Omni-directional steering vector propulsion device and control method thereof

Abstract

The application discloses a kind of all-around steering vector propulsion device and its control method, all-around steering vector propulsion device includes: rudder fixed base, for connecting the main body of submarine to be propelled;Direction control rudder assembly is coupled to rudder fixed base and includes multiple direction control rudders;Rudder connecting frame assembly includes multiple rudder connecting frames, corresponding rudder connecting frame in multiple rudder connecting frames and corresponding direction control rudder in multiple direction control rudders are sequentially arranged alternately and rotate via the control of corresponding direction control rudder in multiple direction control rudders;And multiple propellers are coupled to the rudder connecting frame away from one end of rudder fixed base and adapted to at least partially output force for propelling the main body of submarine in working state.In this way, the sensitive navigation of all-around steering vector propulsion device is realized.

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 part of underwater autonomous robots (AUVs). The propulsion method commonly used by underwater autonomous robots is traditional propeller propulsion, generally with a single propeller or multiple propeller configurations. The change of its course is controlled by either an X-shaped rudder, a cross-shaped rudder, or auxiliary propellers 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 efficient all-round steering cannot be achieved. 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 the submersible body to be propelled, a thruster is arranged on one side of the servo fixed base, the thruster is used to output propulsion force in a working state, the servo assembly is arranged between the servo fixed base and the thruster, the servo assembly includes multiple servos, and the multiple servos 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, ensuring the sensitive navigation of the omnidirectional steering vector propulsion device, and thus 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 the 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 assembly, 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, and realizes multi-dimensional control of the tail propulsion unit, the navigation environment diagram and the water flow speed, ensuring 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 submarine body and the attitude of the propeller; the propulsion parameters of the propeller 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 propeller 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 propeller, and ensures the dynamic adjustment of the propeller.

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

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

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

[0011] Collect the navigation trajectory of the submersible;

[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] Construct the tail propulsion unit based on the submersible body, thruster, and steering gear components, and define multiple azimuth adjustment nodes based on the tail propulsion unit, navigation environment diagram, and water flow speed;

[0015] 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 between the steering space and the tail propulsion unit;

[0016] Monitor the azimuth adjustment of the servo assembly in real time, build an attitude system based on 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 vehicle;

[0019] Defining multiple trajectories based on the location of the vehicle body and a 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 based on a primary trajectory screening mechanism and primary screening of multiple trajectories;

[0023] The corresponding matching degree is defined according to the set of preselected trajectories and the trajectories recorded by the vehicle body;

[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 trajectory of the submersible body to collect multiple environmental parameters includes:

[0026] freezing a navigation track of the submarine body;

[0027] region detecting the navigation track of the submarine body;

[0028] defining a region covered by the navigation track of the submarine body based on the region detecting the navigation track of the submarine body;

[0029] triggering corresponding environment detecting according to the region covered by the navigation track of the submarine body;

[0030] collecting a plurality of environment parameters based on the environment detecting the navigation track of the submarine body.

[0031] Optionally, the constructing a navigation environment sketch based on the navigation track of the submarine body and the corresponding environment parameters comprises:

[0032] freezing a plurality of environment parameters;

[0033] matching the navigation track of the submarine body and the corresponding environment parameters, and forming an environment combination of each navigation position;

[0034] defining a corresponding environment feature based on the environment combination of each navigation position;

[0035] sorting each navigation position, and multiple interacting each environment feature;

[0036] forming a corresponding environment dynamic space according to the multiple interacting each environment feature;

[0037] constructing a navigation environment sketch according to the plurality of environment dynamic spaces and the navigation track of the submarine body.

[0038] Optionally, the constructing a tail propulsion part according to the submarine body, the propeller and the rudder assembly, defining a plurality of orientation adjustment nodes according to the tail propulsion part, the navigation environment sketch and the water flow speed comprises:

[0039] associating the navigation environment sketch and the omni-directional steering vector propulsion device;

[0040] defining the submarine body, the propeller and the rudder assembly based on the traversal of the omni-directional steering vector propulsion device;

[0041] defining a multi-dimensional parameter system based on the multiple interacting the submarine body, the propeller and the rudder assembly;

[0042] constructing a tail propulsion part based on the multi-dimensional parameter system, the submarine body, the propeller and the rudder assembly;

[0043] associating the tail propulsion part, the navigation environment sketch and the water flow speed;

[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, defining a steering space according to each orientation adjustment node and corresponding environmental features, and dynamically adjusting the orientation parameters of the servo assembly according to multiple interactions between the steering space and the tail propulsion unit, includes:

[0046] Freeze each position to adjust the nodes;

[0047] Associate each orientation adjustment node with the corresponding environmental features;

[0048] Define multiple spatial parameters based on the nodes in each direction and the corresponding environmental characteristics, and define the steering space based on the multi-dimensional control of multiple spatial parameters;

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

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

[0051] The orientation 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, the establishment 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 management and control of the propeller propulsion parameters 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 orientation adjustment of the steering gear assembly, the attitude of the steering gear assembly, the attitude of the submersible body, and the attitude of the propeller are collected;

[0055] The posture of the steering gear assembly, the posture of the submersible body, the posture of the propeller and the water depth position are associated; and an attitude system is constructed based on the posture of the steering gear assembly, the posture of the submersible body, the posture of the propeller and the water depth position.

[0056] Optionally, the real-time monitoring of the orientation 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 orientation parameters of the steering gear assembly, and the water flow velocity, and dynamically controlling the propulsion parameters of the propeller, also includes:

[0057] Correlate the attitude system, the position parameters of the servo assembly and the water flow speed;

[0058] A first propulsion parameter is defined according to the attitude system and the orientation 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 propeller are defined based on the first propulsion parameter and the second propulsion parameter, and the propulsion parameters of the propeller are dynamically controlled.

[0060] In an embodiment of the present invention, a servo fixed base is used to connect the submersible body to be propelled; a thruster is arranged on one side of the servo fixed base, and the thruster is used to output a propulsion force in a working state; the servo assembly is arranged between the servo fixed base and the thruster; the servo assembly includes a plurality of servos, and the plurality of servos are arranged in sequence to form a rotation control module in multiple directions; each rotation control module controls the corresponding direction control and performs an all-round steering adjustment on the thruster, thereby realizing the navigation of the servo fixed base and the submersible body driven by the servo assembly and the thruster, and realizing 360-degree all-round power steering of the servo 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, the method in the embodiment of the present invention is used to collect 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; a navigation environment schematic diagram is constructed based on the navigation trajectory of the submarine body and the corresponding environmental parameters; a tail propulsion unit is constructed according to the submarine body, the thruster and the servo 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 submarine body and the attitude of the propeller; the propulsion parameters of the propeller 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 propeller 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 propeller, and ensures the dynamic adjustment of the propeller. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any 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 the hull including the submersible body in an embodiment of the present invention;

[0066] Figure 3 1 is a flow chart of a control method for an omnidirectional steering vector propulsion device according to an embodiment of the present invention;

[0067] Figure 4 1 is a flow chart of step S11 in the control method of the omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0068] Figure 5 1 is a flow chart of step S12 in the control method of the omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0069] Figure 6 1 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 1 is a flow chart of step S14 in the control method of the omnidirectional steering vector propulsion device in an embodiment of the present invention;

[0071] Figure 8 1 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] Figure 9 4 is a flow chart of S16 in the control method of the omnidirectional steering vector propulsion device in an embodiment of the present invention. DETAILED DESCRIPTION

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0074] See also Figures 1 to 9A full-range steering vector propulsion device includes a servo fixed base 1, a direction control servo assembly, a servo connecting frame assembly and a plurality of thrusters, wherein the servo fixed base 1 is used to connect the AUV submersible body to be propelled. The direction control servo assembly is coupled to the servo fixed base 1 and includes a plurality of direction control servos. The servo connecting frame assembly includes a plurality of servo connecting frames, wherein corresponding servo connecting frames among the plurality of servo connecting frames are alternately arranged in sequence with corresponding direction control servos among the plurality of direction control servos and rotated by control of corresponding direction control servos among the plurality of direction control servos. A plurality of thrusters 4 are coupled to the servo connecting frame at one end away from the servo fixed base 1 and are adapted to at least partially output the 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, wherein the first U-shaped steering gear connecting frames 2 are larger than 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 be equal to the size of the second U-shaped steering gear connecting frames 6.

[0076] Reference Figure 1 The directional control servo assembly includes a first directional control servo 8, a second directional control servo 7, and a third directional control servo 3. The first directional control servo 8 has a rotating shaft end coupled to the bottom edge of a 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 directional control servo 7 has a non-rotating shaft end coupled to a side edge of the first sub-connecting frame 21, and a rotating shaft end coupled to a side edge of a fourth sub-connecting frame 61 of the plurality of second U-shaped servo connecting frames 6. The third directional control servo 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 servo 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 servo connecting frames 6, wherein the bottom edges of the second sub-connecting frame 22 and 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 servo 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 embodiment, 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, and the opposite surface is regarded as the bottom surface. 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 one specific embodiment, a groove can be formed in the center of the servo mounting base 1, into which a first directional control servo 8 is secured, with the bottom surface of the first directional control servo 8 being aligned with the bottom of the groove. The rotation axis of the first directional control servo 8 is secured to the bottom edge of the first sub-connector 21 of the first U-shaped servo connecting frame 2. This servo 30 can control axial rotation, thereby achieving one degree of freedom of control.

[0079] Furthermore, the non-rotating end of the second directional control servo 7 is fixed between the two side edges of the first sub-connector 21, ensuring that the positive y-axis direction of the second directional control servo 7 is aligned with the positive z-axis direction. The two second sub-connector 22 and the fifth sub-connector 61 are fixed at their bases, maintaining their sides parallel. One side is clamped to the rotating end of the second directional control servo 7, while the other side is clamped to the non-rotating end of the third directional control servo 3. The positive x-axis and y-axis directions of the third directional control servo 3 and the second directional control servo 7 are kept aligned, respectively. The third directional control servo 3 and the second directional control servo 7 form a yaw servo group, controlling the second degree of freedom. Thus, the control of the first directional control servo 8, the second directional control servo 7, and the third directional control servo 3 can achieve dual-degree-of-freedom rotation, laying the foundation for vector propulsion.

[0080] Furthermore, the fifth sub-connector 62 of the two second U-shaped servo connectors 6 is clamped to the rotating shaft end of the third directional control servo 3, similar to the previous operation. A propeller 4 is supported on each side of the other end via a propeller fixing block 5. The propeller axis of each propeller 4 is aligned with the positive y-axis of the second directional control servo 7 and the third directional control servo 3, thus forming a typical example embodiment of the structure of an omnidirectional vector propulsion device. In another embodiment, the servo fixing base 1 can be used to connect to the submersible body.

[0081] This invention utilizes biomimetic concepts to design an omnidirectional steering vector propulsion device. Compared to traditional propulsion devices, this device offers improved steering performance and higher propulsion efficiency than similar biomimetic devices. In practical applications, this device can propel submersibles sensitively and efficiently, helping them adapt to complex seabed terrain.

[0082] In another embodiment, referring to Figure 2 The present invention comprehensively considers various performances of underwater autonomous robots 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 submersible body, also called the "hull") has a longitudinal length of 1m (1000mm) and a lateral width and height of 0.1m (100mm).

[0085] (2) Total volume and total 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 assembly is completed, the plan is to adjust the underwater autonomous robot to float on the water in a static state by adding counterweights or buoyancy blocks, so that about half of it is exposed above the water surface, 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 the 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 positions 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) Inherent stability, heading stability, heading change capability, braking capability, etc.

[0099] The underwater autonomous robot deviates from its original route and heading under small disturbances. After the disturbance is removed, it is difficult to return to the original motion state without control, and will eventually 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 instructions issued by the control device and enter a head rotation motion, so it has good initial rotation ability; the propeller of the underwater autonomous robot can rotate forward and reverse, which can stop the underwater autonomous robot in the water in time, so it has emergency braking capability.

[0100] This autonomous underwater robot simulates the swinging motion of a real fish's tail, helping to improve its stealth and reduce interference with marine life during operation. However, it also optimizes the propulsion system based on the propulsion of fish tails by replacing it with propeller propulsion, thereby increasing propulsion efficiency and meeting different speed requirements. Tank tests have shown that this propulsion device can effectively reduce the turning radius of the autonomous underwater robot. A simple fish tail can only achieve left-right steering, and up-down steering still needs to be addressed. Therefore, the present invention further optimizes the structure to vector propulsion, which can achieve multi-directional steering, including vertical upward and vertical downward. This all-round steering eliminates the need for the submersible to be restricted to a single up-down, left-right, or right-side direction, and can change direction in any direction, which facilitates the submersible's flexible operation in various complex terrains. The multimodal propulsion system allows the submersible to travel in a variety of states, either at high or low speed, or in forward or reverse directions.

[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 omnidirectional steering adjustment on the propeller, thereby enabling the servo fixed base and the submarine body to navigate under the drive of the servo assembly and the propeller. Based on the omnidirectional steering adjustment of the propeller, 360-degree omnidirectional power steering of the servo fixed base and the submarine body is achieved, ensuring the sensitive navigation of the omnidirectional steering vector propulsion device, thereby helping the submarine adapt to complex underwater or seabed terrain.

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

[0103] Step S11: collecting the navigation trajectory 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 part according to the submersible main body, the propeller and the rudder assembly, defining a plurality of orientation adjustment nodes according to the tail propulsion part, the navigation environment sketch and the water flow speed;

[0107] Step S15: defining a steering space according to each orientation adjustment node and the corresponding environmental feature, dynamically adjusting the orientation parameter of the rudder assembly according to the multiple interactions of the steering space and the tail propulsion part;

[0108] Step S16: monitoring the orientation adjustment of the rudder assembly in real time, constructing a posture system according to the posture of the rudder assembly, the posture of the submersible main body and the posture of the propeller, defining the propulsion parameter of the propeller based on the posture system, the orientation parameter of the rudder assembly and the water flow speed, and dynamically controlling the propulsion parameter of the propeller.

[0109] In the example embodiment of the present application, by the method in the embodiment of the present application, the navigation trajectory of the submersible main body is collected; a plurality of environmental parameters are collected based on the environmental detection of the navigation trajectory of the submersible main body; a navigation environment sketch is constructed based on the navigation trajectory of the submersible main body and the corresponding environmental parameters; a tail propulsion part is constructed according to the submersible main body, the propeller and the rudder assembly, and a plurality of orientation adjustment nodes are defined according to the tail propulsion part, the navigation environment sketch and the water flow speed, which is compatible with the overall consideration of the tail propulsion part, the navigation environment sketch and the water flow speed, realizes the multidimensional control of the tail propulsion part, the navigation environment sketch and the water flow speed, and guarantees the accuracy of the plurality of orientation adjustment nodes.

[0110] Further, a steering space is defined according to each orientation adjustment node and the corresponding environmental feature, the orientation parameter of the rudder assembly is dynamically adjusted according to the multiple interactions of the steering space and the tail propulsion part; the orientation adjustment of the rudder assembly is monitored in real time, a posture system is constructed according to the posture of the rudder assembly, the posture of the submersible main body and the posture of the propeller, the propulsion parameter of the propeller is defined based on the posture system, the orientation parameter of the rudder assembly and the water flow speed, and the propulsion parameter of the propeller is dynamically controlled, which is compatible with the overall consideration of the posture system, the orientation parameter of the rudder assembly and the water flow speed, realizes the multiple interactions of the posture system, the orientation parameter of the rudder assembly and the water flow speed, guarantees the accurate control of the propulsion parameter of the propeller, and guarantees the dynamic adjustment of the propeller.

[0111] Reference Figure 4 In step S11, the navigation trajectory of the submersible main body is collected;

[0112] In the specific implementation process of the present application, the specific steps can be:

[0113] S111: collecting the position of the submersible main body;

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

[0115] S113: constructing a primary trajectory screening mechanism based on 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 set of primary selected trajectories according to the primary trajectory screening mechanism and the primary screening of multiple trajectories;

[0118] S116: defining a corresponding matching degree based on the pre-selected 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 velocity, 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 submarine body, and the propulsion power of the omnidirectional steering vector propulsion device. Multiple trajectories, the shape of the submarine body, and the propulsion power of the omnidirectional steering vector propulsion device are taken into consideration as a whole, 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 speed, 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, thereby ensuring 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 trajectory of the submersible;

[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, fully considering 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 track of the submarine body; multiple environmental parameters are collected based on the environmental detection of the navigation track of the submarine body, thereby realizing the environmental detection of the navigation track of the submarine body, and fully considering multiple positions in the navigation track of the submarine body, so as to facilitate environmental control along the navigation track 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 trajectory of the submersible body and the corresponding environmental parameters to form an environmental combination for each navigation position;

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

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

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

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

[0140] In the embodiments 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 submarine 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 each navigation position; each navigation position is sorted, and multiple interactions are performed on each environmental feature, thereby ensuring multiple interactions of each environmental feature.

[0142] Furthermore, the corresponding environmental dynamic space is formed according to the interaction of various environmental characteristics; the 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, thereby realizing the overall consideration of multiple environmental dynamic spaces and the navigation trajectory of the submarine body, realizing the multi-dimensional control of multiple environmental dynamic spaces and the navigation trajectory of the submarine body, and 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 the submersible body, the propeller, and the steering gear assembly based on the traversal of the omnidirectional steering vector propulsion device;

[0147] S143: Define a multi-dimensional parameter system based on the 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: Define multiple 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 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 servo assembly, and multiple azimuth adjustment nodes are defined according to the tail propulsion unit, the navigation environment schematic diagram and the water flow speed, which is compatible with the overall consideration of the tail propulsion unit, the navigation environment schematic diagram and the water flow speed, realizes multi-dimensional control of the tail propulsion unit, the navigation environment schematic diagram and the water flow speed, 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; based on the traversal of the omnidirectional steering vector propulsion device, the submersible body, propeller and steering gear components are defined, the traversal of the omnidirectional steering vector propulsion device is realized, the submersible body, propeller and steering gear components are introduced, and the submersible body, propeller and steering gear components are considered as a whole.

[0153] Furthermore, a multi-dimensional parameter system is defined based on the multiple interactions of the submersible body, propeller and steering gear components, which realizes the multiple interactions of the submersible body, propeller and steering gear components, ensures the multi-dimensional control of the multi-dimensional parameter system, and improves 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, which is compatible with the overall consideration of the tail propulsion unit, the navigation environment schematic diagram and the water flow velocity, realizes the 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 orientation adjustment node and the corresponding environmental characteristics, and the orientation parameters of the servo assembly are 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 multiple space parameters according to the respective orientation adjustment node and the corresponding environmental characteristics, and defining a turning space according to the multidimensional control of the multiple space parameters;

[0160] S154: associating the turning space and the tail propulsion part;

[0161] S155: multiple interactions of the turning space and the tail propulsion part;

[0162] S156: dynamically adjusting the orientation parameters of the rudder assembly based on the multiple interactions of the turning space and the tail propulsion part.

[0163] In the embodiments of the present application, the respective orientation adjustment nodes are defined, and the respective orientation adjustment nodes are controlled, and meanwhile, the respective orientation adjustment nodes and the corresponding environmental characteristics are associated; multiple space parameters are defined according to the respective orientation adjustment nodes and the corresponding environmental characteristics, and a turning space is defined according to the multidimensional control of the multiple space parameters, thereby realizing the multidimensional control of the multiple space parameters and ensuring the accuracy of the turning space.

[0164] Therefore, the turning space and the tail propulsion part are associated; multiple interactions of the turning space and the tail propulsion part are performed; and the orientation parameters of the rudder assembly are dynamically adjusted based on the multiple interactions of the turning space and the tail propulsion part, thereby realizing the multiple interactions of the turning space and the tail propulsion part and ensuring the adjustment accuracy of the orientation parameters of the rudder assembly.

[0165] Reference Figure 9 In S16, the orientation adjustment of the rudder assembly is monitored in real time, a posture system is constructed according to the posture of the rudder assembly, the posture of the underwater vehicle body and the posture of the propeller, the propulsion parameters of the propeller are defined based on the posture system, the orientation parameters of the rudder assembly and the water flow speed, and the propulsion parameters of the propeller are dynamically controlled;

[0166] In the specific implementation process of the present application, the specific steps can be:

[0167] S161: triggering the orientation adjustment of the rudder assembly according to the orientation parameters of the rudder assembly, and monitoring the orientation adjustment of the rudder assembly in real time;

[0168] S162: in the process of the orientation adjustment of the rudder assembly, the posture of the rudder assembly, the posture of the underwater vehicle body and the posture of the propeller are collected;

[0169] S163: associating the posture of the rudder assembly, the posture of the underwater vehicle body, the posture of the propeller and the water depth position; and constructing a posture system according to the posture of the rudder assembly, the posture of the underwater vehicle body, the posture of the propeller and the water depth position;

[0170] S164: associating the posture system, the orientation parameters of the rudder assembly and the water flow speed;

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

[0172] S166: defining a propulsion parameter of the propeller based on the first propulsion parameter and the second propulsion parameter, and dynamically controlling the propulsion parameter of the propeller.

[0173] During the specific implementation of the present invention, 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 a posture system is constructed according to the posture of the servo assembly, the posture of the submarine 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 managed and 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 orientation adjustment of the servo assembly is triggered according to the orientation parameters of the servo assembly, and the orientation adjustment of the servo assembly is monitored in real time; in the process of orientation adjustment of the servo assembly, the posture of the servo assembly, the posture of the submarine body and the posture of the propeller are collected, and the posture of the servo assembly, the posture of the submarine body and the posture of the propeller are introduced to control the posture of the servo assembly, the posture of the submarine body and the posture of the propeller.

[0175] Therefore, the posture of the servo assembly, the posture of the submersible body, the posture of the propeller 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 propeller 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 propeller 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 propeller and the water depth position, thereby ensuring the accuracy of the attitude system.

[0176] Furthermore, the attitude system, the orientation 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 orientation 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 managed and controlled, which is compatible with the overall consideration of the attitude system, the orientation parameters of the steering gear assembly and the water flow velocity, realizes multiple interactions of the attitude system, the orientation 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, the method in the embodiment of the present invention is used to collect 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; a navigation environment schematic diagram is constructed based on the navigation trajectory of the submarine body and the corresponding environmental parameters; a tail propulsion unit is constructed according to the submarine body, the thruster and the servo 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 submarine body and the attitude of the propeller; the propulsion parameters of the propeller 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 propeller 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 propeller, and ensures the dynamic adjustment of the propeller.

[0179] Through the above description of the embodiments, it will be readily understood by those skilled in the art that the exemplary embodiments described herein may be implemented via software or via a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored on a non-volatile storage medium (such as a CD-ROM, USB flash drive, or navigation hard drive) or on a network and includes instructions for causing a computing device (such as a personal computer, server, terminal device, or network device) to execute the methods according to the embodiments of the present disclosure.

[0180] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Furthermore, the computer program instructions are stored therein, and when executed by a computer, the computer executes the above methods.

[0181] In addition, the above is a detailed introduction to the omnidirectional steering vector propulsion device and its control method provided by the embodiment of the present invention. 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 scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An omnidirectional steering vector propulsion device, characterized in that: include: A steering gear fixing base (1) for connecting to the 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 are alternately arranged in sequence with corresponding direction control steering gears among the plurality of direction control steering gears and rotate under 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 adapted to at least partially output a force for propelling the submersible body in a working state; wherein the omnidirectional steering vector propulsion device is controlled by the following method: Collect the navigation trajectory 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; Construct the tail propulsion unit based on the submersible body, thruster, and steering gear components, and define multiple azimuth adjustment nodes based on the tail propulsion unit, navigation environment diagram, and water flow speed; 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 between the steering space and the tail propulsion unit; Monitor the azimuth adjustment of the servo assembly in real time, build an attitude system based on 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.

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 includes: A first direction control steering gear (8), a rotating shaft end 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 a non-rotating shaft end 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 a side of the first sub-connecting frame (21) and the rotating shaft end of which is coupled to a side of a 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) among 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) among 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. The omnidirectional steering vector propulsion device according to claim 1, 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 vehicle body and a 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 based on a primary trajectory screening mechanism and primary screening of multiple trajectories; Define the corresponding matching degree based on the set of preselected trajectories and the trajectories recorded by the vehicle body; 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.

6. The omnidirectional steering vector propulsion device according to claim 5, characterized in that: The environmental detection based on the navigation trajectory of the submersible body and the collection of multiple environmental parameters include: Freeze the navigation trajectory 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 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 trajectory of the submersible body.

7. The omnidirectional steering vector propulsion device according to claim 6, characterized in that: The navigation environment diagram is constructed based on the navigation trajectory of the submersible body and the corresponding environmental parameters, including: 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; Sort each navigation position and perform multiple interactions on each environmental feature; 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.

8. The omnidirectional steering vector propulsion device according to claim 7, characterized in that: The tail propulsion unit is constructed based on the submersible body, the propeller and the steering gear assembly, and multiple azimuth adjustment nodes are defined based on the tail propulsion unit, the navigation environment schematic diagram and the water flow speed, including: Schematic diagram of the associated navigation environment and omnidirectional steering vector propulsion device; Based on the traversal of the omnidirectional vector propulsion device, the submersible body, propeller and steering gear components are defined; Define a multi-dimensional parameter system based on the multiple interactions of the submersible body, propeller and steering gear components; Construct the tail propulsion unit based on the multi-dimensional parameter system, the submersible body, the thruster and the steering gear components; Associate the tail propulsion unit, the navigation environment diagram and the water speed; Define multiple azimuth adjustment nodes according to the tail propulsion unit, the navigation environment diagram and the water flow speed; The method further comprises defining a steering space according to each orientation adjustment node and corresponding environmental characteristics, and dynamically adjusting the orientation parameters of the steering gear assembly according to multiple interactions between the steering space and the tail propulsion unit, including: Freeze each position to adjust the nodes; Associate each orientation adjustment node with the corresponding environmental features; Define multiple spatial parameters based on the nodes in each direction and the corresponding environmental characteristics, and define the steering space based on the multi-dimensional control of multiple spatial parameters; Associating the steering space with the tail 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.

9. The omnidirectional steering vector propulsion device according to claim 8, characterized in that: The real-time monitoring of the azimuth adjustment of the steering gear assembly, the establishment 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 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 orientation adjustment of the steering gear assembly, the attitude of the steering gear assembly, the attitude of the submersible body, and the attitude of the propeller 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; building an attitude system based on the attitude of the steering gear assembly, the attitude of the submersible body, the attitude of the propeller, and the water depth position; The method further includes: monitoring the position adjustment of the steering gear assembly in real time, 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 position parameters of the steering gear assembly, and the water flow velocity, and dynamically controlling the propulsion parameters of the propeller; Correlate the attitude system, the position parameters of the servo assembly and the water flow speed; A first propulsion parameter is defined according to the attitude system and the orientation 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 propeller are defined based on the first propulsion parameter and the second propulsion parameter, and the propulsion parameters of the propeller are dynamically controlled.

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