Underwater robot and vector propulsion method thereof

Abstract

The invention discloses an underwater robot and a vector propulsion method thereof, belongs to the technical field of underwater robots, and aims to solve the technical problems that in the prior art, the propulsion output direction of a propeller is single, and the requirement of water jet propulsion on water quality is high. The shell assembly comprises a front protection cover, a control cabin, an energy cabin and a tail cabin protection fixing frame which are connected in sequence. The propelling assembly comprises a propelling unit, a steering unit and a pitching unit; the propelling unit is used for providing thrust, and the steering unit and the pitching unit are used for controlling steering and lifting motion of the robot respectively. And the control assembly is arranged in the control cabin and is electrically connected with the propelling assembly. The underwater robot provided by the invention can be better used for underwater operation under various working conditions, is convenient to control and has good maneuverability and flexibility.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to an underwater robot and a vector propulsion method thereof. Background Art

[0002] Traditional AUVs usually use propellers to control the movement of robots, but they are noisy and easily affected by ocean currents. Although bionic propulsion and multi-propulsion combinations can effectively improve the shortcomings of propeller propulsion, their structural systems are complex and energy consumption is high, making them unsuitable for large-scale AUV use.

[0003] The current vector propulsion methods mainly include water jet propulsion and propeller propulsion. The water jet propulsion method has low vibration and noise, high efficiency and maneuverability, and is easy to achieve vectorization, but its special structure has low propulsion efficiency at low speeds: However, the propulsion efficiency of the water jet propulsion device is lower than that of the propeller at low speeds (such as less than 20km / h), which means that water jet propulsion may not be the most efficient choice when slow speed or fine-tuning the position is required, and it has high requirements for water quality. If the water quality is poor and contains a lot of impurities or particulate matter, these substances may clog the pipes or wear the nozzles, thereby affecting the propulsion efficiency and service life. The magnetically coupled vector propulsion device has a complex structure and is difficult to implement.

[0004] Existing propeller propulsion devices can only output power in one direction and are easily affected by ocean currents. The more powerful the propeller, the greater the noise it generates. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater robot and a vector propulsion method thereof, so as to solve the technical problems in the prior art that the propeller propulsion output direction is single and the water jet propulsion has high requirements on water quality.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides an underwater robot, comprising:

[0008] A housing assembly, the housing assembly comprising a front protective cover, a control cabin, an energy cabin and a tail cabin protective fixing frame connected in sequence;

[0009] A propulsion assembly, the propulsion assembly comprising a propulsion unit, a steering unit and a pitch unit; the propulsion unit is used to provide thrust, and the steering unit and the pitch unit are used to control the steering and lifting movements of the robot respectively;

[0010] A control component is disposed in the control cabin and is electrically connected to the propulsion component.

[0011] The propulsion assembly of the present invention combines a fixed propulsion unit and a binary vector propulsion structure composed of a steering unit and a pitch unit, so that the underwater robot has a certain flexibility under complex working conditions, thereby increasing the working range of the underwater robot; at the same time, the operator can adjust the output power of the propulsion assembly through the control assembly, thereby reducing the operating noise of the robot when necessary.

[0012] Optionally or preferably, the propulsion unit comprises a propulsion motor, a transmission shaft and a propeller; one end of the transmission shaft is connected to the output shaft of the propulsion motor, and the other end is connected to the propeller;

[0013] The steering unit comprises a steering motor, a steering control link, a fixed steering rudder blade and a movable steering rudder blade hinged to the fixed steering rudder blade; the steering motor is fixed to the fixed steering rudder blade, and the movable angle of the movable steering rudder blade is adjusted by the steering control link;

[0014] The pitch unit comprises a lifting motor, a lifting control link, a fixed lifting blade and a movable lifting blade hinged to the fixed lifting blade; the lifting motor is fixed to the fixed lifting blade, and the movable angle of the movable lifting blade is adjusted by the lifting control link.

[0015] Optionally or preferably, it also includes:

[0016] A sensor component, the sensor component is electrically connected to the control component, and includes an image acquisition module and a status monitoring module;

[0017] The state monitoring module includes a position detection unit, an acceleration detection unit, a pressure detection unit and a gyroscope.

[0018] Optionally or preferably, the control component includes an environment monitoring module, a vision module, a wireless communication module, a Doppler odometer module, an inertial navigation module, a motor drive module and a feedback module;

[0019] The environment monitoring module is electrically connected to the state monitoring module and is used to collect and process data acquired by the state monitoring module;

[0020] The visual module is electrically connected to the image acquisition module and is used to identify and acquire image information acquired by the image acquisition module;

[0021] The wireless communication module is used to communicate with the ground station;

[0022] The Doppler odometer module and the inertial navigation module are used for planning the motion path of the underwater robot;

[0023] The motor drive module is used to control and adjust the propulsion motor, steering motor and lifting motor;

[0024] The feedback module is used to feed back the thrust state information and posture state information of the underwater robot to the ground end.

[0025] The present invention is provided with a sensor component and a control component, so that the underwater robot can accurately identify the surrounding environment and its own posture information, and interact with the ground station through the control component, so that the operator can remotely control the underwater robot; in addition, the sensor component and the control component can realize autonomous planning of the robot's operating path, thereby efficiently completing the operating task.

[0026] A vector propulsion method for an underwater robot comprises the following steps:

[0027] S1. Power-on inspection: After the underwater robot is powered on, it first performs a self-inspection of the device, and manually inspects the shell assembly and propulsion assembly;

[0028] S2, entering the water and running, placing the underwater robot at the target position and starting to run; the underwater robot collects surrounding environment information through the image acquisition module and sends the surrounding environment information to the visual module, and obtains the basic state parameters of the robot through the state monitoring module;

[0029] S3, path planning, autonomously planning the robot's movement route based on the surrounding environment information provided by the vision module through the Doppler odometer module and the inertial navigation module;

[0030] S4, execute along the specified path. After completing the path planning, the propulsion component is controlled by the motor drive module to make the underwater robot move along the specified path in a specific posture;

[0031] S5. Execution is completed, the robot returns to the water surface and the operation ends.

[0032] Optionally or preferably, the method for autonomously planning the robot motion route in S3 comprises the following steps:

[0033] S31, marking obstacles on the path through a visual module to obtain reference position information of the obstacles;

[0034] S32. Determine the distance and angle between the underwater robot and the obstacle according to the reference position information of the obstacle, and adjust the active steering rudder angle and the active elevator rudder angle within a safe distance.

[0035] Optionally or preferably, the method for marking an obstacle in S31 comprises the following steps:

[0036] S311, establishing a navigation body coordinate system and a propeller coordinate system;

[0037] The method for establishing the navigation body coordinate system is as follows: taking the buoyancy center of the underwater robot as the coordinate origin, establishing the navigation body coordinate system B-xyz, wherein B is the coordinate origin, the x-axis is parallel to the axis of the housing assembly and points to the direction of the front protective cover as the positive direction, the y-axis points to the direction directly above the image acquisition module as the positive direction, and the z-axis points to the direction to the right of the image acquisition module as the positive direction;

[0038] The method for establishing the propeller coordinate system is as follows: taking the position of the propeller as the coordinate origin, establishing the propeller coordinate system P-xyz, wherein P is the coordinate origin, the x-axis is parallel to the axis of the housing assembly and points to the direction of the front protective cover as the positive direction, the y-axis points to the direction directly above the image acquisition module as the positive direction, and the z-axis points to the direction to the right of the image acquisition module as the positive direction;

[0039] S312, obtaining the coordinate information of the obstacle in the navigation body coordinate system through the image acquisition module;

[0040] S313. Convert the coordinate information of the obstacle in the navigation body coordinate system into the coordinate information in the propeller coordinate system, and use the coordinate information of the obstacle in the propeller coordinate system as the reference position information.

[0041] Optionally or preferably, the method of converting the coordinate information of the obstacle in the navigation body coordinate system into the coordinate information in the propeller coordinate system in S313 is to convert the coordinate information of the obstacle in the navigation body coordinate system into the coordinate information in the propeller coordinate system through a conversion matrix:

[0042]

[0043]

[0044] Among them, δ h is the active steering rudder angle representing the relative relationship between the navigation body coordinate system and the propeller coordinate system, δ v is the active elevator rudder angle representing the relative relationship between the navigation body coordinate system and the propeller coordinate system, C By (·) is the rotation matrix of the first rotation of the navigation body coordinate system B-xyz around the By axis, and the coordinate system B-x'yz', C Bz (·) is the rotation matrix of the second rotation of the vehicle coordinate system around the B-z' axis, is the conversion matrix when the navigation body coordinate system is converted to the propeller coordinate system, and is the conversion matrix when the propeller coordinate system is converted to the navigation body coordinate system.

[0045] Optionally or preferably, the method of making the underwater robot move along a specified path in a specific posture in S4 comprises the following steps:

[0046] S41. Analyze the thrust and torque generated by the propulsion assembly, and obtain the force and torque of the propulsion assembly on the underwater robot as follows:

[0047]

[0048] Among them, [F X F Y F Z ] is the propeller thrust component on the x-axis, y-axis, and z-axis in the navigation body coordinate system, [M X M Y M Z ] is the component of the torque generated by the propeller on the x-axis, y-axis, and z-axis in the navigation body coordinate system, F TP is the forward thrust generated by the propeller in the vehicle coordinate system, M TP is the torque generated by the propeller in the vehicle coordinate system, l BP is the distance from the origin of the propeller coordinate system to the origin of the navigation body coordinate system;

[0049] S42, providing the main propulsion force along the x-axis in the navigation body coordinate system through the propeller, adjusting the rudder angle of the movable steering rudder and the rudder angle of the movable elevator through the movable steering rudder blade and the movable elevator rudder blade, thereby achieving adjustment in other directions;

[0050] Optionally or preferably, the method for adjusting the rudder angle of the movable steering rudder and the rudder angle of the movable elevator rudder by means of the movable steering rudder blade and the movable elevator rudder blade in S42 comprises:

[0051] When δ h =0°, δ v =0°, the underwater robot moves horizontally along the x-axis direction of the navigation body coordinate system, and the force and torque of the propulsion component on the underwater robot are obtained as follows:

[0052]

[0053] When δ h =15°, δ v =0°, the force and torque of the propulsion assembly on the underwater robot are:

[0054]

[0055] At this time, the underwater robot shifts to the right along the z-axis direction of the navigation body coordinate system;

[0056] When δ h =0°, δ v =15°, the force and torque of the propulsion assembly on the underwater robot are:

[0057]

[0058] At this time, the underwater robot shifts upward along the y-axis direction of the navigation body coordinate system;

[0059] When δ h =15°, δ v =15°, the force and torque of the propulsion assembly on the underwater robot are:

[0060]

[0061] At this time, the underwater robot shifts to the upper right along the yz plane direction of the navigation body coordinate system.

[0062] Based on the above technical solution, the present invention can at least produce the following technical effects:

[0063] The underwater robot provided by the present invention has a propulsion assembly that combines a fixed propulsion unit and a binary vector propulsion structure composed of a steering unit and a pitch unit, so that the underwater robot has a certain flexibility under complex working conditions, thereby increasing the working range of the underwater robot; at the same time, the output power of the propulsion assembly can be adjusted through the control assembly, thereby reducing the operating noise;

[0064] The vector propulsion method based on the underwater robot propulsion device provided by the present invention enables the underwater robot to combine environmental information and its own posture information to realize autonomous planning of the operation path, thereby completing the operation task quickly and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 The overall structure of the underwater robot of the present invention is shown in FIG. Figure 1 ;

[0066] Figure 2 The overall structure of the underwater robot of the present invention is shown in FIG. Figure 2 ;

[0067] Figure 3 It is a schematic diagram of the stern structure of the underwater robot of the present invention;

[0068] Figure 4 It is a schematic diagram of the propulsion motor-propeller structure of the underwater robot of the present invention;

[0069] Figure 5 It is a schematic diagram of the navigation body coordinate system and the propeller coordinate system in the vector propulsion method of the present invention;

[0070] Figure 6 is the vector propulsion method of the present invention when δ h =0°, δ v Schematic diagram of force analysis of underwater robot when =0°;

[0071] Figure 7 is the vector propulsion method of the present invention when δ h =15°, δ v Schematic diagram of force analysis of underwater robot when =0°;

[0072] Figure 8 is the vector propulsion method of the present invention when δ h =0°, δ v Schematic diagram of force analysis of underwater robot when =15°;

[0073] Fig. 9 is the vector propulsion method of the present invention when δ h =15°, δ v Schematic diagram of force analysis of underwater robot when =15°;

[0074] Fig.10 It is a flow chart of the vector propulsion method of the underwater robot of the present invention.

[0075] In the figure: 100, housing assembly; 110, front protective cover; 120, control cabin; 130, energy cabin; 140, tail cabin protection fixing frame;

[0076] 200, propulsion assembly; 210, propulsion motor; 220, transmission shaft; 230, propeller; 240, steering motor; 250, steering control link; 260, fixed steering rudder blade; 270, movable steering rudder blade; 280, lifting motor; 290, lifting control link; 2100, fixed lifting rudder blade; 2110, movable lifting rudder blade;

[0077] 300, control component;

[0078] 400, sensor component; 410, image acquisition module; 420, status monitoring module. DETAILED DESCRIPTION

[0079] 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; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work belong to the scope of protection of the present invention.

[0080] Embodiment 1:

[0081] See also Figures 1 to 4 , an underwater robot includes a shell component 100, a propulsion component 200 arranged at the stern of the shell component 100, and a control component 300 and a sensor component 400 arranged in the shell component 100.

[0082] In this embodiment, the shell assembly 100 includes a front protective cover 110, a control cabin 120, an energy cabin 130 and a tail cabin protection fixing frame 140 which are connected in sequence; the front protective cover 110 is made of transparent material, the control assembly 300 is arranged in the above-mentioned control cabin 120, the sensor assembly 400 includes an image acquisition module 410 and a status monitoring module 420, wherein the image acquisition module 410 is a binocular camera and is arranged in the control cabin 120, the status monitoring module 420 is arranged in the energy cabin 130, and the propulsion assembly 200 is fixed on the tail cabin protection fixing frame 140; it can be understood that a battery is also provided in the energy cabin 130 for realizing energy supply to various components of the robot. It should be noted that when the battery is connected to the steering motor 240 and the lifting motor 280, a BEC needs to be connected to provide a suitable voltage to the servo.

[0083] The propulsion assembly 200 includes a propulsion unit, a steering unit and a pitch unit;

[0084] In this embodiment, the propulsion unit is used to provide forward thrust, and the number is set as a group. In other embodiments, the number of propulsion units can be arranged according to actual work needs, and the arrangement method is described in detail in Example 2.

[0085] Specifically, the propulsion unit includes a propulsion motor 210, a transmission shaft 220 and a propeller 230. One end of the transmission shaft 220 is connected to the output shaft of the propulsion motor 210 via a coupling or other transmission reduction mechanism, and the other end is connected to the propeller 230. It is easy to understand that the propulsion unit is driven by the propulsion motor 210, and the propeller 230 is driven to rotate through the transmission shaft 220, thereby generating a forward thrust.

[0086] The above-mentioned steering unit includes a steering motor 240, a steering control link 250, a fixed steering rudder blade 260 and a movable steering rudder blade 270 hinged to the fixed steering rudder blade 260; in this embodiment, the above-mentioned steering motor 240 can be fixed on the fixed steering rudder blade 260, and the movable angle of the movable steering rudder blade 270 can be adjusted by the steering control link 250; specifically, one end of the steering control link 250 is connected to the output shaft of the steering motor 240, and the other end can act on the end face of the movable steering rudder blade 270, and can also act on the hinge, as long as it can drive the movable steering rudder blade 270 to rotate, and the operation can be arranged according to actual work needs.

[0087] Similarly, the pitch unit includes a lifting motor 280, a lifting control link 290, a fixed elevator blade 2100, and a movable elevator blade 2110 hinged to the fixed elevator blade 2100; the lifting motor 280 is fixed on the fixed elevator blade 2100, and the movable angle of the movable elevator blade 2110 is adjusted by the lifting control link 290.

[0088] In this embodiment, the sensor assembly 400 includes an image acquisition module 410 and a state monitoring module 420, wherein the state monitoring module 420 includes a position detection unit, an acceleration detection unit, a pressure detection unit and a gyroscope; the position information of the underwater robot can be obtained through the position detection unit, the speed and acceleration information can be obtained through the acceleration detection unit, the depth information of the robot can be obtained through the pressure detection unit, and the angle and angular velocity of the robot can be obtained through the gyroscope.

[0089] In this embodiment, the control component 300 can be implemented based on a single-chip microcomputer. The main board is a single-chip microcomputer with multiple interfaces, including DSM / PPM / SBUS, TELEM, PWM OUT, CAN, etc., wherein DSM / PPM / SBUS is used to communicate with a receiver, TELEM is used to communicate with a digital transmitter, PWM OUT is used to output a PWM signal, and the CAN interface is used to provide a CAN protocol to communicate with external devices. It includes an environmental monitoring module, a vision module, a wireless communication module, a Doppler odometer module, an inertial navigation module, a motor drive module, and a feedback module.

[0090] The environment monitoring module is electrically connected to the state monitoring module 420, and is used to collect and process the data obtained by the state monitoring module 420; the vision module is electrically connected to the image acquisition module 410, and is used to identify and collect information about the image information obtained by the image acquisition module 410; the wireless communication module is used to communicate with the ground station, and can be specifically a WIFI module and a corresponding receiver module; the Doppler odometer module and the inertial navigation module are used to plan the motion path of the underwater robot; the motor drive module is used to control and adjust the propulsion motor 210, the steering motor 240 and the lifting motor 280; the feedback module is used to feed back the thrust state information and posture state information of the underwater robot to the ground end.

[0091] Embodiment 2:

[0092] See also Figures 5 to 10 Based on the first embodiment, this embodiment provides a vector propulsion method based on the above-mentioned underwater robot, comprising the following steps:

[0093] S1. Power-on inspection: After the underwater robot is powered on, it first performs a self-inspection of the device, and manually inspects the shell assembly and propulsion assembly;

[0094] S2, entering the water and operating, placing the underwater robot at the target position and starting to operate; the underwater robot collects surrounding environment information through the image acquisition module 410 and sends the surrounding environment information to the visual module, and obtains the basic state parameters of the robot through the state monitoring module 420;

[0095] S3, path planning, autonomously planning the robot's movement route based on the surrounding environment information provided by the vision module through the Doppler odometer module and the inertial navigation module;

[0096] In this embodiment, the method for autonomously planning the robot motion path includes the following steps:

[0097] S31, marking obstacles on the path through a visual module to obtain reference position information of the obstacles;

[0098] S311, establishing a navigation body coordinate system and a propeller coordinate system;

[0099] The method for establishing the navigation body coordinate system is as follows: taking the buoyancy center of the underwater robot as the coordinate origin, establishing the navigation body coordinate system B-xyz, wherein B is the coordinate origin, the x-axis is parallel to the axis of the housing assembly 100 and the direction pointing to the front protective cover 110 is the positive direction, the y-axis is the direction pointing to the top of the image acquisition module 410 is the positive direction, and the z-axis is the direction pointing to the right side of the image acquisition module 410 is the positive direction;

[0100] The method for establishing the propeller coordinate system is: using the position of the propeller 230 as the coordinate origin, establishing the propeller coordinate system P-xyz, wherein P is the coordinate origin, the x-axis is parallel to the axis of the housing assembly 100 and the positive direction is the direction pointing to the front protective cover 110, the y-axis is the positive direction pointing to the direction directly above the image acquisition module 410, and the z-axis is the positive direction pointing to the right side of the image acquisition module 410;

[0101] S312, obtaining the coordinate information of the obstacle in the navigation body coordinate system through the image acquisition module 410;

[0102] S313, converting the coordinate information of the obstacle in the navigation body coordinate system into the coordinate information in the propeller coordinate system, and converting the coordinate information of the obstacle in the propeller coordinate system into the reference position information, the specific method is:

[0103] The method of obtaining the coordinate information in the propeller coordinate system is to convert the coordinate information of the obstacle in the navigation body coordinate system into the coordinate information in the propeller coordinate system through the conversion matrix:

[0104]

[0105]

[0106] Among them, δ h is the active steering rudder angle representing the relative relationship between the navigation body coordinate system and the propeller coordinate system, δ v is the active elevator rudder angle representing the relative relationship between the navigation body coordinate system and the propeller coordinate system, C By(·) is the rotation matrix of the first rotation of the navigation body coordinate system B-xyz around the By axis, and the coordinate system B-x'yz', C Bz (·) is the rotation matrix of the second rotation of the vehicle coordinate system around the B-z' axis, is the conversion matrix when the navigation body coordinate system is converted to the propeller coordinate system, and is the conversion matrix when the propeller coordinate system is converted to the navigation body coordinate system.

[0107] S32. Determine the distance and angle between the underwater robot and the obstacle according to the reference position information of the obstacle, and adjust the active steering rudder angle and the active elevator rudder angle within a safe distance.

[0108] In the process of path planning, the minimum deflection angle required for a smooth running path is calculated based on the distance and angle to the obstacle, and the active steering angle and active elevator angle are initially adjusted in advance within a safe distance to achieve advance prediction. The distance and angle of the obstacle are determined in real time during operation, and the active steering angle and active elevator angle are finely adjusted to ensure the stability of the underwater robot when avoiding obstacles.

[0109] S4, executing along the designated path. After completing the path planning, the propulsion assembly 200 is controlled by the motor drive module to make the underwater robot move along the designated path in a specific posture;

[0110] In this embodiment, the method for making the underwater robot move along a specified path in a specific posture includes the following steps:

[0111] S41, analyzing the thrust and torque generated by the propulsion assembly 220, and obtaining the force and torque of the propulsion assembly 200 on the underwater robot as follows:

[0112]

[0113] Among them, [F X F Y F Z ] is the component of the thrust of the propeller 230 on the x-axis, y-axis, and z-axis in the navigation body coordinate system, [M X M Y M Z ] is the component of the torque generated by the propeller 230 on the x-axis, y-axis, and z-axis in the navigation body coordinate system, which includes the torque M generated by the thrust generated by the propulsion device on the origin of the navigation body coordinate system TPB ; F TP is the forward thrust generated by the propeller 230 in the vehicle coordinate system, M TP is the torque generated by the propeller 230 in the vehicle coordinate system, l BP is the distance from the origin of the propeller coordinate system to the origin of the navigation body coordinate system;

[0114] It should be noted that the power sources of the propulsion component 200 in the underwater robot are divided into the propeller 230 and the binary vector propulsion structure. The main power source of the underwater robot is the forward thrust provided by the propeller 230. The above-mentioned binary vector propulsion structure achieves the effect of changing the direction of the forward thrust provided by the fixed propeller 230 through the action and influence on the water flow, thereby adjusting the navigation angle and posture of the underwater robot.

[0115] F TP and M TP Before performing the above calculations, it is necessary to transform it from the propeller coordinate system to the navigation body coordinate system through the conversion matrix in S313. The specific conversion method is:

[0116]

[0117]

[0118] Wherein, ρ is the water density of the working water area, D is the diameter of the propeller 230, n is the speed of the propeller 230 (r / min), K T is the thrust coefficient, K Q is the moment coefficient;

[0119] The torque generated by the propulsion assembly 200 on the origin of the navigation body coordinate system is:

[0120]

[0121] Among them, L BP It is the arm vector of the torque generated by the thrust assembly 200 on the origin of the vehicle coordinate system.

[0122] S42, the propeller 230 is used to provide the main propulsion force along the x-axis in the navigation body coordinate system, and the movable steering rudder blade 270 and the movable elevator rudder blade 2110 are used to adjust the movable steering rudder angle and the movable elevator rudder angle, so as to achieve adjustments in other directions, including the following specific postures:

[0123] When δ h =0°, δ v =0°, the underwater robot moves horizontally along the x-axis direction of the navigation body coordinate system, and the force and torque of the propulsion assembly 200 on the underwater robot are obtained as follows:

[0124]

[0125] When δ h =15°, δ v =0°, the force and torque of the propulsion assembly 200 on the underwater robot are obtained as follows:

[0126]

[0127] At this time, the underwater robot shifts to the right along the z-axis direction of the navigation body coordinate system;

[0128] When δ h =0°, δ v =15°, the force and torque of the propulsion assembly 200 on the underwater robot are obtained as follows:

[0129]

[0130] At this time, the underwater robot shifts upward along the y-axis direction of the navigation body coordinate system;

[0131] When δ h =15°, δ v =15°, the force and torque of the propulsion assembly 200 on the underwater robot are obtained as follows:

[0132]

[0133] At this time, the underwater robot shifts to the upper right along the yz plane direction of the navigation body coordinate system.

[0134] S5. Execution is completed, the robot returns to the water surface and the operation ends.

[0135] Embodiment three:

[0136] Based on the second embodiment, this embodiment provides a method for arranging a plurality of propulsion units and a method for calculating the force and torque.

[0137] Specifically, when the number of propulsion units is k, the force and torque of the k propulsion units on the entire underwater robot are:

[0138]

[0139] Wherein, is the output coefficient, which depends on the number and layout of propulsion units.

[0140] In this embodiment, the arrangement method of the multiple propulsion units is as follows: when there are multiple propulsion units, the multiple propulsion units need to be installed symmetrically along the x-axis.

[0141] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0142] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater robot, characterized in that: include: A housing assembly (100), the housing assembly (100) comprising a front protective cover (110), a control cabin (120), an energy cabin (130) and a tail cabin protection fixing frame (140) which are connected in sequence; A propulsion assembly (200), the propulsion assembly (200) comprising a propulsion unit, a steering unit and a pitch unit; the propulsion unit is used to provide thrust, and the steering unit and the pitch unit are used to control the steering and lifting movements of the robot respectively; A control component (300), wherein the control component (300) is disposed in the control cabin (120) and is electrically connected to the propulsion component (200).

2. The underwater robot according to claim 1, characterized in that: The propulsion unit comprises a propulsion motor (210), a transmission shaft (220) and a propeller (230); one end of the transmission shaft (220) is connected to the output shaft of the propulsion motor (210), and the other end is connected to the propeller (230); The steering unit comprises a steering motor (240), a steering control link (250), a fixed steering rudder blade (260), and a movable steering rudder blade (270) hinged to the fixed steering rudder blade (260); the steering motor (240) is fixed to the fixed steering rudder blade (260), and the movable angle of the movable steering rudder blade (270) is adjusted by the steering control link (250); The pitch unit comprises a lifting motor (280), a lifting control link (290), a fixed lifting blade (2100), and a movable lifting blade (2110) hinged to the fixed lifting blade (2100); the lifting motor (280) is fixed to the fixed lifting blade (2100), and the movable angle of the movable lifting blade (2110) is adjusted by the lifting control link (290).

3. The underwater robot according to claim 1, characterized in that: Also includes: A sensor component (400), the sensor component (400) being electrically connected to the control component (300), and comprising an image acquisition module (410) and a state monitoring module (420); The state monitoring module (420) comprises a position detection unit, an acceleration detection unit, a pressure detection unit and a gyroscope.

4. The underwater robot according to claim 3, characterized in that: The control component (300) includes an environment monitoring module, a vision module, a wireless communication module, a Doppler odometer module, an inertial navigation module, a motor drive module and a feedback module; The environment monitoring module is electrically connected to the state monitoring module (420) and is used to collect and process data acquired by the state monitoring module (420); The visual module is electrically connected to the image acquisition module (410) and is used to identify and acquire image information acquired by the image acquisition module (410); The wireless communication module is used to communicate with the ground station; The Doppler odometer module and the inertial navigation module are used for planning the motion path of the underwater robot; The motor drive module is used to control and adjust the propulsion motor (210), the steering motor (240) and the lifting motor (280); The feedback module is used to feed back the thrust state information and posture state information of the underwater robot to the ground end.

5. A vector propulsion method for an underwater robot, characterized in that: The vector propulsion method of the underwater robot according to any one of claims 1 to 4 comprises the following steps: S1. Power-on inspection: After the underwater robot is powered on, it first performs a self-inspection of the device, and manually inspects the shell assembly and propulsion assembly; S2, entering the water for operation, placing the underwater robot at the target position and starting operation; the underwater robot collects surrounding environment information through the image acquisition module (410) and sends the surrounding environment information to the visual module, and obtains basic state parameters of the robot through the state monitoring module (420); S3, path planning, autonomously planning the robot's movement route based on the surrounding environment information provided by the vision module through the Doppler odometer module and the inertial navigation module; S4, executing along the designated path, after completing the path planning, controlling the propulsion assembly (200) through the motor drive module, so that the underwater robot moves along the designated path in a specific posture; S5. Execution is completed, the robot returns to the water surface and the operation ends.

6. The vector propulsion method of an underwater robot according to claim 5, characterized in that: The method for autonomously planning the robot motion route in S3 includes the following steps: S31, marking obstacles on the path through a visual module to obtain reference position information of the obstacles; S32. Determine the distance and angle between the underwater robot and the obstacle according to the reference position information of the obstacle, and adjust the active steering rudder angle and the active elevator rudder angle within a safe distance.

7. The vector propulsion method of an underwater robot according to claim 6, characterized in that: The method for marking obstacles in S31 includes the following steps: S311, establishing a navigation body coordinate system and a propeller coordinate system; The method for establishing the navigation body coordinate system is as follows: using the buoyancy center of the underwater robot as the coordinate origin, establishing the navigation body coordinate system B-xyz, wherein B is the coordinate origin, the x-axis is parallel to the axis of the housing component (100) and has the direction pointing to the front protective cover (110) as the positive direction, the y-axis has the direction pointing to the top of the image acquisition module (410) as the positive direction, and the z-axis has the direction pointing to the right side of the image acquisition module (410) as the positive direction; The method for establishing a propeller coordinate system is as follows: using the position of the propeller (230) as the coordinate origin, establishing a propeller coordinate system P-xyz, wherein P is the coordinate origin, the x-axis is parallel to the axis of the housing component (100) and has the direction pointing to the front protective cover (110) as the positive direction, the y-axis has the direction pointing to the top of the image acquisition module (410) as the positive direction, and the z-axis has the direction pointing to the right side of the image acquisition module (410) as the positive direction; S312, obtaining coordinate information of the obstacle in the coordinate system of the navigation body through the image acquisition module (410); S313. Convert the coordinate information of the obstacle in the navigation body coordinate system into the coordinate information in the propeller coordinate system, and use the coordinate information of the obstacle in the propeller coordinate system as the reference position information.

8. The vector propulsion method of an underwater robot according to claim 7, characterized in that: The method for converting the coordinate information of the obstacle in the navigation body coordinate system into the coordinate information in the propeller coordinate system in S313 is to convert the coordinate information of the obstacle in the navigation body coordinate system into the coordinate information in the propeller coordinate system through a conversion matrix: Among them, δ h is the active steering rudder angle representing the relative relationship between the navigation body coordinate system and the propeller coordinate system, δ v is the active elevator rudder angle representing the relative relationship between the navigation body coordinate system and the propeller coordinate system, C By (·) is the rotation matrix of the first rotation of the navigation body coordinate system B-xyz around the By axis, and the coordinate system B-x'yz', C Bz (·) is the rotation matrix of the second rotation of the vehicle coordinate system around the B-z' axis, is the conversion matrix when the navigation body coordinate system is converted to the propeller coordinate system, and is the conversion matrix when the propeller coordinate system is converted to the navigation body coordinate system.

9. The vector propulsion method of an underwater robot according to claim 5, characterized in that: The method for making the underwater robot move along a specified path in a specific posture in S4 comprises the following steps: S41. Analyze the thrust and torque generated by the propulsion assembly (220), and obtain the force and torque of the propulsion assembly (200) on the underwater robot as follows: Among them, [F X F Y F Z ] is the component of the thrust of the propeller (230) on the x-axis, y-axis and z-axis in the navigation body coordinate system, [M X M Y M Z ] is the component of the torque generated by the propeller (230) on the x-axis, y-axis and z-axis in the navigation body coordinate system, F TP is the forward thrust generated by the propeller (230) in the vehicle coordinate system, M TP is the torque generated by the propeller (230) in the vehicle coordinate system, l BP is the distance from the origin of the propeller coordinate system to the origin of the navigation body coordinate system; S42, providing the main propulsion force along the x-axis in the navigation body coordinate system through the propeller (230), adjusting the rudder angle of the movable steering rudder and the rudder angle of the movable elevator through the movable steering rudder blade (270) and the movable elevator rudder blade (2110), thereby achieving adjustment in other directions.

10. The vector propulsion method of an underwater robot according to claim 9, characterized in that: The method for adjusting the rudder angle of the movable steering rudder and the rudder angle of the movable elevator rudder by means of the movable steering rudder blade (270) and the movable elevator rudder blade (2110) in S42 comprises: When δ h =0°, δ v =0°, the underwater robot moves horizontally along the x-axis direction of the navigation body coordinate system, and the force and torque of the propulsion assembly (200) on the underwater robot are obtained as follows: When δ h =15°, δ v = 0°, the force and torque of the propulsion assembly (200) on the underwater robot are obtained as follows: At this time, the underwater robot shifts to the right along the z-axis direction of the navigation body coordinate system; When δ h =0°, δ v =15°, the force and torque of the propulsion assembly (200) on the underwater robot are obtained as follows: At this time, the underwater robot shifts upward along the y-axis direction of the navigation body coordinate system; When δ h =15°, δ v =15°, the force and torque of the propulsion assembly (200) on the underwater robot are obtained as follows: At this time, the underwater robot shifts to the upper right along the yz plane direction of the navigation body coordinate system.

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