Underwater robot configuration optimization method

Abstract

The invention relates to the technical field of underwater robots, and discloses an underwater robot configuration optimization method, which comprises the following steps: obtaining an original configuration of an underwater robot through bionics; hydrodynamic parameters of the original configuration are calculated through CFD simulation software, and stability evaluation is carried out; if the stability evaluation result is that the static stability of the vertical plane or the horizontal plane of the underwater robot does not meet the requirement, a free deformation technology is adopted to adjust the original configuration, and a new configuration is obtained; and performing stability evaluation on the new configuration to obtain an optimal configuration. According to the method, the horizontal plane dynamic stability of the underwater robot can be improved, and the stability of the underwater robot can be accurately judged.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a method for evaluating the stability and optimizing the configuration of a bionic underwater robot. Background Art

[0002] In the complex environment where hydropower stations and reservoir dams have been in service for a long time, the dam bodies are prone to cracks, cavitation and other damages due to the combined influence of multiple factors such as water chemical corrosion, environmental erosion, load changes and material aging, which not only affects the structural performance, but may also lead to catastrophic consequences. In order to ensure the safety and reliability of the dam, regular inspection and monitoring are essential. Traditional dam inspection methods mainly rely on manual diving or open-frame underwater robots, but traditional manual diving inspection methods are subject to environmental complexity and manpower limitations, with low efficiency, insufficient accuracy and certain safety hazards. In recent years, the development of underwater robots (ROVs) has provided a new idea for the precision inspection of underwater structures. Although the existing open-frame ROVs have solved the limitations of manual inspection to a certain extent, they have poor operating stability and poor attitude control, and are difficult to meet the needs of fast and high-precision inspection in deepwater environments. In contrast, streamlined ROVs are more suitable for fine operations in complex underwater environments due to their excellent attitude stability and flow resistance, but the current streamlined ROV design for dam inspection is still relatively limited.

[0003] Aquatic organisms in nature have shown a high ability to adapt to the water environment through a long evolution. In particular, the seahorse, with its unique vertical posture, hovering ability and flexibility, provides important inspiration for the design of underwater robots. However, at present, the dam inspection ROV based on bionics design is still in the exploratory stage, and it is urgent to develop a more stable, efficient and flexible bionic ROV to provide a reliable solution for underwater inspection. Summary of the invention

[0004] In view of the problems in the prior art, the present invention provides a method for optimizing the configuration of an underwater robot, which can improve the horizontal dynamic stability of the underwater robot of the present invention.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for optimizing the configuration of an underwater robot comprises the following steps:

[0007] The original configuration of the underwater robot was obtained through bionics;

[0008] CFD simulation software was used to calculate the hydrodynamic parameters of the original configuration and to conduct stability assessment;

[0009] If the result of the stability assessment is that the static stability of the vertical or horizontal plane of the underwater robot does not meet the requirements, the free deformation technology is used to adjust the original configuration to obtain a new configuration;

[0010] The stability of the new configuration is evaluated to obtain the optimal configuration.

[0011] Furthermore, the configuration optimization method of the present invention also includes stability evaluation, and the stability evaluation method includes a method for determining the static stability of the vertical and horizontal surfaces of the underwater robot, and a method for determining the dynamic stability of the vertical and horizontal surfaces of the underwater robot:

[0012] The method for determining the static stability of the vertical and horizontal surfaces of the underwater robot is as follows:

[0013] ,

[0014] in, represents the static instability coefficient of the vertical surface; represents the coefficient of static instability of the horizontal plane; The position derivative that represents the linear relationship between the pitch moment coefficient and the angle of attack; The position derivative representing the linear fit of lift coefficient and angle of attack; The position derivative representing the linear relationship between the yaw moment coefficient and the drift angle; The position derivative representing the linear fit between the side force coefficient and the drift angle;

[0015] Dimensionless hydrodynamic center arm including vertical static instability coefficient and vertical static instability coefficient , the smaller the value of the dimensionless hydrodynamic center force arm, the better the static stability. , then about the angle of attack is statically stable; on the contrary, is unstable. This judgment method is The same holds true;

[0016] The method for determining the vertical and horizontal dynamic stability of the underwater robot is as follows:

[0017] If the vertical surface static instability coefficient and dimensionless pitch arm The relationship satisfies:

[0018]

[0019] This means that it can have dynamic stability at any speed in the vertical plane. , dimensionless pitch arm ;

[0020] For stability in the horizontal plane, there is also a stability criterion number:

[0021]

[0022]

[0023] like , it means that it has dynamic stability in the horizontal plane; otherwise , it means that it has no dynamic stability in the horizontal plane;

[0024] in, represents the water density, represents the length of the underwater robot, represents the dimensionless longitudinal arm, Horizontal plane stability criterion number, represents the robot mass, represents the dimensionless result of the robot mass, The position derivative representing the linear relationship between the pitch moment coefficient and the pitch angular velocity, The position derivative that represents the linear relationship between lift coefficient and angular velocity, The position derivative that represents the linear relationship between the yaw moment coefficient and the angular velocity of rotation, The position derivative that represents the linear relationship between the side force coefficient and the angular velocity of the turning.

[0025] Furthermore, the adjusting the original configuration by using the free deformation technology includes:

[0026] The parametric modeling software is used for free deformation, the underwater robot configuration deformation grid is set, and the deformation grid is evenly divided into several grids to perform the tilt deformation and stretch deformation of the flow-facing surface;

[0027] The tilt deformation of the upstream surface is to select the x direction of the underwater robot working surface as all control points to change the longitudinal tilt angle of the underwater robot, that is, the tilt angle of the upstream surface;

[0028] The stretching deformation of the upstream surface is to select the symmetry axis of the working surface x of the underwater robot and change the positive stretching parameter of the symmetry axis along the working surface x, that is, the stretching amount of the upstream surface.

[0029] Furthermore, the variation range of the oncoming surface inclination angle is [-5°, 5°], with an interval of 1°; the variation range of the oncoming surface stretching amount is [0.05m, 0.25m], with an interval of 0.05m.

[0030] Furthermore, the optimization of the hydrodynamic parameters to obtain a new configuration includes:

[0031] With the displacement volume change rate ≤ 2% as the constraint and the optimization objectives as resistance and stability, an optimization function is established. The expression of the optimization function is:

[0032]

[0033]

[0034]

[0035] ,

[0036]

[0037] ,

[0038]

[0039] In the formula, , , They represent resistance performance, static stability, and dynamic stability respectively. , are the resistance magnitudes of the deformed new configuration and the original configuration in the forward three-section case, , are the resistance magnitudes of the deformed new configuration and the original configuration in the case of two lateral sections, is the static stability judgment value of the vertical surface, is the static stability judgment value of the horizontal plane, is the vertical surface dynamic stability judgment value, is the horizontal surface dynamic stability judgment value, , are the horizontal plane stability judgment parameters of the deformed new configuration and the original configuration, is the volume of the new configuration of the deformation, is the original configuration volume.

[0040] Furthermore, the underwater robot includes a vertical propeller, a horizontal propeller and a support frame. The original configuration of the underwater robot is a streamlined design that imitates the upright walking of a seahorse. A vertical propeller is used to replace the vibration function of the seahorse's dorsal fin to achieve posture adjustment; a horizontal propeller is used to replace the steering function of the seahorse's pectoral fin to provide power output; and a support frame is used to replace the bone ring of the seahorse's trunk.

[0041] Furthermore, the new configuration is as follows: the inclination angle of the oncoming surface is [-10°, 6]; the stretching amount of the oncoming surface is [0.05, 0.2), unit: m.

[0042] Furthermore, the optimal configuration is that the stretching amount of the flow-facing surface is 0.15m.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The configuration optimization method of the present invention can improve the horizontal dynamic stability of the underwater robot of the present invention, and can accurately judge the stability of the underwater robot of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the underwater operation process of the underwater robot of the present invention;

[0046] Figure 2 It is a schematic diagram of the streamlined configuration design of the underwater robot of the present invention;

[0047] Figure 3 It is a schematic diagram of the process of the underwater robot configuration optimization method of the present invention;

[0048] Figure 4 FIG. 1 is a front view schematic diagram of the underwater robot configuration of the present invention with the flow-facing surface inclined at -1° to -5°, wherein Figure 4 The inclination of the frontal surface of a is -1°. Figure 4 The inclination of the frontal surface of b is -2°. Figure 4 The inclination of the frontal surface of c is -3°. Figure 4 The inclination of the frontal surface of d is -4°. Figure 4 The inclination of the frontal surface of e is -5°;

[0049] Figure 5 FIG. 1 is a front view schematic diagram of the underwater robot configuration of the present invention with the flow-facing surface inclined by 1° to 5°, wherein Figure 5 The inclination of the frontal surface of a is 1°. Figure 5 The inclination of the frontal surface of b is 2°. Figure 5 The inclination of the frontal surface of c is 3°. Figure 5 The inclination of the frontal surface of d is 4°. Figure 5 The inclination of the frontal surface of e is 5°;

[0050] Figure 6 FIG. 1 is an isometric diagram of the underwater robot configuration of the present invention with the flow-facing surface stretched from 0.05 m to 0.25 m, wherein Figure 6 The stretching of the flow surface of a is 0.05m. Figure 6 The stretching of the upstream surface of b is 0.1m. Figure 6 The stretch of the flow surface of c is 0.15m. Figure 6 The stretch of the flow surface of d is 0.2m, Figure 6 The stretch of the frontal surface of e is 0.25m;

[0051] Figure 7This is the resistance change diagram when the flow is forward from the three sections and the surface is inclined from 0° to -5°;

[0052] Figure 8 This is the resistance change diagram when the flow is forward from the three sections and the surface is inclined from 0° to 5°;

[0053] Fig. 9 This is the resistance change diagram when the flow is forward from the three sections and the surface is stretched from 0m to 0.15m;

[0054] Fig.10 This is the resistance change diagram when the surface is inclined from 0° to -5° for the lateral two-section flow;

[0055] Fig.11 This is the resistance change diagram when the flow is coming down from the lateral two sections and the surface is inclined from 0° to 5°;

[0056] Fig.12 This is a diagram showing the change in resistance when the flow is coming down from the lateral second section and the surface is stretched from 0m to 0.15m. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] The underwater robot hanger self-unhooking device, power configuration, onboard equipment, and sub-machine of the present invention, and the specific structure of the underwater robot can refer to the underwater structure surface defect detection robot disclosed in Chinese invention application CN117465636A. The underwater robot is 1.3m long, 0.9m wide, 1.5m high, with a volume of about 1m3 and a total design weight of about 180kg. It has a slightly positive buoyancy and adopts a high center of gravity design. It mainly maintains a vertical posture. By imitating the upright walking of a seahorse, it improves maneuverability and facilitates crossing complex waters. Figure 1 As shown, firstly, the powered buoy and the underwater robot are deployed and lowered into the water by a shore crane or a surface mother ship. After reaching the predetermined position, the underwater robot detaches from the buoy and starts to dive. Then, the underwater robot travels to the target dam surface area and carries out dam surface inspection according to the planned route. When encountering pipelines, culverts and other areas that are difficult for the underwater robot body to inspect, the body is kept stable and the sub-machine is released to carry out inspection work. When encountering underwater silt, the dredging work is assisted by the underwater robot's manipulator. After the operation is completed, the underwater robot's propulsion system and the umbilical cable are used to coordinate and complete the recovery.

[0059] From the perspective of bionics, the motion characteristics of the underwater robot and the seahorse of the present invention are mainly low speed and high stability, and the configuration design focuses on maintaining a vertical posture. The underwater robot propulsion system imitates the swinging mode of the seahorse's dorsal fin and the flexibility of the tail, providing driving ability and realizing dynamic adjustment of the posture. Considering that the head of the seahorse is heavy and tilted forward, the head features are eliminated in the bionic design, and the focus is on imitating its vertical stability and trunk characteristics.

[0060] like Figure 2 As shown, in order to achieve a highly stable configuration design, the underwater robot adopts a vertical posture as the main working mode, a streamlined design to reduce resistance, and a heavier abdomen to provide low center of gravity stability. This bionic seahorse design not only enhances maneuverability, but also enables it to cross complex waters. The specific bionic design is: the vertical thruster replaces the vibration function of the seahorse's dorsal fin to achieve posture fine-tuning. The horizontal thruster replaces the steering function of the seahorse's pectoral fin and is responsible for providing power output. At the same time, the seahorse's hard bone ring trunk provides inspiration for protecting internal organs and reducing water flow resistance. The underwater robot of the present invention uses a simple and efficient support frame to replace the hard bone ring of the seahorse trunk, which not only enhances the stability of the overall structure, but also facilitates the integration and mounting of modular equipment.

[0061] The stability evaluation method of the underwater robot of the present invention is as follows:

[0062] Static stability specifies the change of a single parameter in a constant motion and only considers the initial motion trend after the disturbance force is removed. The static stability of the vertical and horizontal planes of the underwater robot is determined by the sign of the dimensionless hydrodynamic center arm:

[0063] ,

[0064] in, represents the static instability coefficient of the vertical surface; represents the coefficient of static instability of the horizontal plane; The position derivative that represents the linear relationship between the pitch moment coefficient and the angle of attack; The position derivative representing the linear fit of lift coefficient and angle of attack; The position derivative representing the linear relationship between the yaw moment coefficient and the drift angle; The position derivative representing the linear fit between the side force coefficient and the drift angle;

[0065] The smaller the value of the dimensionless hydrodynamic center force arm, the better the static stability. , then about the angle of attack is statically stable; on the contrary, is unstable. This judgment method is The same is true.

[0066] If the vertical surface static instability coefficient and dimensionless pitch arm The relationship satisfies:

[0067]

[0068] This means that it can have dynamic stability at any speed in the vertical plane. , dimensionless pitch arm

[0069] For stability in the horizontal plane, there is also a stability criterion number:

[0070]

[0071]

[0072] like , it means that it has dynamic stability in the horizontal plane; otherwise , it means that it has no dynamic stability in the horizontal plane.

[0073] in, represents the water density, represents the length of the underwater robot, represents the dimensionless longitudinal arm, Horizontal plane stability criterion number, represents the robot mass, represents the dimensionless result of the robot mass, The position derivative representing the linear relationship between the pitch moment coefficient and the pitch angular velocity, The position derivative that represents the linear relationship between lift coefficient and angular velocity, The position derivative that represents the linear relationship between the yaw moment coefficient and the angular velocity of rotation, The position derivative that represents the linear relationship between the side force coefficient and the angular velocity of the turning.

[0074]

[0075] According to the above calculation formula and Table 1, it can be seen that: When the angle is greater than 6°, the lift coefficient and pitch moment coefficient undergo unstable changes. Therefore, it is judged that the angle has static stability in the vertical plane [-10°, 6°] and in the horizontal plane; it has dynamic stability in the vertical plane, but not in the horizontal plane.

[0076] The stability assessment method of the present invention achieves an accurate judgment of the stability of a streamlined ROV by comprehensively considering the static stability and dynamic stability of the streamlined ROV on the horizontal and vertical planes.

[0077] The configuration optimization method of the underwater robot of the present invention is:

[0078] like Figure 3 As shown, the underwater robot configuration optimization process of the present invention uses free deformation technology to adjust the original configuration, establishes the optimization objective function, and then uses genetic algorithm to optimize, which is divided into four steps: design, deformation, simulation, and optimization. Use parametric modeling software for free deformation, set the underwater robot configuration deformation grid to 1.5m×1m×1.8m, and divide it into 8 parts. The deformation size is consistent with the change of the control point, and the influence is reduced when the control point is far away from the surface. According to the grid distribution, two deformation operations are performed:

[0079] (1) Select all control points on the underwater robot working surface in the x direction and change its longitudinal tilt angle. The angle change range is [-5°, 5°] and the interval is 1°. Figure 4 and Figure 5 shown.

[0080] (2) Select the symmetry axis of the underwater robot working surface x and change its positive stretching parameter along the working surface x. The change range is [0.05m, 0.25m] and the interval is 0.05m, such as Figure 6 shown.

[0081] When seeking the optimal performance of the underwater robot, a variety of configurations are obtained through local deformation, and the one with the best comprehensive performance is selected. The displacement volume change rate is ≤2% as a constraint, and the optimization objectives are resistance and stability. Due to the influence of the umbilical cable, the thruster power limit is small, so the resistance weight is low and the stability weight is high. The optimization function is established as:

[0082]

[0083]

[0084]

[0085] ,

[0086]

[0087] ,

[0088]

[0089] In the formula, , , They represent resistance performance, static stability, and dynamic stability respectively. , are the resistance magnitudes of the deformed configuration and the original configuration in the forward three-section case, , They are the resistance magnitudes of the deformed configuration and the original configuration with two lateral sections. is the static stability judgment value of the vertical surface, is the static stability judgment value of the horizontal plane, is the vertical surface dynamic stability judgment value, is the horizontal surface dynamic stability judgment value, , are the horizontal plane stability judgment parameters of the deformed configuration and the original configuration respectively. is the volume of the deformed configuration, is the original configuration volume.

[0090] Because the two deformation configurations of surface stretching 0.20m and 0.25m do not meet the constraints of the optimization function, they are removed. In order to explore the hydrodynamic mechanism of the underwater robot in the process of forward three-section flow and lateral two-section flow, the velocity contours of different deformation configurations are obtained through steady-state simulation, such as Figures 7 to 12 As shown, Figures 7 to 9 It is the curve diagram of the change of the forward three-section incoming flow resistance; Figures 10 to 12 These are the curves of the change in the incoming flow resistance of the lateral two sections. These six figures show the different changing trends of the forward resistance and lateral resistance of different changed configurations based on the original configuration.

[0091] For the series configuration, the angle of attack was changed With variable drift angle The static stability was calculated by simulation. The results show that the tilt or stretch of the oncoming surface has little effect on the static stability of the vertical and horizontal surfaces, and the configuration can remain stable within the tilt angle of [-10°, 6°]. The horizontal static stability is improved as the bottom indentation and top expansion increase. Furthermore, the dynamic stability is calculated by simulation of pitch and rotation motion, and it is found that the change of the oncoming surface has a significant effect on the dynamic stability of the horizontal surface. The increase in the tilt angle leads to The coefficient decreases, while the stretching flow surface can increase coefficient, but all configurations lack horizontal dynamic stability; the impact on vertical dynamic stability is small, and vertical dynamic stability is maintained.

[0092]

[0093] As shown in Table 2 and Table 3, the optimized configuration is the deformation result of the surface stretching 0.15m. Compared with the original configuration, the forward resistance is reduced by 2.152%, the lateral resistance is increased by 21.624%, and the volume is increased by 1.9751%. This configuration has good static stability and maintains vertical dynamic stability. Although it does not have horizontal dynamic stability, the horizontal criterion number From -2.805 to -1.815, the horizontal plane dynamic stability is improved, which is the optimal configuration of the underwater robot of the present invention.

[0094]

[0095] The configuration optimization method of the present invention adopts free deformation technology to generate a new configuration, takes resistance and stability as optimization targets, and sets a volume change rate of ≤2% as a constraint to establish an optimization function. The final result improves the horizontal dynamic stability of the underwater robot.

[0096] The configuration optimization method of the present invention is used to optimize the configuration of the underwater robot with a seahorse configuration, which can effectively improve the maneuverability and adaptability in complex waters. The streamlined shape and modular design of the underwater robot further optimize the flow resistance and equipment integration, and significantly improve the detection efficiency and stability.

[0097] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0098] 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. A method for optimizing underwater robot configuration, characterized in that: include: The original configuration of the underwater robot was obtained through bionics; CFD simulation software was used to calculate the hydrodynamic parameters of the original configuration and to conduct stability assessment; If the result of the stability assessment is that the static stability of the vertical or horizontal plane of the underwater robot does not meet the requirements, the original configuration is adjusted using free deformation technology to obtain a new configuration; The stability of the new configuration is evaluated to obtain the optimal configuration.

2. The underwater robot configuration optimization method according to claim 1, characterized in that: It also includes stability assessment, and the method of stability assessment includes a method for determining the static stability of the vertical and horizontal surfaces of the underwater robot, and a method for determining the dynamic stability of the vertical and horizontal surfaces of the underwater robot: The method for determining the static stability of the vertical and horizontal surfaces of the underwater robot is as follows: ， ； in, represents the static instability coefficient of the vertical surface; represents the coefficient of static instability of the horizontal plane; The position derivative that represents the linear relationship between the pitch moment coefficient and the angle of attack; The position derivative representing the linear fit of lift coefficient and angle of attack; The position derivative representing the linear relationship between the yaw moment coefficient and the drift angle; The position derivative representing the linear fit between the side force coefficient and the drift angle; Dimensionless hydrodynamic center arm including vertical static instability coefficient and vertical static instability coefficient , the smaller the value of the dimensionless hydrodynamic center force arm, the better the static stability. , then about the angle of attack is statically stable; on the contrary, is unstable. This judgment method is The same holds true; The method for determining the vertical and horizontal dynamic stability of the underwater robot is as follows: If the vertical surface static instability coefficient and dimensionless pitch arm The relationship satisfies: ； This means that it can have dynamic stability at any speed in the vertical plane. , dimensionless pitch arm ; For stability in the horizontal plane, there is also a stability criterion number: ； ； like , it means that it has dynamic stability in the horizontal plane; otherwise , it means that it has no dynamic stability in the horizontal plane; in, represents the water density, represents the length of the underwater robot, represents the dimensionless longitudinal arm, Horizontal plane stability criterion number, represents the robot mass, represents the dimensionless result of the robot mass, The position derivative representing the linear relationship between the pitch moment coefficient and the pitch angular velocity, The position derivative that represents the linear relationship between lift coefficient and angular velocity, The position derivative that represents the linear relationship between the yaw moment coefficient and the angular velocity of rotation, The position derivative that represents the linear relationship between the side force coefficient and the angular velocity of the turning.

3. The underwater robot configuration optimization method according to claim 1 or 2, characterized in that: The method of adjusting the original configuration by using the free deformation technology includes: The parametric modeling software is used for free deformation, the underwater robot configuration deformation grid is set, and the deformation grid is evenly divided into several grids to perform the tilt deformation and stretch deformation of the flow-facing surface; The tilt deformation of the upstream surface is to select the x direction of the underwater robot working surface as all control points to change the longitudinal tilt angle of the underwater robot, that is, the tilt angle of the upstream surface; The stretching deformation of the upstream surface is to select the symmetry axis of the working surface x of the underwater robot and change the positive stretching parameter of the symmetry axis along the working surface x, that is, the stretching amount of the upstream surface.

4. The underwater robot configuration optimization method according to claim 3, characterized in that: The variation range of the oncoming surface inclination angle is [-5°, 5°], with an interval of 1°; the variation range of the oncoming surface stretching amount is [0.05m, 0.25m], with an interval of 0.05m.

5. The underwater robot configuration optimization method according to claim 2, characterized in that: The optimization of the hydrodynamic parameters to obtain a new configuration includes: With the displacement volume change rate ≤ 2% as the constraint and the optimization objectives as resistance and stability, an optimization function is established. The expression of the optimization function is: ； ； ； ， ； ； ， ； ； In the formula, , , They represent resistance performance, static stability, and dynamic stability respectively. , are the resistance magnitudes of the deformed new configuration and the original configuration in the forward three-section case, , are the resistance magnitudes of the deformed new configuration and the original configuration in the case of two lateral sections, is the static stability judgment value of the vertical surface, is the static stability judgment value of the horizontal plane, is the vertical surface dynamic stability judgment value, is the horizontal surface dynamic stability judgment value, , are the horizontal plane stability judgment parameters of the deformed new configuration and the original configuration, is the volume of the new configuration of the deformation, is the original configuration volume.

6. The underwater robot configuration optimization method according to claim 1, characterized in that: The underwater robot includes a vertical propeller, a horizontal propeller and a supporting frame. The original configuration of the underwater robot is a streamlined design that imitates the upright walking of a seahorse. A vertical propeller is used to replace the vibration function of the seahorse's dorsal fin to achieve posture adjustment; a horizontal propeller is used to replace the steering function of the seahorse's pectoral fin to provide power output; and a supporting frame is used to replace the bone ring of the seahorse's trunk.

7. The underwater robot configuration optimization method according to claim 1, characterized in that: The new configuration is as follows: the inclination angle of the oncoming surface is [-10°, 6]; the stretching amount of the oncoming surface is [0.05, 0.2), unit: m.

8. The underwater robot configuration optimization method according to claim 7, characterized in that: The optimal configuration is that the stretching amount of the flow-facing surface is 0.15m.

Images