Underwater robot and separation control method thereof, underwater vehicle and electronic equipment

Abstract

The invention provides an underwater robot and a separation control method thereof, an underwater vehicle and electronic equipment. The underwater robot comprises a first motion unit, a second motion unit and a controller. The first motion unit comprises an induction device, a separation device and an angle detection device. The sensing device is arranged on the outer surface of the shell of the first motion unit. The separating device is arranged in the shell of the first motion unit. The separating device comprises a containing device and a driving device. The second motion unit is accommodated in the accommodating device. The driving device is connected with the containing device. The angle detection device is connected with the accommodating device. The controller confirms the information of the environment where the underwater robot is located based on the received sensing information, and controls the driving device to move to drive the accommodating device to rotate under the condition that the environment information meets a first preset condition; the controller is further used for controlling the second movement unit to be released from the containing device and separated from the first movement unit. According to the technical scheme, the operation flexibility of the underwater robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of underwater robots, and in particular to an underwater robot and a separation control method thereof, an underwater vehicle and an electronic device. Background Art

[0002] An underwater vehicle is an underwater robot that performs underwater exploration, detection and other tasks. For example, an autonomous underwater vehicle (AUV) is an underwater robot that can autonomously navigate underwater. An AUV has a carrier unit and an operating unit. The carrier unit is responsible for carrying out the carrier task, and the operating unit is responsible for carrying out the operating task.

[0003] Existing autonomous underwater vehicles use an integrated structure to integrate the carrier unit and the operating unit. However, the inventors of the present application have found that the integrated autonomous underwater vehicle has at least the following technical problems: 1. When an integrated autonomous underwater vehicle performs underwater operation tasks, the carrier unit and the operation unit need to enter the operation area at the same time to perform the operation tasks, but the integrated autonomous underwater vehicle cannot separate the carrier unit and the operation unit.

[0004] 2. Due to the large size of the carrier unit, the integrated autonomous underwater vehicle has low flexibility and poor maneuverability in performing operational tasks.

[0005] 3. When the operating unit of the integrated autonomous underwater vehicle performs underwater operation tasks, the carrier unit needs to follow it throughout the process, which causes the carrier unit to continuously consume energy, thereby causing the total power consumption of the autonomous underwater vehicle to be too high.

[0006] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0007] The present application aims to solve at least one of the technical problems mentioned above.

[0008] According to one aspect of the present application, an underwater robot is provided, comprising a first motion unit, a second motion unit and a controller. The first motion unit comprises a sensing device, a separation device and an angle detection device. The sensing device is arranged on the outer surface of the housing of the first motion unit, and is used to detect and send sensing information. The separation device is arranged inside the housing, and comprises a receiving device and a driving device. The second motion unit is received in the receiving device. The driving device is connected to the receiving device, and drives the receiving device to rotate. The angle detection device is connected to the receiving device, and is used to detect and send the rotation angle information of the receiving device. The controller confirms the environmental information of the underwater robot based on the received sensing information, and generates and sends a first control instruction when the environmental information meets the first preset condition, so that the driving device starts to move in response to the first control instruction, so as to drive the receiving device to rotate. The controller is also used to generate and send a second control instruction when the received rotation angle information meets the second preset condition, so that the second motion unit starts to move in response to the second control instruction, and is released from the receiving device to separate from the first motion unit.

[0009] According to some embodiments of the present application, the controller is further used to generate and send a third control instruction when the rotation angle information satisfies a second preset condition, so that the driving device stops moving in response to the third control instruction, so that the accommodating device stops rotating.

[0010] According to some embodiments of the present application, the driving device includes a transmission unit and a power unit. One end of the transmission unit is connected to the power unit, and the other end is connected to the accommodating device, so as to drive the accommodating device to rotate. The power unit is arranged at one end of the transmission unit.

[0011] According to some embodiments of the present application, the transmission unit includes a driving shaft, a driven shaft and a conveyor belt. The driving shaft connects the conveyor belt and the power unit. The driven shaft connects the conveyor belt and the accommodating device to drive the accommodating device to rotate. The conveyor belt connects the driving shaft and the driven shaft.

[0012] According to some embodiments of the present application, the sensing information includes pressure data and depth data, and the sensing device includes a pressure detection unit and a depth detection unit. The pressure detection unit is arranged on the first motion unit, and is used to detect and send the pressure data of the underwater robot. The depth detection unit is arranged on the first motion unit, and is used to detect and send the depth data of the underwater robot.

[0013] According to another aspect of the present application, a separation control method of an underwater robot is provided. The underwater robot is the underwater robot described above, and the separation control method includes: receiving sensing information sent by a sensing device; determining the environmental information of the underwater robot based on the sensing information; generating and sending a first control instruction when the environmental information meets a first preset condition, so that the driving device responds to the first control instruction and starts to move, so as to drive the accommodating device to rotate; receiving rotation angle information sent by an angle detection device; generating and sending a second control instruction when the rotation angle information meets a second preset condition, so that the second motion unit responds to the second control instruction and starts to move, and is released from the accommodating device to separate from the first motion unit.

[0014] According to some embodiments of the present application, the sensing device includes a pressure detection unit and a depth detection unit, and receiving sensing information sent by the sensing device includes: receiving pressure data of the underwater robot sent by the pressure detection unit and depth data of the underwater robot sent by the depth detection unit.

[0015] According to some embodiments of the present application, when the rotation angle information satisfies the second preset condition, a third control instruction is generated and sent so that the driving device stops moving in response to the third control instruction, so that the accommodating device stops rotating.

[0016] According to another aspect of the present application, the underwater robot is an underwater vehicle.

[0017] According to another aspect of the present application, an electronic device is also provided, comprising one or more processors and a storage device. The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the separation control method described above.

[0018] According to another aspect of the present application, a non-volatile computer-readable storage medium is further provided, storing a computer program, wherein when the computer program is executed by a processor, the separation control method described above is implemented.

[0019] Beneficial Effects According to the technical solution of the present application, the second motion unit of the underwater robot is accommodated inside the accommodation device of the first motion unit. After the accommodation device of the first motion unit is controlled to rotate to a preset angle, the second motion unit can be controlled to start moving, so that the second motion unit is released from the accommodation device, thereby achieving the effect that the second motion unit and the first motion unit are separable. In addition, the second motion unit is small in size and can perform operating tasks independently after being separated from the first motion unit, thereby improving the flexibility and maneuverability of the underwater robot in performing operating tasks. When the second motion unit performs operating tasks, the first motion unit can stay on standby and does not need to follow the second motion unit throughout the entire process, thereby reducing the total power consumption of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic structural diagram showing an initial state of an underwater robot according to an embodiment of the present application; Figure 2 A schematic structural diagram showing a pre-separation state of an underwater robot according to an embodiment of the present application; Figure 3 A schematic diagram showing a flow chart of a separation control method of an underwater robot according to an embodiment of the present application; Figure 4 A schematic flow chart of step S110 of the separation control method of the underwater robot according to an embodiment of the present application is shown; Figure 5 A flow chart of step S151 of the separation control method of the underwater robot according to an embodiment of the present application is shown.

[0022] Description of reference numerals: Underwater robot 1; first motion unit 2; second motion unit 3; bow energy cabin 21; stern energy cabin 22; sensing device 23; angle detection device 24; accommodating device 25; transmission unit 26; power unit 27; driving shaft 261; conveyor belt 262; driven shaft 263. DETAILED DESCRIPTION

[0023] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0024] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0025] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0026] The terms "first", "second" and the like in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order.

[0027] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0028] According to one aspect of the present application, the present application provides an underwater robot. Figure 1 A structural schematic diagram showing the initial state of the underwater robot according to an embodiment of the present application is shown.

[0029] According to an example embodiment, Figure 1 As shown, the underwater robot 1 includes a first motion unit 2, a second motion unit 3 and a controller (not shown in the figure).

[0030] The initial state of the underwater robot 1 refers to the state in which the underwater robot 1 enters the water but does not start working. At this time, the second motion unit 3 and the first motion unit 2 are not separated. Figure 1As shown, the first motion unit 2 and the second motion unit 3 can be arranged in parallel. The second motion unit 3 can be accommodated inside the first motion unit 2.

[0031] For example, Figure 1 As shown, one end of the first motion unit 2 is a bow energy cabin 21, and the other end is a stern energy cabin 22. The second motion unit 3 is arranged in the middle of the first motion unit 2, that is, between the bow energy cabin 21 and the stern energy cabin 22.

[0032] For example, a plurality of second motion units 3 may be provided inside the underwater robot 1. The plurality of second motion units 3 may be provided between the bow energy compartment 21 and the stern energy compartment 22. In this way, different second motion units 3 may be used to respectively perform different tasks issued by the user, and different tasks may be performed simultaneously or separately, thereby improving the flexibility and efficiency of the underwater robot operation.

[0033] Figure 2 The schematic diagram of the structure of the underwater robot 1 in the pre-separation state of the embodiment of the present application is shown. The pre-separation state of the underwater robot 1 refers to the state in which the angle of the second motion unit 3 is adjusted to the angle preset by the user, the motion has not started, and the first motion unit 2 has not been separated.

[0034] For example, the underwater robot 1 may be an autonomous underwater vehicle. The first motion unit 2 may be a carrier unit for carrying out a carrying task, used for power propulsion, navigation, and energy supply, etc. The second motion unit 3 may be an operating unit for performing an operating task, used for performing an operating task.

[0035] For example, the volume of the second motion unit 3 may be 1 / 5 of the volume of the first motion unit 2. The controller may be disposed on the first motion unit 2 or the second motion unit 3, or on a remote control platform, which is not limited in the present application.

[0036] According to the exemplary embodiment, the first motion unit 2 includes a sensing device 23, a separation device (not shown) and an angle detection device 24. The sensing device 23 is disposed on the outer surface of a housing (not shown) of the first motion unit 2 for detecting and sending sensing information.

[0037] For example, the sensing device 23 may be a device for detecting underwater environmental parameters. Exemplarily, the sensing device 23 may include a pressure sensor, a depth sensor, and the like.

[0038] Optionally, the sensing information includes pressure data and depth data. The sensing device 23 may also include a pressure detection unit (not shown in the figure) and a depth detection unit (not shown in the figure). The pressure detection unit is disposed on the outer surface of the shell of the first motion unit 2, and is used to detect the pressure data of the underwater robot 1. The depth detection unit is disposed on the outer surface of the shell of the first motion unit 2, and is used to detect the depth data of the underwater robot 1.

[0039] For example, the pressure detection unit can send pressure data to the controller. The depth detection unit can send depth data to the controller.

[0040] Through the above embodiments, the sensing device can send the pressure data of the pressure detection unit and the depth data detected by the depth detection unit to the controller, so that the controller can determine the environmental information of the underwater environment where the underwater robot is located based on the pressure data and the depth data.

[0041] According to the exemplary embodiment, the separation device is disposed inside the first motion unit 2, and includes a receiving device 25 and a driving device (not shown in the figure). The receiving device 25 can receive the second motion unit 3, and the driving device can drive the receiving device 25 to rotate.

[0042] For example, Figure 2 As shown, the accommodating device 25 may be cylindrical, which is adapted to the shape of the second motion unit 3. The accommodating device 25 may be a structure with one end open and the other end closed. The driving device is a mechanism that can drive the accommodating device 25 to rotate, and can be connected to the center position of the accommodating device 25.

[0043] According to an exemplary embodiment, the angle detection device 24 is connected to the accommodation device 25 and is used to detect and send rotation angle information of the accommodation device 25 .

[0044] For example, the rotation angle information may include the rotation angle of the accommodation device 25 .

[0045] Exemplarily, the angle detection device 24 may be an integrated rotary encoder (such as a photoelectric encoder), which may monitor the rotation angle of the accommodating device 25 in real time and transmit the data of the rotation angle to the controller.

[0046] Exemplarily, the resolution of the integrated rotary encoder may be 0.1°.

[0047] According to the exemplary embodiment, the controller confirms the environmental information of the underwater robot 1 based on the received sensing information, and generates and sends a first control instruction when the environmental information meets the first preset condition, so that the driving device moves according to the first control instruction to drive the accommodating device 25 to rotate.

[0048] For example, the environmental information may include pressure information and depth information of the environment in which the underwater robot 1 is located.

[0049] Exemplarily, the first preset condition may be that the pressure data contained in the pressure information of the environment in which the underwater robot 1 is located is greater than or equal to 10MPa, and the depth data contained in the depth information is greater than or equal to 1000m. The first preset condition can be customized according to user needs and is not limited here. When the environmental information of the underwater robot 1 meets the first preset condition, it can be characterized that the underwater robot 1 has entered the underwater working area. At this time, the second motion unit 3 needs to be separated from the first motion unit 2 so that the second motion unit 3 can enter the working area to perform the working task.

[0050] For example, the first control instruction may be an instruction issued by the controller to control the movement of the driving device. The driving device starts to move under the control of the first control instruction, and drives the accommodating device 25 to start rotating.

[0051] According to the exemplary embodiment, the controller is also used to generate and send a second control instruction when the received rotation angle information meets a second preset condition, so that the second motion unit 3 moves according to the second control instruction and is released from the accommodating device 25 to separate from the first motion unit 2.

[0052] For example, the second control instruction may be an instruction issued by the controller to control the movement of the second motion unit 3. The accommodating device 25 may be a structure with one end open and the other end closed.

[0053] For example, the second preset condition may be that the rotation angle of the accommodating device 25 included in the rotation angle information of the accommodating device is greater than or equal to 50°. The second preset condition may be customized according to user needs and is not limited here.

[0054] When the controller determines that the rotation angle of the accommodating device 25 contained in the received rotation angle information is greater than or equal to 50°, it can control the second motion unit 3 to move toward the opening end of the accommodating device 25 by sending a second control instruction, and release it from the accommodating device 25 to separate from the first motion unit 2.

[0055] Through the above embodiments, the second motion unit of the underwater robot is accommodated inside the accommodation device of the first motion unit. After the accommodation device of the first motion unit is controlled to rotate to a preset angle, the second motion unit can be controlled to start moving to be released from the accommodation device, thereby achieving the effect that the second motion unit and the first motion unit are separable. In addition, the second motion unit is small in size and can perform operating tasks independently after being separated from the first motion unit, thereby improving the flexibility and maneuverability of the underwater robot in performing operating tasks. When the second motion unit performs operating tasks, the first motion unit can stay on standby and does not need to follow the second motion unit throughout the entire process, thereby reducing the total power consumption of the underwater robot.

[0056] Optionally, the controller is further configured to generate and send a third control instruction when the rotation angle information satisfies a second preset condition, and the driving device stops moving in response to the third control instruction, so that the accommodating device 25 stops rotating.

[0057] For example, the third control instruction may be an instruction issued by the controller to control the determination device to stop moving. The driving device stops moving under the control of the third control instruction, so that the accommodating device 25 stops rotating.

[0058] Through the above embodiment, when the rotation angle of the accommodating device meets the conditions set by the user, the accommodating device is controlled to stop rotating. This arrangement can avoid the problem that when the accommodating device reaches the angle at which the second motion unit can be released from the accommodating device, the accommodating device continues to move, resulting in excessive adjustment of the angle of the accommodating device and damage to the mechanical structure of the underwater robot.

[0059] Optionally, the driving device includes a transmission unit 26 and a power unit 27. One end of the transmission unit 26 is connected to the power unit 27, and the other end is connected to the accommodating device 25, for driving the accommodating device 25 to rotate. The power unit 27 is disposed at one end of the transmission unit 26.

[0060] For example, the transmission unit 26 can drive the accommodating device 25 to rotate by hydraulic transmission, or can drive the accommodating device 25 to rotate by gear transmission.

[0061] Exemplarily, the power unit 27 may be a waterproof servo motor (such as a brushless DC motor). The brushless DC motor may drive the transmission unit 26 to move. The rated torque of the brushless DC motor may be 5 Nm.

[0062] Through the above-mentioned embodiment, the driving device provides power to the transmission unit through the power unit, and drives the accommodating device to rotate through the transmission unit, thereby achieving the effect of controlling the rotation of the accommodating device.

[0063] Alternatively, if Figure 2As shown, the transmission unit 26 includes a driving shaft 261, a conveyor belt 262 and a driven shaft 263. The driving shaft 261 connects the conveyor belt 262 and the power unit 27. The driven shaft 263 connects the conveyor belt 262 and the accommodating device 25 to drive the accommodating device 25 to rotate. The conveyor belt 262 connects the driving shaft 261 and the driven shaft 263.

[0064] Through the above embodiments, the transmission unit is connected to the accommodating device through the driven shaft, and the driving shaft and the driven shaft are connected through the transmission belt. The driving shaft drives the conveyor belt to move, so that the conveyor belt drives the driven shaft to move, thereby achieving the effect of the driven shaft driving the accommodating device to rotate.

[0065] According to another aspect of the present application, the present application provides a separation control method for an underwater robot. Figure 3 A schematic diagram of a separation control method according to an embodiment of the present application is shown. Figure 3 As shown, the separation control method includes S110-S150. Exemplarily, the separation control method can be executed by a controller with computing capability.

[0066] In S110 , the controller receives sensing information sent by the sensing device.

[0067] For example, the sensing information may include depth information, pressure information, etc. of the underwater environment where the underwater robot 1 is located.

[0068] In S120, the controller determines the environment information of the underwater robot based on the sensing information.

[0069] For example, the environmental information may include an operating environment and a non-operating environment.

[0070] In S130, when the environmental information meets the first preset condition, the controller generates and sends a first control instruction, so that the driving device starts to move in response to the first control instruction, so as to drive the accommodating device to rotate.

[0071] For example, the environmental information may include pressure information and depth information of the environment in which the underwater robot 1 is located.

[0072] For example, the first preset condition may be that the pressure data contained in the pressure information of the environment in which the underwater robot 1 is located is greater than or equal to 10MPa, and the depth data contained in the depth information is greater than or equal to 1000m. The first preset condition may be customized according to user needs and is not limited here. The first control instruction may be an instruction issued by the controller to control the movement of the drive device.

[0073] In S140, the controller receives the rotation angle information sent by the angle detection device.

[0074] For example, the rotation angle information may include the rotation angle of the accommodation device 25 .

[0075] In S150, when the rotation angle information satisfies the second preset condition, the controller generates and sends a second control instruction, so that the second motion unit starts to move in response to the second control instruction, is released from the accommodating device, and is separated from the first motion unit.

[0076] For example, the second preset condition may be that the rotation angle of the accommodating device 25 included in the rotation angle information is greater than or equal to 50°. The second preset condition may be customized according to user needs and is not limited herein.

[0077] Through the above embodiments, the second motion unit of the underwater robot is accommodated inside the accommodation device of the first motion unit. After the accommodation device of the first motion unit is controlled to rotate to a preset angle, the second motion unit can be controlled to start moving to be released from the accommodation device, thereby achieving the effect that the second motion unit and the first motion unit are separable. In addition, the second motion unit is small in size and can perform operating tasks independently after being separated from the first motion unit, thereby improving the flexibility and maneuverability of the underwater robot in performing operating tasks. When the second motion unit performs operating tasks, the first motion unit can stay on standby and does not need to follow the second motion unit throughout the entire process, thereby reducing the total power consumption of the underwater robot.

[0078] Figure 4 FIG. 2 is a flow chart showing step S110 of the separation control method of the underwater robot according to an embodiment of the present application. Figure 4 As shown, S110 may further include S111.

[0079] In S111, the controller receives the pressure data of the underwater robot sent by the pressure detection unit and the depth data of the underwater robot sent by the depth detection unit.

[0080] Through the above embodiments, the sensing device can send the pressure data of the pressure detection unit and the depth data detected by the depth detection unit to the controller, which helps the controller to determine the underwater environment of the underwater robot based on the pressure data and the depth data.

[0081] Figure 5 FIG. 2 is a flow chart showing step S151 of the separation control method of the underwater robot according to an embodiment of the present application. Figure 5 The separation control method further includes step S151.

[0082] In S151, when the rotation angle information satisfies the second preset condition, the controller generates and sends a third control instruction, so that the driving device stops moving in response to the third control instruction, so that the accommodating device stops rotating.

[0083] For example, step S151 and step S150 may be performed simultaneously, or step 151 may be performed first and then step 150.

[0084] Through the above embodiment, when the rotation angle of the accommodating device meets the conditions set by the user, the accommodating device is controlled to stop rotating. This arrangement can avoid the problem that when the accommodating device reaches the angle at which the second motion unit can be released from the accommodating device, the accommodating device continues to move, resulting in excessive adjustment of the angle of the accommodating device and damage to the mechanical structure of the underwater robot.

[0085] According to another aspect of the present application, the underwater robot is an underwater vehicle. For example, the underwater vehicle can be an autonomous underwater vehicle.

[0086] According to another aspect of the present application, a device is also provided. The device includes one or more processors and a storage device. The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the separation control method as described above.

[0087] According to another aspect of the present application, a non-volatile computer-readable storage medium is also provided. The non-volatile computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the separation control method described above is implemented.

[0088] Finally, it should be noted that the controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, logic gates, switches, application specific integrated circuits (ASIC), programmable logic controllers, and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory.

[0089] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0090] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater robot, characterized in that: comprising a first motion unit, a second motion unit and a controller; The first motion unit comprises: A sensing device, disposed on the outer surface of the housing of the first motion unit, for detecting and sending sensing information; The separation device is arranged inside the housing and comprises: an accommodating device, wherein the second motion unit is accommodated in the accommodating device; A driving device, connected to the accommodating device, driving the accommodating device to rotate; An angle detection device, connected to the accommodating device, for detecting and sending rotation angle information of the accommodating device; The controller confirms the environmental information of the underwater robot based on the received sensing information, and generates and sends a first control instruction when the environmental information meets a first preset condition, so that the driving device starts to move in response to the first control instruction, so as to drive the accommodating device to rotate; The controller is also used to generate and send a second control instruction when the received rotation angle information meets a second preset condition, so that the second motion unit starts to move in response to the second control instruction, is released from the accommodating device, and is separated from the first motion unit.

2. The underwater robot according to claim 1, characterized in that: The controller is further configured to generate and send a third control instruction when the rotation angle information satisfies the second preset condition, so that the driving device stops moving in response to the third control instruction, thereby stopping the rotation of the accommodating device.

3. The underwater robot according to claim 1, characterized in that: The driving device comprises: A transmission unit, one end of which is connected to the power unit and the other end of which is connected to the accommodating device, and is used to drive the accommodating device to rotate; The power unit is arranged at one end of the transmission unit.

4. The underwater robot according to claim 3, characterized in that: The transmission unit comprises: A driving shaft connecting the conveyor belt and the power unit; A driven shaft, connecting the conveyor belt and the accommodating device to drive the accommodating device to rotate; The conveyor belt connects the driving shaft and the driven shaft.

5. The underwater robot according to claim 1, characterized in that: The sensing information includes pressure data and depth data, and the sensing device includes: A pressure detection unit, disposed on the outer surface of the housing, for detecting and sending the pressure data of the underwater robot; A depth detection unit is arranged on the outer surface of the shell and is used to detect and send the depth data of the underwater robot.

6. A separation control method for an underwater robot, characterized in that: The underwater robot is an underwater robot as claimed in any one of claims 1 to 5, and the separation control method is executed by the controller, and the separation control method includes: receiving sensing information sent by the sensing device; Determine the environment information of the underwater robot based on the sensing information; In the case where the environmental information meets a first preset condition, generating and sending a first control instruction so that the driving device starts to move in response to the first control instruction to drive the accommodating device to rotate; receiving rotation angle information sent by the angle detection device; When the rotation angle information satisfies a second preset condition, a second control instruction is generated and sent, so that the second motion unit starts to move in response to the second control instruction, is released from the accommodating device, and is separated from the first motion unit.

7. The separation control method according to claim 6, characterized in that: The receiving the sensing information sent by the sensing device includes: The pressure data of the underwater robot sent by the pressure detection unit and the depth data of the underwater robot sent by the depth detection unit are received.

8. The separation control method according to claim 6, characterized in that: The separation control method further comprises: In the case where the rotation angle information satisfies the second preset condition, a third control instruction is generated and sent, so that the driving device stops moving in response to the third control instruction, so that the accommodating device stops rotating.

9. The underwater robot according to any one of claims 1 to 5, characterized in that: The underwater robot is an underwater vehicle.

10. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the separation control method as described in any one of claims 6 to 8.

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