before the carrier enters the water, and then sends it to the main control board 302. The main control board 302 then sends the initial longitude and latitude data therein to the inertial navigation module 305. The inertial navigation module 305 performs real-time integration calculations on the data underwater, and outputs real-time longitude and latitude information to the main control board 302. The inertial navigation module 305 also sends the speed, pitch angle and other information obtained by its own measurement and calculation to the main control board 302. The main control board 302 packages the above data and the power information from the battery pack 309, and then sends them to the waterproof navigation screen 310 through the navigation watertight cable 312 (which supplies power to the waterproof navigation screen 310 and transmits data). At the same time, the propeller 21 is powered on and in a standby state, and the electronic speed regulator 303 starts a self-test program to detect whether the electronic speed regulator 303 has a fault. If the electronic speed regulator 303 completes the self-test, it means that the electronic speed regulator 303 can control the normal operation of the motor of the propeller 21, and then waits for the PWM signal output by the main control board 302; if the electronic speed regulator 303 cannot self-test, it means that the electronic speed regulator 303 has an operating fault, and the carrier cannot be used normally. The fault alarm module can be set to realize the fault alarm. The frogman assists the frogman in making decisions by observing the data information displayed on the waterproof navigation screen 310 underwater: depth value, speed, pitch angle, battery pack power, longitude and latitude information, etc., thereby completing the human-computer interaction process. In this embodiment, after the carrier information that can be collected by the depth sensor 304, the inertial navigation module 305, and the satellite positioning navigation module 306 is transmitted to the main control board 302, the main control board 302 combines this information and can obtain the depth value, speed, pitch angle, longitude and latitude of the carrier through solution. In the context of the present invention, attitude information includes information such as the speed, pitch angle, longitude and latitude of the vehicle.

[0041] It should be noted that, in this embodiment, after each adjustment knob 308 sends a command signal to the main control board 302, the main control board 302 resolves the command signal, resolves the command signal value, and uses the PID algorithm (proportional, integral, differential) to calculate the speed of the motors of the four thrusters 21, and outputs four PWM signals respectively. When the electronic speed regulator 303 receives the corresponding PWM signal, it controls the positive and negative voltages and the voltage magnitude of the drive circuit of the thruster 21 through the corresponding four PWM waves, so as to achieve the control of the rotation direction and speed of the motor of the thruster 21. At the same time, the depth sensor 304, the inertial navigation module 305, and the satellite positioning navigation module 306 transmit the depth, attitude and other information to the main control board 302 in real time. The main control board 302 determines whether the operation of the carrier reaches the target value set by the knob based on the depth, attitude and other information, thereby completing the entire control process. At the same time, the main control board 302 sends the real-time depth, posture and other information of the carrier to the waterproof navigation screen 310 in the form of digital quantities, so that the underwater frogman can make corresponding adjustments based on the real-time information on the waterproof navigation screen 310.

[0042] In this embodiment, in order to meet the watertight requirements of the operating system, a command watertight cable 311 is connected between the command controller 307 and the function board 301, and each adjustment knob 308 is electrically connected to the main control board 302 through the command watertight cable 311 and the function board 301; a navigation watertight cable 312 is connected between the waterproof navigation screen 310 and the function board 301, and the waterproof navigation screen 310 is electrically connected to the main control board 302 through the navigation watertight cable 312 and the function board 301; the propeller 21 and the electronic speed regulator 303 are electrically connected through a power watertight cable 315.

[0043] In one embodiment provided by the present invention, in order to facilitate the frogman to control the adjustment knob 308 and to facilitate real-time observation of the display information of the waterproof navigation screen 310, the command controller 307 is provided with a left wrist strap 313, and the waterproof navigation screen 310 is provided with a right wrist strap 314. The frogman can use the wrist straps to tie the command controller 307 and the waterproof navigation screen 310 to the left wrist and the right wrist respectively. In order to facilitate the disassembly and assembly of the wrist straps, the wrist straps in this embodiment can be a Velcro or plug-in strap.

[0044] The present invention uses computational fluid dynamics (CFD) methods to simulate flow fields and predict sailing resistance. In order to meet the wearing stability of the bag assembly, the bag assembly is also provided with a bottom fixing belt 13 and a connecting belt 14. The connecting belt 14 is connected between a pair of shoulder straps 12. One end of the bottom fixing belt 13 is fixedly connected to the bottom of the back of the closed shell 11, and the other end of the bottom fixing belt 13 is connected to the connecting belt 14 through a locking assembly. Specifically, a pair of shoulder straps 12 extend and pass over the shoulders of the frogman, and the bottom fixing belt 13 extends from the back of the frogman to between the legs, and continues to extend to the abdomen and is connected to the connecting belt 14 through a locking assembly. In this way, the closed shell 11 is effectively and stably set on the back of the frogman through a three-point positioning method.

[0045] like Figure 1-2 As shown, the locking assembly may adopt a buckle 15, or may also adopt a lock buckle with an elastic opening.

[0046] Furthermore, the present invention utilizes three-dimensional design software to design the carrier package components in accordance with fluid dynamics, such as Figure 4 As shown, the upper part of the closed shell 11 is in a smooth tip shape. After numerical calculation and simulation research of hydrodynamics (resistance estimation, motor output power estimation, energy demand estimation), the internal components of the closed shell 11 in this embodiment can be designed to be compactly arranged, so that the volume of the closed shell 11 is reduced by 1 times compared with the traditional frogman carrier, the overall weight of the carrier is less than 20KG, and the maximum diving depth is greater than 20 meters.

[0047] At the same time, in order to further meet the watertight requirements of the operating system, such as Figure 4-5 As shown, the function board 301, the main control board 302, and the four electronic speed regulators 303 are arranged in the electronic compartment 316. The electronic compartment 316 is a closed structure. Each watertight cable is connected to the internal components through the electronic compartment 316 and the wire holes on the closed shell 11, and the contact position between the watertight cable and the wire holes is potted with epoxy resin glue to achieve water sealing. In order to facilitate the assembly of the internal components of the closed shell 11, the closed shell 11 includes a main shell 101 and a sealed bottom cover 102. The sealed bottom cover 102 can be fastened to the main shell 101 by fastening bolts, and the O-ring 103 located on the sealed bottom cover 102 is squeezed to achieve water sealing.

[0048] Since the probe of the depth sensor 304 and the antenna of the satellite positioning and navigation module 306 extend out of the sealed housing 11 , the probe of the depth sensor 304 , the antenna of the satellite positioning and navigation module 306 and the wire holes of the sealed housing 11 are sealed with epoxy resin glue.

[0049] Specifically, the four propellers 21 use DC waterproof brushless motors, and the maximum thrust of a single propeller 21 can reach 10KG. The battery pack 309 uses a lithium-ion battery with a capacity of 15Ah and a maximum discharge current of 20A, which can achieve a maximum underwater speed of more than 3 knots and a stable attitude. According to tests, the four propellers 21 in this embodiment adopt an approximately X-shaped arrangement, which can make the carrier deviation angle less than 10 degrees and the steering sensitivity less than 3s.

[0050] This embodiment provides a method for controlling the direction of a vector-propelled wearable small frogman vehicle. The control method adopts the above-mentioned vector-propelled wearable small frogman vehicle, and includes the following steps: 1) The direction knob sends a forward command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The main control board 302 solves the command signal, solves the direction value, and uses the PID algorithm to calculate the speed values ​​of the motors of the four propellers 21. Four PWM signals are output respectively, and four electronic speed regulators 303 control the motors of the four propellers 21 respectively; the blades of the propellers 21 located on the left side and the right side of the front of the closed shell 11 rotate counterclockwise, and the blades of the propellers 21 located on the right side and the left side of the front of the closed shell 11 rotate clockwise; the motor speeds of the four propellers 21 are controlled respectively based on the four PWM signals; the main control board 302 determines whether the operation of the carrier reaches the preset target value of the knob according to the depth and attitude information; 2) The direction knob sends a backward command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The rotation direction of the blades of all propellers 21 is opposite to the forward command signal; that is, the blades of the propellers 21 located on the left side and the right side of the front of the closed shell 11 rotate clockwise, and the blades of the propellers 21 located on the right side and the left side of the front of the closed shell 11 rotate counterclockwise.

[0051] This embodiment further provides a steering control method for a vector-propelled wearable small frogman vehicle, and the control method adopts the above-mentioned vector-propelled wearable small frogman vehicle, and comprises the following steps: 1) The steering knob sends a left turn command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The main control board 302 solves the command signal, solves the steering value, and uses the PID algorithm to calculate the speed values ​​of the motors of the four propellers 21. Four PWM signals are output respectively, and the four electronic speed regulators 303 control the motors of the four propellers 21 respectively; the blades of the propellers 21 located on the left side and right side of the closed shell 11 rotate clockwise, and the blades of the propellers 21 located on the left side and right side of the front of the closed shell 11 rotate counterclockwise; the motor speeds of the four propellers 21 are controlled respectively based on the four PWM signals; the main control board 302 determines whether the operation of the carrier reaches the preset target value of the knob according to the depth and attitude information; 2) The steering knob sends a right turn command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The rotation direction of the blades of all propellers 21 is opposite to the left turn command signal; that is, the blades of the propellers 21 located on the left side and right side of the closed shell 11 rotate counterclockwise, and the blades of the propellers 21 located on the left side and right side of the front of the closed shell 11 rotate clockwise.

[0052] This embodiment further provides a pitch control method for a vector-propelled wearable small frogman vehicle. The control method adopts the above-mentioned vector-propelled wearable small frogman vehicle, and includes the following steps: 1) The pitch knob sends a head-up command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The main control board 302 solves the command signal, solves the pitch angle value, and uses the PID algorithm to calculate the speed values ​​of the motors of the four propellers 21. Four PWM signals are output respectively, and the four electronic speed regulators 303 control the motors of the four propellers 21 respectively; the blades of the propellers 21 located on the left side and the left side of the front of the closed shell 11 rotate counterclockwise, and the blades located on the right side and the right side of the front of the closed shell 11 rotate clockwise; the motor speeds of the four propellers 21 are controlled respectively based on the four PWM signals; the main control board 302 determines whether the operation of the carrier reaches the preset target value of the knob according to the depth and attitude information; 2) The pitch knob sends a pitch command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The rotation direction of the blades of all propellers 21 is opposite to the head-up command signal; that is, the blades of the propellers 21 located on the left side of the front face and the left side of the closed shell 11 rotate clockwise, and the blades located on the right side of the front face and the right side of the closed shell 11 rotate counterclockwise.

[0053] The above is only a specific implementation of the present invention, which enables those skilled in the art to understand or implement the present invention. Although detailed descriptions are given with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments, and they should all be covered by the protection scope of the claims.

Claims

1. A vector-propelled wearable small frogman carrier, characterized in that: It includes the enclosure assembly, propulsion assembly and control system; The bag assembly comprises a sealed shell (11) and a pair of shoulder straps (12), wherein the sealed shell (11) has a back surface, a front surface and two side surfaces on its exterior, and the pair of shoulder straps (12) are symmetrically connected to the back surface of the sealed shell (11); The propulsion assembly comprises four propellers (21), wherein two propellers (21) are arranged on the front of the sealed shell (11), and the other two propellers (21) are respectively arranged on two sides of the sealed shell (11), the axes of the drive shafts of all the propellers (21) are located in the same direction, the propeller blades of the two propellers (21) located on the front of the sealed shell (11) are in opposite directions, the propeller blades of the two propellers (21) located on two sides of the sealed shell (11) are in opposite directions, and the propeller blades of two adjacent propellers (21) on the sealed shell (11) are in opposite directions; The control system includes a function board (301), a main control board (302), four electronic speed regulators (303), a depth sensor (304), an inertial navigation module (305), a satellite positioning navigation module (306), a command controller (307), a battery pack (309) and a waterproof navigation screen (310); The function board (301), the main control board (302), the four electronic speed regulators (303), the depth sensor (304), the inertial navigation module (305), the satellite positioning navigation module (306), and the battery pack (309) are all arranged in a sealed housing (11), and the probe of the depth sensor (304) and the antenna of the satellite positioning navigation module (306) extend out of the sealed housing (11); the command controller (307) and the waterproof navigation screen (310) are located outside the sealed housing (11); The command controller (307) is provided with a plurality of adjustment knobs (308), and each adjustment knob (308) is electrically connected to the main control board (302) respectively; The main control board (302) is stacked on the function board (301) and electrically connected to the function board (301). The main control board (302) is electrically connected to four electronic speed regulators (303), a depth sensor (304), an inertial navigation module (305), and a satellite positioning navigation module (306) through the function board (301), and is used to receive command signals from the adjustment knob (308) and collect and resolve depth and attitude signals, and send the command, depth, and attitude signals to the waterproof navigation screen (310) and the electronic speed regulator (303); The four electronic speed regulators (303) are electrically connected to the motors of the four thrusters (21) respectively, and are used to receive signals from the main control board (302) and control the direction and speed of the motors of the four thrusters (21); The battery pack (309) has two voltage output ends, the first voltage output end is electrically connected to the propeller (21) via the electronic speed regulator (303), and the second voltage output end is electrically connected to the main control board (302), the waterproof navigation screen (310), the depth sensor (304), the inertial navigation module (305), and the satellite positioning navigation module (306) via the function board (301).

2. A vector-propelled wearable small frogman carrier according to claim 1, characterized in that: There are four adjustment knobs (308) on the command controller (307), namely a direction knob, a speed knob, a steering knob, and a pitch angle knob.

3. A vector-propelled wearable small frogman carrier according to claim 2, characterized in that: A command watertight cable (311) is provided between the command controller (307) and the function board (301), and each adjustment knob (308) is electrically connected to the main control board (302) via the command watertight cable (311) and the function board (301).

4. A vector-propelled wearable small frogman carrier according to claim 3, characterized in that: A navigation watertight cable (312) is provided between the waterproof navigation screen (310) and the function board (301), and the waterproof navigation screen (310) is electrically connected to the main control board (302) via the navigation watertight cable (312) and the function board (301).

5. A vector-propelled wearable small frogman carrier according to claim 4, characterized in that: The command controller (307) is provided with a left wrist strap (313), and the waterproof navigation screen (310) is provided with a right wrist strap (314).

6. A vector-propelled wearable small frogman carrier according to claim 4, characterized in that: The propeller (21) and the electronic speed regulator (303) are electrically connected via a power watertight cable (315).

7. A vector-propelled wearable small frogman carrier according to claim 2, characterized in that: The bag body assembly further comprises a bottom fixing belt (13) and a connecting belt (14), wherein the connecting belt (14) is connected between a pair of shoulder straps (12), one end of the bottom fixing belt (13) is fixedly connected to the bottom of the back side of the sealed shell (11), and the other end of the bottom fixing belt (13) is connected to the connecting belt (14) via a locking assembly.

8. A method for controlling the direction of a vector-propelled wearable small frogman vehicle, characterized in that: The control method adopts a vector-propelled wearable small frogman carrier as claimed in any one of claims 2 to 7, comprising the following steps: 1) The direction knob sends a forward command signal to the main control board (302), and at the same time, the speed knob sends a speed signal to the main control board (302). The main control board (302) solves the command signal, solves the direction value, calculates the speed value of the motors of the four thrusters (21) by using the PID algorithm, and outputs four PWM signals respectively. The four electronic speed regulators (303) respectively control the motors of the four thrusters (21); the blades of the thrusters (21) located on the left side and the right side of the front of the closed shell (11) rotate counterclockwise, and the blades of the thrusters (21) located on the right side and the left side of the front of the closed shell (11) rotate clockwise; the speeds of the motors of the four thrusters (21) are respectively controlled based on the four PWM signals; the main control board (302) determines whether the operation of the carrier reaches the target value preset by the knob according to the depth and attitude information; 2) The direction knob sends a backward command signal to the main control board (302), and at the same time, the speed knob sends a speed signal to the main control board (302), and the rotation direction of the blades of all propellers (21) is opposite to the forward command signal.

9. A steering control method for a vector-propelled wearable small frogman vehicle, characterized in that: The control method adopts a vector-propelled wearable small frogman carrier as claimed in any one of claims 2 to 7, comprising the following steps: 1) The steering knob sends a left turn command signal to the main control board (302), and at the same time, the speed knob sends a speed signal to the main control board (302). The main control board (302) solves the command signal, solves the steering value, calculates the speed values ​​of the motors of the four thrusters (21) using the PID algorithm, and outputs four PWM signals respectively. The four electronic speed regulators (303) respectively control the motors of the four thrusters (21); the blades of the thrusters (21) located on the left side and right side of the sealed shell (11) rotate clockwise, and the blades of the thrusters (21) located on the left side and right side of the front of the sealed shell (11) rotate counterclockwise; the speeds of the motors of the four thrusters (21) are respectively controlled based on the four PWM signals; the main control board (302) determines whether the operation of the carrier reaches the target value preset by the knob according to the depth and attitude information; 2) The steering knob sends a right turn command signal to the main control board (302), and at the same time, the speed knob sends a speed signal to the main control board (302), and the blades of all propellers (21) rotate in the opposite direction to the left turn command signal.

10. A pitch control method for a vector-propelled wearable small frogman vehicle, characterized in that: The control method adopts a vector-propelled wearable small frogman carrier as claimed in any one of claims 2 to 7, comprising the following steps: 1) The pitch knob sends a head-up command signal to the main control board (302), and at the same time, the speed knob sends a speed signal to the main control board (302). The main control board (302) solves the command signal, solves the pitch angle value, calculates the speed value of the motors of the four thrusters (21) by using the PID algorithm, and outputs four PWM signals respectively. The four electronic speed regulators (303) respectively control the motors of the four thrusters (21); the blades of the thrusters (21) located on the left side and the left side of the front of the sealed shell (11) rotate counterclockwise, and the blades located on the right side and the right side of the front of the sealed shell (11) rotate clockwise; the speeds of the motors of the four thrusters (21) are respectively controlled based on the four PWM signals; the main control board (302) determines whether the operation of the carrier reaches the preset target value of the knob according to the depth and attitude information; 2) The pitch knob sends a pitch command signal to the main control board (302). At the same time, the speed knob sends a speed signal to the main control board (302). The blades of all propellers (21) rotate in the opposite direction to the head-up command signal.

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