Omnibearing steering vector propulsion device and control method thereof

Abstract

The invention discloses an omni-directional steering vector propulsion device and a control method thereof, and the omni-directional steering vector propulsion device comprises a steering engine fixing base which is used for being connected with a submersible vehicle main body to be propelled; the direction control steering engine assembly is coupled to the steering engine fixing base and comprises a plurality of direction control steering engines; the steering engine connecting frame assembly comprises a plurality of steering engine connecting frames, the corresponding steering engine connecting frames in the plurality of steering engine connecting frames and the corresponding direction control steering engines in the plurality of direction control steering engines are alternately arranged in sequence, and the steering engine connecting frames rotate under the control of the corresponding direction control steering engines in the plurality of direction control steering engines; the propellers are coupled to the end, away from the steering engine fixing base, of the steering engine connecting frame and suitable for at least partially outputting force used for propelling the submersible vehicle body in the working state. In this way, sensitive sailing of the omni-directional steering vector propelling device is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater equipment, and in particular to an omnidirectional steering vector propulsion device and a control method thereof. Background Art

[0002] With the development of science and technology, propulsion devices are used in life and as a part of underwater autonomous robots (AUVs). The propulsion method commonly used by underwater autonomous robots is traditional propeller propulsion, usually with a single thruster or multiple thrusters. The change of its heading is controlled by an X-shaped rudder, a cross-shaped rudder, or by auxiliary thrusters on both sides of the submersible. However, the current propulsion devices and control methods are not suitable for navigation in complex terrain. They have complex structures, too many parts, poor propulsion efficiency, and complex processing and assembly. The steering effect needs to be improved, and it is impossible to achieve efficient all-round steering. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides an omnidirectional steering vector propulsion device and a control method thereof, wherein a servo fixed base is used to connect a submersible body to be propelled, a thruster is arranged on one side of the servo fixed base, the thruster is used to output a propulsion force in a working state, and a servo assembly is arranged between the servo fixed base and the thruster. The servo assembly includes a plurality of servos, which are arranged in sequence to form rotation control modules in multiple directions. Each rotation control module controls the corresponding direction control and performs omnidirectional steering adjustment on the thruster, thereby realizing that the servo fixed base and the submersible body navigate under the drive of the servo assembly and the thruster, and realizing 360-degree omnidirectional power steering of the servo fixed base and the submersible body based on the omnidirectional steering adjustment of the thruster, thereby ensuring the sensitive navigation of the omnidirectional steering vector propulsion device, thereby helping the submersible adapt to complex seabed terrain.

[0004] In addition, the navigation trajectory of the submersible body is collected; multiple environmental parameters are collected based on environmental detection of the navigation trajectory of the submersible body; a navigation environment diagram is constructed based on the navigation trajectory of the submersible body and the corresponding environmental parameters; a tail propulsion unit is constructed according to the submersible body, thruster and servo components, and multiple azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment diagram and the water flow speed, which is compatible with the overall consideration of the tail propulsion unit, the navigation environment diagram and the water flow speed, realizes multi-dimensional control of the tail propulsion unit, the navigation environment diagram and the water flow speed, and ensures the accuracy of multiple azimuth adjustment nodes.

[0005] Furthermore, a steering space is defined according to each azimuth adjustment node and the corresponding environmental characteristics, and the azimuth parameters of the servo assembly are dynamically adjusted according to the multiple interactions of the steering space and the tail propulsion unit; the azimuth adjustment of the servo assembly is monitored in real time, and an attitude system is constructed according to the attitude of the servo assembly, the attitude of the submersible body and the attitude of the thruster; the propulsion parameters of the thruster are defined based on the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, and the propulsion parameters of the thruster are dynamically controlled, which is compatible with the overall consideration of the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, realizes the multiple interactions of the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, ensures the precise control of the propulsion parameters of the thruster, and ensures the dynamic adjustment of the thruster.

[0006] The embodiment of the present invention provides an omnidirectional steering vector propulsion device. The device comprises: a steering gear fixed base, used to connect a submersible body to be propelled; a direction control steering gear assembly, coupled to the steering gear fixed base and comprising a plurality of direction control steering gears; a steering gear connecting frame assembly, comprising a plurality of steering gear connecting frames, wherein corresponding steering gear connecting frames among the plurality of steering gear connecting frames and corresponding direction control steering gears among the plurality of direction control steering gears are arranged alternately in sequence and rotated under the control of corresponding direction control steering gears among the plurality of direction control steering gears; and a plurality of thrusters, coupled to the steering gear connecting frames at one end away from the steering gear fixed base and adapted to at least partially output a force for propelling the submersible body in a working state.

[0007] In some embodiments, the servo connecting frame assembly includes a plurality of first U-shaped servo connecting frames and a plurality of second U-shaped servo connecting frames, and the size of the first U-shaped servo connecting frames is larger than that of the second U-shaped servo connecting frames.

[0008] In some embodiments, the direction control servo assembly includes: a first direction control servo, a shaft end coupled to the bottom edge of a first sub-connecting frame among the plurality of first U-shaped servo connecting frames and a non-shaft end coupled to the servo fixed base; a second direction control servo, a non-shaft end coupled to the side edge of the first sub-connecting frame and a shaft end coupled to the side edge of a fourth sub-connecting frame among the plurality of second U-shaped servo connecting frames; a third direction control servo, a non-shaft end coupled to the side edge of a second sub-connecting frame among the plurality of first U-shaped servo connecting frames and a shaft end coupled to the side edge of a fifth sub-connecting frame among the plurality of second U-shaped servo connecting frames, wherein the bottom edge of the second sub-connecting frame and the bottom edge of the fourth sub-connecting frame are fixed.

[0009] In some embodiments, the bottom edge of the third sub-connecting frame of the plurality of first U-shaped servos is fixed to the second sub-connecting frame, and the side edge of the third sub-connecting frame is coupled to the propeller via a propeller fixing block.

[0010] In addition, an embodiment of the present invention provides a control method for an omnidirectional steering vector propulsion device, comprising:

[0011] Collect the navigation track of the submersible body;

[0012] Collecting multiple environmental parameters based on environmental detection of the navigation trajectory of the submersible body;

[0013] Construct a navigation environment diagram based on the navigation trajectory of the submersible body and the corresponding environmental parameters;

[0014] The tail propulsion unit is constructed according to the submersible body, the thruster and the steering gear assembly, and a plurality of azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow speed;

[0015] A steering space is defined according to each azimuth adjustment node and the corresponding environmental characteristics, and an azimuth parameter of the servo assembly is dynamically adjusted according to the steering space and multiple interactions of the tail propulsion unit;

[0016] Monitor the azimuth adjustment of the servo assembly in real time, build an attitude system according to the attitude of the servo assembly, the attitude of the submersible body and the attitude of the thruster, define the propulsion parameters of the thruster based on the attitude system, the azimuth parameters of the servo assembly and the water flow speed, and dynamically control the propulsion parameters of the thruster.

[0017] Optionally, the navigation track of the acquisition submersible body includes:

[0018] The location of the main body of the collection submersible;

[0019] Defining multiple trajectories based on the location of the submersible body and the preset target location;

[0020] A primary trajectory screening mechanism is constructed based on multiple trajectories, the morphology of the submersible body, and the propulsion power of the omnidirectional steering vector propulsion device;

[0021] Associate primary trajectory screening mechanism, multiple trajectories;

[0022] Defining a set of primary selected trajectories according to a primary trajectory screening mechanism and primary screening of multiple trajectories;

[0023] Define the corresponding matching degree according to the set of preliminary selected trajectories and the trajectories recorded by the main body of the submersible;

[0024] An optimal trajectory is defined based on the matching degree, the service life of the matching degree, and the water flow speed, and the optimal trajectory is defined as the navigation trajectory of the submersible body to collect the navigation trajectory of the submersible body.

[0025] Optionally, the environmental detection based on the navigation track of the submersible body to collect multiple environmental parameters includes:

[0026] Freeze the navigation track of the main body of the submersible;

[0027] Performing regional detection on the navigation track of the submersible body;

[0028] Defining an area covered by the navigation track of the submersible body based on the area detection of the navigation track of the submersible body;

[0029] Trigger corresponding environmental detection according to the area covered by the navigation track of the submersible body;

[0030] A plurality of environmental parameters are collected based on the environmental detection of the navigation track of the submersible body.

[0031] Optionally, constructing a navigation environment schematic diagram based on the navigation track of the submersible body and corresponding environmental parameters includes:

[0032] Freeze multiple environmental parameters;

[0033] Match the navigation trajectory of the submersible body and the corresponding environmental parameters, and form an environmental combination for each navigation position;

[0034] Define corresponding environmental characteristics based on the environmental combination of each navigation position;

[0035] Sequencing of various navigation positions and multiple interactions of various environmental features;

[0036] According to the interaction of various environmental characteristics, a corresponding environmental dynamic space is formed;

[0037] A navigation environment schematic diagram is constructed based on multiple environmental dynamic spaces and the navigation trajectory of the submersible body.

[0038] Optionally, the tail propulsion unit is constructed according to the submersible body, the propeller and the steering gear assembly, and a plurality of azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, including:

[0039] Schematic diagram of the associated navigation environment and omnidirectional steering vector propulsion device;

[0040] The submersible body, the thruster and the steering gear components are defined based on the traversal of the omnidirectional steering vector propulsion device;

[0041] A multi-dimensional parameter system is defined based on the multiple interactions of the submersible body, propeller and steering gear components;

[0042] The tail propulsion unit is constructed based on the multi-dimensional parameter system, the submersible body, the thruster and the steering gear assembly;

[0043] Associate the tail propulsion unit, the navigation environment diagram and the water velocity;

[0044] A plurality of azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow speed.

[0045] Optionally, the step of defining a steering space according to each azimuth adjustment node and a corresponding environmental feature, and dynamically adjusting the azimuth parameters of the steering gear assembly according to multiple interactions of the steering space and the tail propulsion unit, includes:

[0046] Freeze each position to adjust the nodes;

[0047] Associating various orientation adjustment nodes with corresponding environmental features;

[0048] According to the nodes adjusted in each direction and the corresponding environmental characteristics, multiple spatial parameters are defined, and the steering space is defined according to the multi-dimensional control of multiple spatial parameters;

[0049] Associating the steering space with the rear propulsion unit;

[0050] Multiple interactions are performed on the steering space and the tail propulsion unit;

[0051] The azimuth parameters of the servo assembly are dynamically adjusted based on the multiple interactions of the steering space and the tail propulsion unit.

[0052] Optionally, the real-time monitoring of the azimuth adjustment of the steering gear assembly, building a posture system according to the posture of the steering gear assembly, the posture of the submersible body and the posture of the propeller, defining the propulsion parameters of the propeller based on the posture system, the azimuth parameters of the steering gear assembly and the water flow speed, and dynamically controlling the propulsion parameters of the propeller, include:

[0053] Triggering the azimuth adjustment of the servo assembly according to the azimuth parameter of the servo assembly, and monitoring the azimuth adjustment of the servo assembly in real time;

[0054] During the process of adjusting the position of the steering gear assembly, the attitude of the steering gear assembly, the attitude of the submersible body and the attitude of the thruster are collected;

[0055] The posture of the steering gear assembly, the posture of the submersible body, the posture of the thruster and the water depth position are associated; and a posture system is constructed according to the posture of the steering gear assembly, the posture of the submersible body, the posture of the thruster and the water depth position.

[0056] Optionally, the real-time monitoring of the azimuth adjustment of the steering gear assembly, building a posture system according to the posture of the steering gear assembly, the posture of the submersible body and the posture of the propeller, defining the propulsion parameters of the propeller based on the posture system, the azimuth parameters of the steering gear assembly and the water flow speed, and dynamically controlling the propulsion parameters of the propeller, also includes:

[0057] Relating the attitude system, the position parameters of the steering gear assembly and the water flow speed;

[0058] A first propulsion parameter is defined according to the attitude system and the position parameter of the steering gear assembly, and a second propulsion parameter is defined according to the attitude system and the water flow velocity;

[0059] The propulsion parameters of the thruster are defined based on the first propulsion parameter and the second propulsion parameter, and the propulsion parameters of the thruster are dynamically controlled.

[0060] In an embodiment of the present invention, a steering gear fixed base is used to connect the submersible body to be propelled; a thruster is arranged on one side of the steering gear fixed base, and the thruster is used to output a propulsion force in a working state; the steering gear assembly is arranged between the steering gear fixed base and the thruster; the steering gear assembly includes a plurality of steering gears, which are arranged in sequence and form rotation control modules in multiple directions; each rotation control module controls the corresponding direction control and performs all-round steering adjustment on the thruster, thereby realizing the navigation of the steering gear fixed base and the submersible body driven by the steering gear assembly and the thruster, and realizing 360-degree all-round power steering of the steering gear fixed base and the submersible body based on the all-round steering adjustment of the thruster, thereby ensuring the sensitive navigation of the all-round steering vector propulsion device, and thus helping the submersible to adapt to complex seabed terrain.

[0061] In an embodiment of the present invention, through the method in the embodiment of the present invention, the navigation trajectory of the submersible body is collected; multiple environmental parameters are collected based on the environmental detection of the navigation trajectory of the submersible body; a navigation environment schematic diagram is constructed based on the navigation trajectory of the submersible body and the corresponding environmental parameters; a tail propulsion unit is constructed according to the submersible body, the thruster and the steering gear assembly, and multiple azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, which is compatible with the overall consideration of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, realizes multi-dimensional control of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, and ensures the accuracy of multiple azimuth adjustment nodes.

[0062] Furthermore, a steering space is defined according to each azimuth adjustment node and the corresponding environmental characteristics, and the azimuth parameters of the servo assembly are dynamically adjusted according to the multiple interactions of the steering space and the tail propulsion unit; the azimuth adjustment of the servo assembly is monitored in real time, and an attitude system is constructed according to the attitude of the servo assembly, the attitude of the submersible body and the attitude of the thruster; the propulsion parameters of the thruster are defined based on the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, and the propulsion parameters of the thruster are dynamically controlled, which is compatible with the overall consideration of the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, realizes the multiple interactions of the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, ensures the precise control of the propulsion parameters of the thruster, and ensures the dynamic adjustment of the thruster. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1 is a partial schematic diagram of an omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0065] Figure 2 is a side view data diagram of a hull including a submersible body in an embodiment of the present invention;

[0066] Figure 3 is a flow chart of a control method of an omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0067] Figure 4 is a flow chart of S11 in the control method of the omnidirectional steering vector propulsion device in the embodiment of the present invention;

[0068] Figure 5 is a flow chart of S12 in the control method of the omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0069] Figure 6 is a flow chart of S13 in the control method of the omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0070] Figure 7 is a flow chart of S14 in the control method of the omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0071] Figure 8 is a flow chart of S15 in the control method of the omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0072] Fig. 9 It is a flow chart of S16 in the control method of the omnidirectional steering vector propulsion device in the embodiment of the present invention. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] See also Figures 1 to 9A full-range steering vector propulsion device includes a steering gear fixed base 1, a direction control steering gear assembly, a steering gear connecting frame assembly and a plurality of thrusters, wherein the steering gear fixed base 1 is used to connect the AUV submersible body to be propelled. The direction control steering gear assembly is coupled to the steering gear fixed base 1 and includes a plurality of direction control steering gears. The steering gear connecting frame assembly includes a plurality of steering gear connecting frames, wherein corresponding steering gear connecting frames among the plurality of steering gear connecting frames are alternately arranged in sequence with corresponding direction control steering gears among the plurality of direction control steering gears and rotated by the control of corresponding direction control steering gears among the plurality of direction control steering gears. A plurality of thrusters 4 are coupled to the steering gear connecting frame at one end away from the steering gear fixed base 1 and are adapted to at least partially output a force for propelling the submersible body in a working state.

[0075] Continue to refer to Figure 1 In one embodiment, the steering gear connecting frame assembly includes a plurality of first U-shaped steering gear connecting frames 2 and a plurality of second U-shaped steering gear connecting frames 6, and the size of the first U-shaped steering gear connecting frames 2 is larger than the size of the second U-shaped steering gear connecting frames 6. In other embodiments, the size of the first U-shaped steering gear connecting frames 2 may also be equal to the size of the second U-shaped steering gear connecting frames 6.

[0076] Reference Figure 1 The direction control servo assembly includes a first direction control servo 8, a second direction control servo 7 and a third direction control servo 3. The first direction control servo 8 has a rotating shaft end coupled to the bottom edge of the first sub-connecting frame 21 of the plurality of first U-shaped servo connecting frames 2 and a non-rotating shaft end coupled to the servo fixing base 1, the second direction control servo 7 has a non-rotating shaft end coupled to the side edge of the first sub-connecting frame 21 and a rotating shaft end coupled to the side edge of the fourth sub-connecting frame 61 of the plurality of second U-shaped servo connecting frames 6; the third direction control servo 3 has a non-rotating shaft end coupled to the side edge of the second sub-connecting frame 22 of the plurality of first U-shaped servo connecting frames 2 and a rotating shaft end coupled to the side edge of the fifth sub-connecting frame 62 of the plurality of second U-shaped servo connecting frames 6, wherein the bottom edge of the second sub-connecting frame 22 and the bottom edge of the fourth sub-connecting frame 61 are fixed. Furthermore, the bottom edge of the third sub-connecting frame 23 of the plurality of first U-shaped steering gear connecting frames 2 is fixed to the second sub-connecting frame 22 , and the side edge of the third sub-connecting frame 23 is coupled to the propeller 4 via the propeller fixing block 5 .

[0077] In a specific implementation, more specifically, for the first direction control servo 8, the second direction control servo 7 and the third direction control servo 3, the surface where the servo shaft is located is regarded as the top surface, the opposite surface is regarded as the bottom surface, and the direction from the bottom surface to the top surface along the axial direction of the shaft is regarded as the positive direction of the servo z-axis. In addition, the two coordinate axes are defined as follows: the y-axis is parallel to the long side of the servo bottom surface, the x-axis is parallel to the short side of the bottom surface, and the three axes are in a right-handed system in space, and the direction from the near rotation axis to the far rotation axis is the positive direction of the y-axis.

[0078] In a specific embodiment, a groove may be opened in the middle of the steering gear fixing base 1, and the first direction control steering gear 8 is fixed in the groove, and the bottom surface of the first direction control steering gear 8 is placed in contact with the inner bottom of the groove. The rotating shaft of the first direction control steering gear 8 is fixed to the bottom edge of the first sub-connecting frame 21 in the first U-shaped steering gear connecting frame 2, and the steering gear 30 can control the axial rotation, thereby realizing the control of one degree of freedom.

[0079] Further, the non-rotating shaft end of the second direction control steering gear 7 is fixed in the middle of the two side edges of the first sub-connecting frame 21, and the positive direction of the y-axis of the second direction control steering gear 7 is kept consistent with the positive direction of the z-axis. The two second sub-connecting frames 22 and the bottom of the fifth sub-connecting frame 61 are fixed, and the sides of the two second sub-connecting frames 22 and the fifth sub-connecting frame 61 are kept parallel. One side is clamped on the rotating shaft end of the second direction control steering gear 7, and the other side is clamped on the non-rotating shaft end of the third direction control steering gear 3. The positive directions of the x-axis and y-axis of the third direction control steering gear 3 and the second direction control steering gear 7 are kept corresponding to each other, and the third direction control steering gear 3 and the second direction control steering gear 7 constitute a swing steering gear group to control the second degree of freedom. At this point, the control of the first direction control steering gear 8, the second direction control steering gear 7 and the third direction control steering gear 3 can realize double-degree-of-freedom rotation, laying the foundation for vector propulsion.

[0080] Further, the fifth sub-connecting frame 62 of the two second U-shaped steering gear connecting frames 6 is clamped on the rotating shaft end of the third directional control steering gear 3 as in the previous operation, and the two sides of the other end each support a propeller 4 through a propeller fixing block 5, and the propeller axial direction of the propeller 4 is consistent with the positive direction of the y-axis of the second directional control steering gear 7 and the third directional control steering gear 3, so as to form a typical example embodiment of the structure of the omnidirectional steering vector propulsion device. In another embodiment, it can be connected to the submersible body through the steering gear fixing base 1.

[0081] The present invention adopts the bionic concept and designs an omnidirectional steering vector propulsion device, which has better steering performance than traditional propulsion devices; compared with devices that also adopt the bionic concept, the present invention has higher propulsion efficiency. In actual application, the present invention can propel the submersible sensitively and efficiently, thereby helping the submersible adapt to complex seabed terrain.

[0082] In another embodiment, referring to Figure 2 The present invention takes into account various performances of the underwater autonomous robot during design, and the specific contents are as follows:

[0083] (1) Length, width, and height of the underwater autonomous robot

[0084] The main part of the underwater autonomous robot (the body of the submersible, also known as the "hull") has a longitudinal length of 1m (1000mm), and a lateral width and height of 0.1m (100mm).

[0085] (2) Total volume and mass of the underwater autonomous robot

[0086] The main body of the submersible is simplified into “cone + frustum + cylinder + cone”.

[0087] Combining the volume formulas of cones, frustums, and cylinders,

[0088] It is easy to calculate that the total volume of the main part of the submersible is approximately 5.5698*10-3m3.

[0089] Considering that it can float and dive freely, the density is taken as 0.9g / cm3 (assuming uniformity).

[0090] It can be calculated that the total mass of the main part of the submersible is approximately 5.01282 kg.

[0091] (3) Draft when floating on the water

[0092] After the assembly is completed, the plan is to increase the weight or add buoyancy blocks to adjust the underwater autonomous robot to float on the water in a static state, with about half of it exposed above the water, that is, the draft is about 5 cm.

[0093] (4) Center of gravity

[0094] The main body of the submersible is rotationally symmetrical along the longitudinal axis, so we only need to consider the longitudinal position of the center of gravity, which is represented here by the position from the bow.

[0095] Cone center of gravity (y is the distance from the bottom surface),

[0096] Center of gravity of cone (y is the area from the bottom surface),

[0097] The center of gravity of the cylinder is the geometric midpoint. The weighted sum of the center of gravity of each part in the entire geometric body is obtained, and the center of gravity of the whole is approximately 478.0993mm away from the bow.

[0098] (5) Intrinsic stability, heading stability, heading change capability, braking capability, etc.:

[0099] The underwater autonomous robot deviates from the original route and heading under a small disturbance. After the disturbance is removed, it is difficult to return to the original motion state without control, and finally it will enter an unsteady rotation motion, so it does not have inherent stability; the underwater autonomous robot is equipped with a remote control device, which can easily return to the original heading or even the original route, so it has heading stability and position stability; the underwater autonomous robot can quickly respond to the instructions issued by the control device and enter the head turning motion, so it has good initial rotation ability; the propeller of the underwater autonomous robot can rotate forward and reverse, and can stop the underwater autonomous robot in the water in time, so it has emergency braking ability.

[0100] The underwater autonomous robot simulates the swing of a real fish tail, which helps to improve the concealment of the underwater autonomous robot and reduce the interference with marine life during operation. However, it is optimized on the basis of fish tail swing propulsion, and replaced with propeller propulsion to increase propulsion efficiency and meet different speed requirements. After the pool test, the propulsion device can effectively reduce the turning radius of the underwater autonomous robot. A simple fish tail can only achieve left and right steering, and the up and down directions still need to be solved. Therefore, the present invention optimizes the structure again to vector propulsion, which can achieve multi-directional steering including vertical upward and vertical downward. Such all-round steering makes the submersible not have to stick to a single up and down, left and right redirection, and can achieve changes in any direction, which is conducive to the flexible driving of the submersible in various complex terrains. The multi-modal propulsion system allows the submersible body to travel in multiple states, either at high speed or low speed or forward or backward.

[0101] In an embodiment of the present invention, rotation control modules in multiple directions are formed, each of which controls the corresponding direction control and performs all-round steering adjustment on the thruster, thereby enabling the servo fixed base and the submersible body to navigate driven by the servo assembly and the thruster. Based on the all-round steering adjustment of the thruster, 360-degree all-round power steering of the servo fixed base and the submersible body is achieved, thereby ensuring the sensitive navigation of the all-round steering vector propulsion device, thereby helping the submersible to adapt to complex underwater or seabed terrain.

[0102] See also Figures 3 to 9 , a control method for an omnidirectional steering vector propulsion device, applied to a control scenario of an omnidirectional steering vector propulsion device; the control method for an omnidirectional steering vector propulsion device comprises:

[0103] Step S11: collecting the navigation track of the submersible body;

[0104] Step S12: collecting multiple environmental parameters based on environmental detection of the navigation track of the submersible body;

[0105] Step S13: collecting multiple environmental parameters based on environmental detection of the navigation track of the submersible body;

[0106] Step S14: constructing a tail propulsion unit according to the submersible body, the propeller and the steering gear assembly, and defining a plurality of azimuth adjustment nodes according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity;

[0107] Step S15: defining a steering space according to each azimuth adjustment node and corresponding environmental features, and dynamically adjusting the azimuth parameters of the steering gear assembly according to the steering space and multiple interactions of the tail propulsion unit;

[0108] Step S16: monitor the azimuth adjustment of the servo assembly in real time, build an attitude system according to the attitude of the servo assembly, the attitude of the submersible body and the attitude of the thruster, define the propulsion parameters of the thruster based on the attitude system, the azimuth parameters of the servo assembly and the water flow speed, and dynamically control the propulsion parameters of the thruster.

[0109] In an example embodiment of the present invention, the navigation trajectory of the submersible body is collected by the method in the embodiment of the present invention; multiple environmental parameters are collected based on the environmental detection of the navigation trajectory of the submersible body; a navigation environment schematic diagram is constructed based on the navigation trajectory of the submersible body and the corresponding environmental parameters; a tail propulsion unit is constructed according to the submersible body, the thruster and the steering gear assembly, and multiple azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, which is compatible with the overall consideration of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, realizes multi-dimensional control of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, and ensures the accuracy of multiple azimuth adjustment nodes.

[0110] Furthermore, a steering space is defined according to each azimuth adjustment node and the corresponding environmental characteristics, and the azimuth parameters of the servo assembly are dynamically adjusted according to the multiple interactions of the steering space and the tail propulsion unit; the azimuth adjustment of the servo assembly is monitored in real time, and an attitude system is constructed according to the attitude of the servo assembly, the attitude of the submersible body and the attitude of the thruster; the propulsion parameters of the thruster are defined based on the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, and the propulsion parameters of the thruster are dynamically controlled, which is compatible with the overall consideration of the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, realizes the multiple interactions of the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, ensures the precise control of the propulsion parameters of the thruster, and ensures the dynamic adjustment of the thruster.

[0111] refer to Figure 4 , in step S11, collecting the navigation track of the submersible body;

[0112] In the specific implementation process of the present invention, the specific steps may be:

[0113] S111: collecting the location of the submersible body;

[0114] S112: defining a plurality of trajectories based on the location of the submersible body and a preset target location;

[0115] S113: constructing a primary trajectory screening mechanism according to multiple trajectories, the shape of the submersible body, and the propulsion power of the omnidirectional steering vector propulsion device;

[0116] S114: Associate primary trajectory screening mechanism, multiple trajectories;

[0117] S115: defining a primary selected trajectory set according to the primary trajectory screening mechanism and the primary screening of multiple trajectories;

[0118] S116: defining a corresponding matching degree according to the preliminary trajectory set and the trajectory recorded by the submersible body;

[0119] S117: defining an optimal trajectory based on the matching degree, the service life of the matching degree, and the water flow speed, and defining the optimal trajectory as the navigation trajectory of the submersible body to collect the navigation trajectory of the submersible body.

[0120] At this time, the location of the submersible body is collected and introduced, and the location of the submersible body is controlled, so that multiple trajectories are defined based on the location of the submersible body and the preset target position, which is compatible with the overall consideration of the location of the submersible body and the preset target position, and the location of the submersible body and the preset target position are controlled in multiple dimensions, ensuring the comprehensiveness of multiple trajectories.

[0121] Furthermore, a primary trajectory screening mechanism is constructed based on multiple trajectories, the shape of the submersible body and the propulsion power of the omnidirectional steering vector propulsion device, and multiple trajectories, the shape of the submersible body and the propulsion power of the omnidirectional steering vector propulsion device are taken into consideration as a whole, thereby ensuring the accuracy of the primary trajectory screening mechanism.

[0122] At the same time, the primary trajectory screening mechanism and multiple trajectories are associated; the preliminary trajectory set is defined according to the primary trajectory screening mechanism and the primary screening of multiple trajectories, and the preliminary trajectory set is introduced, so as to define the corresponding matching degree according to the preliminary trajectory set and the trajectory recorded by the submersible body; the best trajectory is defined based on the matching degree, the service life of the matching degree and the water flow velocity, and the best trajectory is defined as the navigation trajectory of the submersible body, so as to collect the navigation trajectory of the submersible body, realize multi-level screening of the trajectory, and perform gradual and precise control in the multi-level screening, so as to ensure the accuracy of the navigation trajectory of the submersible body.

[0123] refer to Figure 5 In step S12, a plurality of environmental parameters are collected based on the environmental detection of the navigation track of the submersible body;

[0124] In the specific implementation process of the present invention, the specific steps may be:

[0125] S121: freeze the navigation track of the submersible body;

[0126] S122: Performing regional detection on the navigation track of the submersible body;

[0127] S123: defining an area covered by the navigation track of the submersible body based on the area detection of the navigation track of the submersible body;

[0128] S124: triggering corresponding environmental detection according to the area covered by the navigation track of the submersible body;

[0129] S125: Collect multiple environmental parameters based on the environmental detection of the navigation track of the submersible body.

[0130] In an embodiment of the present application, the navigation trajectory of the submersible body is frozen, the navigation trajectory of the submersible body is introduced, and regional detection is performed on the navigation trajectory of the submersible body, so as to define the area covered by the navigation trajectory of the submersible body based on the regional detection of the navigation trajectory of the submersible body, thereby realizing the regional detection of the navigation trajectory of the submersible body, taking full account of the navigation trajectory of the submersible body, and ensuring the accuracy of the area covered by the navigation trajectory of the submersible body.

[0131] Therefore, corresponding environmental detection is triggered according to the area covered by the navigation trajectory of the submarine body; multiple environmental parameters are collected based on the environmental detection of the navigation trajectory of the submarine body, thereby realizing the environmental detection of the navigation trajectory of the submarine body, and fully considering multiple positions in the navigation trajectory of the submarine body, so as to facilitate environmental control along the navigation trajectory of the submarine body, ensure the accuracy of multiple environmental parameters, and control multiple environmental parameters and corresponding positions as a whole.

[0132] refer to Figure 6 In step S13, a plurality of environmental parameters are collected based on the environmental detection of the navigation track of the submersible body;

[0133] In the specific implementation process of the present invention, the specific steps may be:

[0134] S131: freeze multiple environmental parameters;

[0135] S132: Matching the navigation track of the submersible body and the corresponding environmental parameters, and forming an environmental combination of each navigation position;

[0136] S133: defining corresponding environmental features based on the environmental combinations of each navigation position;

[0137] S134: sorting each navigation position and performing multiple interactions on each environmental feature;

[0138] S135: forming a corresponding environmental dynamic space according to the interaction of various environmental features;

[0139] S136: Constructing a navigation environment schematic diagram according to the multiple environmental dynamic spaces and the navigation trajectory of the submersible body.

[0140] In an embodiment of the present application, multiple environmental parameters are frozen and introduced, and the multiple environmental parameters are controlled as a whole, so as to match the navigation trajectory of the submersible body and the corresponding environmental parameters, and form an environmental combination of each navigation position, thereby realizing environmental control of each navigation position and ensuring the accuracy of the environmental combination of each navigation position.

[0141] Therefore, corresponding environmental features are defined based on the environmental combinations of various navigation positions; various navigation positions are sorted, and multiple interactions are performed on various environmental features, thereby ensuring multiple interactions of various environmental features.

[0142] Furthermore, a corresponding environmental dynamic space is formed according to the interaction of various environmental characteristics; a navigation environment schematic diagram is constructed according to multiple environmental dynamic spaces and the navigation trajectory of the submarine body, and multiple environmental dynamic spaces and the navigation trajectory of the submarine body are introduced to achieve overall consideration of multiple environmental dynamic spaces and the navigation trajectory of the submarine body, and achieve multi-dimensional control of multiple environmental dynamic spaces and the navigation trajectory of the submarine body, thereby ensuring the accuracy of the navigation environment schematic diagram.

[0143] refer to Figure 7 , in S14, a tail propulsion unit is constructed according to the submersible body, the propeller and the steering gear assembly, and a plurality of azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity;

[0144] In the specific implementation process of the present invention, the specific steps may be:

[0145] S141: Schematic diagram of the associated navigation environment and omnidirectional steering vector propulsion device;

[0146] S142: defining a submersible body, a thruster, and a steering gear assembly based on traversal of the omnidirectional steering vector propulsion device;

[0147] S143: defining a multi-dimensional parameter system based on multiple interactions of the submersible body, propeller and steering gear components;

[0148] S144: Construct the tail propulsion unit based on the multi-dimensional parameter system, the submersible body, the thruster and the steering gear assembly;

[0149] S145: Schematic diagram of the associated tail propulsion unit, navigation environment, and water velocity;

[0150] S146: defining a plurality of azimuth adjustment nodes according to the tail propulsion unit, the navigation environment schematic diagram, and the water flow speed.

[0151] In an embodiment of the present application, the navigation trajectory of the submersible body is collected; multiple environmental parameters are collected based on environmental detection of the navigation trajectory of the submersible body; a navigation environment schematic diagram is constructed based on the navigation trajectory of the submersible body and the corresponding environmental parameters; a tail propulsion unit is constructed according to the submersible body, the thruster and the steering gear assembly, and multiple azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, which is compatible with the overall consideration of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, realizes multi-dimensional control of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, and ensures the accuracy of multiple azimuth adjustment nodes.

[0152] At this time, the navigation environment schematic diagram and the omnidirectional steering vector propulsion device are associated; the submersible body, thruster and steering gear components are defined based on the traversal of the omnidirectional steering vector propulsion device, the traversal of the omnidirectional steering vector propulsion device is realized, the submersible body, thruster and steering gear components are introduced, and the submersible body, thruster and steering gear components are considered as a whole.

[0153] Furthermore, a multi-dimensional parameter system is defined based on the multiple interactions among the submersible body, the thruster and the steering gear components, thereby realizing the multiple interactions among the submersible body, the thruster and the steering gear components, ensuring the multi-dimensional control of the multi-dimensional parameter system and improving the accuracy of the multi-dimensional parameter system.

[0154] Therefore, a tail propulsion unit is constructed based on the multi-dimensional parameter system, the submersible body, the thruster and the servo assembly; the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity are associated; and multiple azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity. This is compatible with the overall consideration of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, realizes multi-dimensional control of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, and ensures the accuracy of multiple azimuth adjustment nodes.

[0155] refer to Figure 8 , in S15, a steering space is defined according to each azimuth adjustment node and a corresponding environmental feature, and an azimuth parameter of the steering gear assembly is dynamically adjusted according to the steering space and multiple interactions of the tail propulsion unit;

[0156] In the specific implementation process of the present invention, the specific steps may be:

[0157] S151: freeze each orientation adjustment node;

[0158] S152: Associating each orientation adjustment node with the corresponding environmental features;

[0159] S153: defining a plurality of spatial parameters according to the orientation adjustment nodes and the corresponding environmental features, and defining a steering space according to multi-dimensional control of the plurality of spatial parameters;

[0160] S154: Associating the turning space and the tail propulsion unit;

[0161] S155: multiple interactions are performed on the steering space and the tail propulsion unit;

[0162] S156: Dynamically adjust the azimuth parameters of the servo assembly based on the steering space and multiple interactions of the tail propulsion unit.

[0163] In an embodiment of the present application, each orientation adjustment node is frozen and controlled. At the same time, each orientation adjustment node and the corresponding environmental feature are associated; multiple spatial parameters are defined according to each orientation adjustment node and the corresponding environmental feature, and the steering space is defined according to the multi-dimensional control of the multiple spatial parameters, thereby realizing the multi-dimensional control of the multiple spatial parameters and ensuring the accuracy of the steering space.

[0164] Therefore, the steering space and the tail propulsion unit are associated; multiple interactions are performed on the steering space and the tail propulsion unit; and the azimuth parameters of the servo assembly are dynamically adjusted based on the multiple interactions between the steering space and the tail propulsion unit, thereby achieving multiple interactions between the steering space and the tail propulsion unit and ensuring the adjustment accuracy of the azimuth parameters of the servo assembly.

[0165] refer to Fig. 9 In S16, the azimuth adjustment of the steering gear assembly is monitored in real time, an attitude system is constructed according to the attitude of the steering gear assembly, the attitude of the submersible body, and the attitude of the propeller, a propulsion parameter of the propeller is defined based on the attitude system, the azimuth parameter of the steering gear assembly, and the water flow velocity, and the propulsion parameter of the propeller is dynamically controlled;

[0166] In the specific implementation process of the present invention, the specific steps may be:

[0167] S161: triggering the azimuth adjustment of the steering gear component according to the azimuth parameter of the steering gear component, and monitoring the azimuth adjustment of the steering gear component in real time;

[0168] S162: During the process of adjusting the position of the steering gear assembly, collecting the posture of the steering gear assembly, the posture of the submersible body, and the posture of the thruster;

[0169] S163: Associating the attitude of the steering gear assembly, the attitude of the submersible body, the attitude of the propeller, and the water depth position; constructing an attitude system according to the attitude of the steering gear assembly, the attitude of the submersible body, the attitude of the propeller, and the water depth position;

[0170] S164: Associating the attitude system, the position parameters of the steering gear assembly and the water flow speed;

[0171] S165: defining a first propulsion parameter according to the attitude system and the position parameter of the steering gear assembly, and defining a second propulsion parameter according to the attitude system and the water flow velocity;

[0172] S166: Define the propulsion parameters of the thruster based on the first propulsion parameter and the second propulsion parameter, and dynamically control the propulsion parameters of the thruster.

[0173] In the specific implementation process of the present invention, the steering space is defined according to each azimuth adjustment node and the corresponding environmental characteristics, and the azimuth parameters of the servo assembly are dynamically adjusted according to the multiple interactions of the steering space and the tail propulsion unit; the azimuth adjustment of the servo assembly is monitored in real time, and a posture system is constructed according to the posture of the servo assembly, the posture of the submersible body and the posture of the propeller; the propulsion parameters of the propeller are defined based on the posture system, the azimuth parameters of the servo assembly and the water flow velocity, and the propulsion parameters of the propeller are dynamically controlled, which is compatible with the overall consideration of the posture system, the azimuth parameters of the servo assembly and the water flow velocity, realizes the multiple interactions of the posture system, the azimuth parameters of the servo assembly and the water flow velocity, ensures the precise control of the propulsion parameters of the propeller, and ensures the dynamic adjustment of the propeller.

[0174] At this time, the azimuth adjustment of the servo assembly is triggered according to the azimuth parameters of the servo assembly, and the azimuth adjustment of the servo assembly is monitored in real time; in the process of azimuth adjustment of the servo assembly, the posture of the servo assembly, the posture of the submersible body and the posture of the thruster are collected, and the posture of the servo assembly, the posture of the submersible body and the posture of the thruster are introduced to control the posture of the servo assembly, the posture of the submersible body and the posture of the thruster.

[0175] Therefore, the posture of the servo assembly, the posture of the submersible body, the posture of the thruster and the water depth position are associated; an attitude system is constructed based on the posture of the servo assembly, the posture of the submersible body, the posture of the thruster and the water depth position, which is compatible with the overall consideration of the posture of the servo assembly, the posture of the submersible body, the posture of the thruster and the water depth position, and realizes multi-dimensional control of the posture of the servo assembly, the posture of the submersible body, the posture of the thruster and the water depth position, thereby ensuring the accuracy of the attitude system.

[0176] Furthermore, the attitude system, the position parameters of the steering gear assembly and the water flow velocity are associated; a first propulsion parameter is defined according to the attitude system and the position parameters of the steering gear assembly, and a second propulsion parameter is defined according to the attitude system and the water flow velocity; the propulsion parameters of the propeller are defined based on the first propulsion parameter and the second propulsion parameter, and the propulsion parameters of the propeller are dynamically controlled, which is compatible with the overall consideration of the attitude system, the position parameters of the steering gear assembly and the water flow velocity, realizes multiple interactions of the attitude system, the position parameters of the steering gear assembly and the water flow velocity, ensures the precise control of the propulsion parameters of the propeller, and ensures the dynamic adjustment of the propeller.

[0177] In an embodiment of the present invention, through the method in the embodiment of the present invention, the navigation trajectory of the submersible body is collected; multiple environmental parameters are collected based on the environmental detection of the navigation trajectory of the submersible body; a navigation environment schematic diagram is constructed based on the navigation trajectory of the submersible body and the corresponding environmental parameters; a tail propulsion unit is constructed according to the submersible body, the thruster and the steering gear assembly, and multiple azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, which is compatible with the overall consideration of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, realizes multi-dimensional control of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, and ensures the accuracy of multiple azimuth adjustment nodes.

[0178] Furthermore, a steering space is defined according to each azimuth adjustment node and the corresponding environmental characteristics, and the azimuth parameters of the servo assembly are dynamically adjusted according to the multiple interactions of the steering space and the tail propulsion unit; the azimuth adjustment of the servo assembly is monitored in real time, and an attitude system is constructed according to the attitude of the servo assembly, the attitude of the submersible body and the attitude of the thruster; the propulsion parameters of the thruster are defined based on the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, and the propulsion parameters of the thruster are dynamically controlled, which is compatible with the overall consideration of the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, realizes the multiple interactions of the attitude system, the azimuth parameters of the servo assembly and the water flow velocity, ensures the precise control of the propulsion parameters of the thruster, and ensures the dynamic adjustment of the thruster.

[0179] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a navigation hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0180] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0181] In addition, the omnidirectional steering vector propulsion device and the control method thereof provided by the embodiment of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An omnidirectional steering vector propulsion device, characterized in that: include: A steering gear fixing base (1) for connecting to a submersible body to be propelled; A direction control servo assembly, coupled to the servo fixed base (1) and comprising a plurality of direction control servos; A steering gear connecting frame assembly, comprising a plurality of steering gear connecting frames, wherein corresponding steering gear connecting frames among the plurality of steering gear connecting frames and corresponding direction control steering gears among the plurality of direction control steering gears are alternately arranged in sequence and rotated by the control of corresponding direction control steering gears among the plurality of direction control steering gears; as well as A plurality of thrusters (4) are coupled to the steering gear connecting frame at one end away from the steering gear fixed base (1) and are suitable for at least partially outputting a force for propelling the submersible body in a working state.

2. The omnidirectional steering vector propulsion device according to claim 1, characterized in that: The steering gear connecting frame assembly comprises a plurality of first U-shaped steering gear connecting frames (2) and a plurality of second U-shaped steering gear connecting frames (6), wherein the size of the first U-shaped steering gear connecting frames (2) is larger than the size of the second U-shaped steering gear connecting frames (6).

3. The omnidirectional steering vector propulsion device according to claim 2, characterized in that: The direction control steering gear assembly comprises: A first direction control steering gear (8), the shaft end of which is coupled to the bottom edge of a first sub-connecting frame (21) of the plurality of first U-shaped steering gear connecting frames (2) and the non-shaft end of which is coupled to the steering gear fixed base (1); A second direction control steering gear (7), the non-rotating shaft end of which is coupled to the side of the first sub-connecting frame (21) and the rotating shaft end of which is coupled to the side of the fourth sub-connecting frame (61) among the plurality of second U-shaped steering gear connecting frames (6); A third direction control steering gear (3) has a non-rotating shaft end coupled to a side edge of a second sub-connecting frame (22) of the plurality of first U-shaped steering gear connecting frames (2) and a rotating shaft end coupled to a side edge of a fifth sub-connecting frame (62) of the plurality of second U-shaped steering gear connecting frames (6), wherein a bottom edge of the second sub-connecting frame (22) and a bottom edge of the fourth sub-connecting frame (61) are fixed.

4. The omnidirectional steering vector propulsion device according to claim 3, characterized in that: The bottom edge of the third sub-connecting frame (23) in the plurality of first U-shaped steering gear connecting frames (2) is fixed to the second sub-connecting frame (22), and the side edge of the third sub-connecting frame (23) is coupled to the propeller (4) via a propeller fixing block (5).

5. A control method for an omnidirectional steering vector propulsion device, based on the omnidirectional steering vector propulsion device according to any one of claims 1 to 4, characterized in that: include: Collect the navigation track of the main body of the submersible; Collecting multiple environmental parameters based on environmental detection of the navigation trajectory of the submersible body; Construct a navigation environment diagram based on the navigation trajectory of the submersible body and the corresponding environmental parameters; The tail propulsion unit is constructed according to the submersible body, the thruster and the steering gear assembly, and a plurality of azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow speed; A steering space is defined according to each azimuth adjustment node and the corresponding environmental characteristics, and an azimuth parameter of the servo assembly is dynamically adjusted according to the steering space and multiple interactions of the tail propulsion unit; Monitor the azimuth adjustment of the servo assembly in real time, build an attitude system according to the attitude of the servo assembly, the attitude of the submersible body and the attitude of the thruster, define the propulsion parameters of the thruster based on the attitude system, the azimuth parameters of the servo assembly and the water flow speed, and dynamically control the propulsion parameters of the thruster.

6. The control method of the omnidirectional steering vector propulsion device according to claim 5, characterized in that: The navigation track of the acquisition submersible body includes: The location of the main body of the collection vehicle; Defining multiple trajectories based on the location of the submersible body and the preset target location; A primary trajectory screening mechanism is constructed based on multiple trajectories, the morphology of the submersible body, and the propulsion power of the omnidirectional steering vector propulsion device; Associate primary trajectory screening mechanism, multiple trajectories; Defining a set of primary selected trajectories according to a primary trajectory screening mechanism and primary screening of multiple trajectories; Define the corresponding matching degree according to the set of preliminary selected trajectories and the trajectories recorded by the main body of the submersible; An optimal trajectory is defined based on the matching degree, the service life of the matching degree, and the water flow speed, and the optimal trajectory is defined as the navigation trajectory of the submersible body to collect the navigation trajectory of the submersible body.

7. The control method of the omnidirectional steering vector propulsion device according to claim 6, characterized in that: The environmental detection based on the navigation track of the submersible body and the collection of multiple environmental parameters include: Freeze the navigation track of the main body of the submersible; Performing regional detection on the navigation track of the submersible body; Defining an area covered by the navigation track of the submersible body based on the area detection of the navigation track of the submersible body; Trigger corresponding environmental detection according to the area covered by the navigation track of the submersible body; A plurality of environmental parameters are collected based on the environmental detection of the navigation track of the submersible body.

8. The control method of the omnidirectional steering vector propulsion device according to claim 7, characterized in that: The method of constructing a navigation environment schematic diagram based on the navigation trajectory of the submersible body and the corresponding environmental parameters includes: Freeze multiple environmental parameters; Match the navigation trajectory of the submersible body and the corresponding environmental parameters, and form an environmental combination for each navigation position; Define corresponding environmental characteristics based on the environmental combination of each navigation position; Sequencing of various navigation positions and multiple interactions of various environmental features; According to the interaction of various environmental characteristics, a corresponding environmental dynamic space is formed; A navigation environment schematic diagram is constructed based on multiple environmental dynamic spaces and the navigation trajectory of the submersible body.

9. The control method of the omnidirectional steering vector propulsion device according to claim 8, characterized in that: The tail propulsion unit is constructed according to the submersible body, the propeller and the steering gear assembly, and a plurality of azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, including: Schematic diagram of the associated navigation environment and omnidirectional steering vector propulsion device; The submersible body, the thruster and the steering gear components are defined based on the traversal of the omnidirectional steering vector propulsion device; A multi-dimensional parameter system is defined based on the multiple interactions of the submersible body, propeller and steering gear components; The tail propulsion unit is constructed based on the multi-dimensional parameter system, the submersible body, the thruster and the steering gear assembly; Associate the tail propulsion unit, the navigation environment diagram and the water velocity; A plurality of azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow speed; And the steering space is defined according to each azimuth adjustment node and the corresponding environmental characteristics, and the azimuth parameters of the steering gear assembly are dynamically adjusted according to the multiple interactions of the steering space and the tail propulsion unit, including: Freeze each position to adjust the nodes; Associating various orientation adjustment nodes with corresponding environmental features; According to the nodes adjusted in each direction and the corresponding environmental characteristics, multiple spatial parameters are defined, and the steering space is defined according to the multi-dimensional control of multiple spatial parameters; Associating the steering space with the rear propulsion unit; Multiple interactions are performed on the steering space and the tail propulsion unit; The azimuth parameters of the servo assembly are dynamically adjusted based on the multiple interactions of the steering space and the tail propulsion unit.

10. The control method of the omnidirectional steering vector propulsion device according to claim 9, characterized in that: The real-time monitoring of the azimuth adjustment of the steering gear assembly, the construction of an attitude system according to the attitude of the steering gear assembly, the attitude of the submersible body and the attitude of the propeller, the definition of the propulsion parameters of the propeller based on the attitude system, the azimuth parameters of the steering gear assembly and the water flow velocity, and the dynamic control of the propulsion parameters of the propeller include: Triggering the azimuth adjustment of the servo assembly according to the azimuth parameter of the servo assembly, and monitoring the azimuth adjustment of the servo assembly in real time; During the process of adjusting the position of the steering gear assembly, the attitude of the steering gear assembly, the attitude of the submersible body and the attitude of the thruster are collected; Associating the attitude of the steering gear assembly, the attitude of the submersible body, the attitude of the propeller, and the water depth position; constructing an attitude system according to the attitude of the steering gear assembly, the attitude of the submersible body, the attitude of the propeller, and the water depth position; And wherein the real-time monitoring of the azimuth adjustment of the steering gear assembly, the construction of an attitude system according to the attitude of the steering gear assembly, the attitude of the submersible body and the attitude of the propeller, the definition of the propeller propulsion parameters based on the attitude system, the azimuth parameters of the steering gear assembly and the water flow velocity, and the dynamic control of the propeller propulsion parameters, also includes: Relating the attitude system, the position parameters of the steering gear assembly and the water flow speed; A first propulsion parameter is defined according to the attitude system and the position parameter of the steering gear assembly, and a second propulsion parameter is defined according to the attitude system and the water flow velocity; The propulsion parameters of the thruster are defined based on the first propulsion parameter and the second propulsion parameter, and the propulsion parameters of the thruster are dynamically controlled.

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