Control system and control method for vector propulsion system of underwater vehicle

Abstract

The invention relates to a vector propulsion system control technology, and provides an underwater vehicle vector propulsion system control system and a control method.The control method comprises the steps that terrain environment data in a preset range around an underwater vehicle is captured in real time through an integrated sonar device; and constructing an environment three-dimensional model and determining the position of the underwater vehicle. And the path planning module searches and evaluates candidate paths under constraint conditions by adopting a heuristic search algorithm based on the position information and the environment information, and determines an optimal de-trapping path. And then, a thruster parameter acquisition module decomposes the path into a series of discrete control points, and accurately calculates parameters such as thrust magnitude, direction, running time or distance and the like required by each vector thruster according to the water flow speed and direction of each control point. The execution module receives the parameters and controls the corresponding vector thrusters to conduct out-of-trap operation, and it is ensured that the underwater vehicle can safely and efficiently reach the target position along the optimal path.

Description

Technical Field

[0001] This application relates to the technical field of vector propulsion system control, and more specifically, to a control system and a control method for a submersible vehicle vector propulsion system. Background Art

[0002] The content of this part only provides background information related to this application, and it may not constitute prior art.

[0003] In the fields of ocean scientific research, underwater rescue, and terrain mapping, submersible vehicles play a crucial role. However, during underwater operations, submersible vehicles need to cope with complex and ever-changing environmental challenges, such as strong water currents, dense obstacles, and terrain undulations, which bring great difficulties to their path planning and escape operations. Currently, although the vector propulsion systems adopted by submersible vehicles have achieved a certain degree of underwater navigation and obstacle avoidance functions, there are still obvious deficiencies. Existing technologies mainly rely on simple sensor data fusion and basic path planning algorithms, which often fail to fully consider the complexity of the underwater environment, such as changes in water flow velocity, the diversity of obstacle shapes, and the dynamic relative positions between the submersible vehicle and obstacles, resulting in difficulty in generating the optimal escape path during path planning. This not only reduces the operation efficiency of the submersible vehicle but also increases the operation risk.

[0004] To address this problem, Chinese Patent No. CN115206157A proposes a pathfinding training method, device, and unmanned submersible vehicle for an unmanned submersible vehicle. This method trains the unmanned submersible vehicle based on continuous judgment and correction of the pathfinding execution decision of the submersible vehicle, enabling it to have a certain ability of independent judgment. The trained submersible vehicle can rely on its own experience and, when facing a complex underwater environment, take measures such as avoidance and detouring to successfully pass through unfamiliar waters. However, this patent also has limitations, that is, it requires a large amount of underwater data for training, and if a situation not covered in the training data occurs, the submersible vehicle cannot perform pathfinding. Therefore, a new control system and control method for a submersible vehicle vector propulsion system are needed. Summary of the Invention

[0005] To solve the above technical problems, the purpose of this application is to provide a control system and a control method for a submersible vehicle vector propulsion system, which find an escape route for the submersible vehicle by using a heuristic search algorithm on a three-dimensional environmental model, ensuring that the submersible vehicle can reach the target position safely and efficiently along the optimal path.

[0006] The purpose of this application is achieved through the following technical solutions: In a first aspect, the present invention provides a control system for a submersible vehicle vector propulsion system, including a sonar device, a control terminal connected to the sonar device, and a plurality of vector thrusters connected to the control terminal; the system includes: The environmental scanning module 101 is configured in the control terminal and is used to start when the submersible is in a preset environment, and obtain the terrain environment data within a preset range in real time through a sonar device. The terrain environment data includes water flow velocity, obstacle density and shape, and the distance from obstacles; establish a three-dimensional environmental model based on the terrain environment data and determine the position coordinates of the submersible in the three-dimensional environmental model; The path planning module 102 is configured in the control terminal and is used to utilize a preset path planning model to establish an escape path according to the position coordinates and the three-dimensional environmental model; among them, the path planning model takes reaching the target position, avoiding obstacles, and minimizing energy consumption as constraints, assigns weights to influencing factors according to the constraints, and the influencing factors include water flow velocity, obstacle density, shape, travel distance, travel time, energy consumption, and risk level; based on the weights and influencing factors, construct a path cost function; through a heuristic search algorithm, search for a set of candidate paths from the current position of the submersible to the target position in the three-dimensional environmental model; according to the path cost function, evaluate the set of candidate paths, and select the path that meets the constraints and has the minimum cost as the escape path; The thruster parameter acquisition module 103 is configured in the control terminal and is used to decompose the escape path into a series of discrete control points, and calculate the thrust magnitude, direction, and operating time or distance of each vector thruster required for the submersible to reach the control point from the current position according to the water flow velocity and direction of each control point; The execution module 104 is used to receive the operating parameters output by the thruster parameter acquisition module and control the corresponding vector thrusters to perform escape operations according to the operating parameters.

[0007] Furthermore, the execution module further includes a feedback control unit, which is used to monitor the actual operating state of the vector thrusters in real time, compare the actual operating state with the operating parameters, and adjust the vector thrusters according to the comparison results until the error range allowed by the operating parameters is met.

[0008] Furthermore, the path planning model is: ; ; Among them, is the escape path, is the set of candidate paths, is the index of the candidate path, is the number of candidate paths, is the weight of the constraint condition; is the path at the th influencing factor is the cost function of the path A curve and a path in a three-dimensional coordinate system consist of a series of discrete control points ; To represent the total cost of the path where is the number of control points on the path, is the index of the control point, to are all weights corresponding to different influencing factors, to are the corresponding influencing factors.

[0009] Further, it further includes a dynamic adjustment unit for real-time monitoring and evaluating the operating status of each vector thruster; when one or more vector thrusters are detected to have failures or performance degradation, the dynamic adjustment unit activates a compensation mechanism; the compensation mechanism includes: calculating the yaw position, yaw direction, and yaw speed of the submersible according to the real-time thrust magnitude and direction of the faulty thruster and the real-time position in the current environmental three-dimensional model of the submersible; controlling the normal vector thrusters to travel in the opposite direction of the yaw direction and at the yaw speed until the submersible returns to the yaw position and then stops.

[0010] Further, the risk level is obtained by searching and matching the corresponding level in a pre-set database according to the detected obstacle size and water flow speed.

[0011] Further, the heuristic search algorithm adopts one of the A* algorithm, Dijkstra's algorithm, or genetic algorithm.

[0012] Further, it further includes a recording module for recording the travel route of the submersible and the environmental three-dimensional model on the travel route, positioning the submersible at a location where it can establish a connection with the positioning system, calculating the coordinate points of the travel route according to the positioning, and generating a corresponding three-dimensional route map.

[0013] In a second aspect, the present invention provides a control method for a submersible vector propulsion system, which is applied to a control system of a submersible vector propulsion system as in the first aspect. The method includes: Starting when the submersible is in a preset environment, and obtaining terrain environment data within a preset range in real time through a sonar device. The terrain environment data includes water flow speed, obstacle density and shape, and the distance from the obstacle; establishing an environmental three-dimensional model according to the terrain environment data and determining the position coordinates of the submersible in the environmental three-dimensional model; Using the preset path planning model, an escape path is established according to the position coordinates and the three-dimensional model of the environment; wherein the path planning model takes reaching the target position, avoiding obstacles and minimizing energy consumption as constraints, and weights are assigned to influencing factors according to the constraints, and the influencing factors include water flow speed, obstacle density, shape, driving distance, driving time, energy consumption and risk level; based on the weights and influencing factors, a path cost function is constructed; through a heuristic search algorithm, a set of candidate paths from the current position of the submersible to the target position is searched in the three-dimensional model of the environment; according to the path cost function, the set of candidate paths is evaluated, and the path that meets the constraints and has the lowest cost is selected as the escape path; The escape path is decomposed into a series of discrete control points, and according to the water flow speed and direction at each control point, the thrust magnitude, direction, and running time or distance of each vector thruster required for the submersible to reach the control point from the current position are calculated; The corresponding vector thrusters are controlled according to the operating parameters to perform the escape operation.

[0014] In a third aspect, the present invention provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements steps corresponding to a method for controlling a vector propulsion system of a submarine in the second aspect.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements steps corresponding to a method for controlling a vector propulsion system of a submersible as described in the second aspect.

[0016] In summary, the technical solution of the embodiment of the present application has at least the following advantages and beneficial effects: The present invention uses an integrated sonar device to capture the terrain environment data within a preset range around the submersible in real time, including key information such as water flow speed, obstacle density, shape and distance. These data are used by the environmental scanning module to construct a detailed three-dimensional model of the environment and determine the precise position of the submersible. Then, based on these position and environmental information, the path planning module uses a heuristic search algorithm to search and evaluate candidate paths under the constraints of reaching the target position, avoiding obstacles and minimizing energy consumption, and finally determines an optimal escape path. Subsequently, the thruster parameter acquisition module decomposes this path into a series of discrete control points, and accurately calculates the thrust size, direction, and running time or distance parameters required by each vector thruster according to the water flow speed and direction of each control point. The execution module receives these parameters and controls the corresponding vector thruster to perform escape operations to ensure that the submersible can reach the target position safely and efficiently along the optimal path. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the control system of the underwater vehicle vector propulsion system provided by the present invention; Figure 2 Flowchart of the control method of the underwater vehicle vector propulsion system provided by the present invention; Figure 3 Schematic diagram of the structure of an electronic device provided by the present invention. Specific embodiments

[0018] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0019] A control system of an underwater vehicle vector propulsion system proposed in an embodiment of the present application includes a sonar device, a control terminal connected to the sonar device, and a plurality of vector thrusters connected to the control terminal; the system includes: An environment scanning module, configured in the control terminal, for starting when the underwater vehicle is in a preset environment, and obtaining terrain environment data within a preset range in real time through the sonar device. The terrain environment data includes water flow velocity, obstacle density and shape, and the distance from obstacles; establishing an environmental three-dimensional model according to the terrain environment data and determining the position coordinates of the underwater vehicle in the environmental three-dimensional model; Specifically, the environmental scanning module aims to capture the topographical environmental data within a preset range around the submersible in real time through the sonar device integrated on the submersible. These data cover key hydrological information such as water flow velocity, as well as detailed obstacle information, including the density of obstacles, specific shapes, and the relative distance between the submersible and the obstacles. The working principle of this module first relies on the detection ability of the sonar device. It utilizes the propagation characteristics of sound waves in water, emits sound waves, receives the reflected signals, and analyzes the specific characteristics of the surrounding environment. The obtained topographical environmental data are then input into the environmental scanning module, which processes these data using advanced algorithms to construct a detailed three-dimensional environmental model. This model not only accurately reflects the actual terrain around the submersible but also allows the system to determine the precise position coordinates of the submersible in three-dimensional space, providing a solid foundation for subsequent path planning. The water flow velocity is mainly detected through the Doppler effect. That is, when the sonar device emits sound waves towards the particles in the water flow, if the water flow is flowing, the frequency of the reflected sound wave will change. This frequency change is proportional to the water flow velocity. By measuring the frequency difference between the reflected sound wave and the emitted sound wave, and combining the known sound wave propagation velocity and the reflection characteristics of the particles in the water flow, the water flow velocity can be estimated.

[0020] The path planning module, configured within the control terminal, is used to establish an escape path based on the position coordinates and the three-dimensional environmental model by using a preset path planning model. Among them, the path planning model takes reaching the target position, avoiding obstacles, and minimizing energy consumption as constraint conditions, assigns weights to influencing factors according to the constraint conditions, and the influencing factors include water flow velocity, obstacle density, shape, travel distance, travel time, energy consumption, and risk level. Based on the weights and influencing factors, a path cost function is constructed. Through a heuristic search algorithm, a set of candidate paths from the current position of the submersible to the target position is searched in the three-dimensional environmental model. According to the path cost function, the set of candidate paths is evaluated, and the path that meets the constraint conditions and has the minimum cost is selected as the escape path. Specifically, the path planning module aims to ensure that the submersible can reach the target position efficiently and safely. First, the path planning module will use the position coordinates and the three-dimensional environmental model provided by the environmental scanning module as input information. These information details the underwater environment where the submersible is currently located, including key data such as water flow velocity, the density and shape of obstacles, and the distance from obstacles.

[0021] During the path planning process, the model takes reaching the target location, avoiding obstacles and minimizing energy consumption as the main constraints. In order to guide the path planning more accurately, the model will also convert these constraints into specific influencing factors and assign corresponding weights to each influencing factor. These influencing factors include but are not limited to water flow speed, obstacle density, shape, driving distance, driving time, energy consumption and risk level. The weight of each factor reflects its importance in path planning, thereby ensuring that path planning can comprehensively and objectively consider various actual situations. The risk level is obtained by searching and matching the corresponding level in a pre-set database based on the detected obstacle size and water flow speed. Next, the path planning module will construct a path cost function based on these influencing factors and weights. This function can quantify the pros and cons of different paths in meeting the constraints, thereby providing an objective basis for path selection. The path cost function is as follows: ;

[0022] in, To indicate the path The total cost, is the number of control points on the path, is the index of the control point, to are the weights corresponding to different influencing factors. to are the corresponding influencing factors.

[0023] After constructing the path cost function, the path planning module will use a heuristic search algorithm to search for a set of candidate paths from the current position of the submersible to the target position in the three-dimensional model of the environment. The heuristic search algorithm uses one of the A* algorithm, Dijkstra algorithm or genetic algorithm. The heuristic search algorithm can explore as many possible path options as possible while ensuring search efficiency, providing a rich selection space for path selection. Finally, the path planning module will evaluate and screen the candidate path set according to the path cost function. In this process, the module will comprehensively consider various influencing factors and weights, and select the path that meets the constraints and has the lowest cost as the final escape path. This path can not only effectively avoid obstacles, but also reduce energy consumption and driving time as much as possible while ensuring safety, thereby improving the overall performance and efficiency of the submersible. The path planning model is: ;

[0024] in, For the escape route, is the set of candidate paths, is the index of the candidate path, is the number of candidate paths, is the weight of the constraint; For path In the The cost function on the influencing factors is For path Curves, paths in three-dimensional coordinate systems A series of discrete control points composition.

[0025] The thruster parameter acquisition module is configured in the control terminal and is used to decompose the escape path into a series of discrete control points, and calculate the thrust size, direction, and running time or distance of each vector thruster required for the submersible to reach the control point from the current position according to the water flow speed and direction of each control point; Specifically, the thruster parameter acquisition module is responsible for converting the escape path generated by the path planning module into specific thruster operation instructions. The module first receives the escape path output by the path planning module, which is an optimal path from the current position of the submersible to the target position. The path is composed of a series of discrete control points in a three-dimensional environment, and each control point represents a key position that the submersible needs to reach during the movement.

[0026] After obtaining the escape path, the propulsion parameter acquisition module starts working. It first analyzes the water flow speed and direction of each control point, which is the key factor in determining the propulsion strategy of the submersible. The water flow speed not only affects the movement speed of the submersible, but also has a direct impact on its energy consumption and stability; while the water flow direction determines the size and direction of the resistance that the submersible needs to overcome during the propulsion process.

[0027] Based on the precise analysis of the water flow speed and direction at each control point, the thruster parameter acquisition module then calculates the thrust size, direction, and running time or distance operating parameters of each vector thruster required for the submersible to reach the control point from the current position. Specifically, the calculation of the thrust size needs to take into account factors such as the mass, acceleration, and water flow resistance of the submersible; the determination of the thrust direction requires precise calculation based on the current position, target position, and water flow direction of the submersible; and the calculation of the running time or distance involves factors such as the speed planning of the submersible and the smoothness of the path. Through the calculation of the thruster parameter acquisition module, the submersible can obtain a series of precise thruster operation instructions, which will be passed to the execution module. The execution module controls the corresponding vector thruster to perform the escape operation according to these instructions, thereby ensuring that the submersible can reach the target position safely and efficiently along the escape path.

[0028] The execution module is used to receive the operating parameters output by the thruster parameter acquisition module, and control the corresponding vector thruster to perform the escape operation according to the operating parameters.

[0029] Specifically, the execution module is responsible for receiving the precise operating parameters output by the thruster parameter acquisition module, and accurately controlling the corresponding vector thrusters to perform escape operations based on these parameters. After the execution module receives the operating parameters transmitted by the thruster parameter acquisition module, these parameters include detailed information such as the thrust size, direction, and running time or distance of each vector thruster required for the submersible to reach each discrete control point from the current position. The execution module will generate a series of specific control instructions based on these parameters, which will directly act on the vector thrusters of the submersible.

[0030] Furthermore, in the control system of the original submersible vector propulsion system, the execution module plays a key role in converting the precise operating parameters output by the propeller parameter acquisition module into actual operating instructions, thereby driving the vector propeller to perform the escape operation. In order to further improve the control accuracy and stability of the system, a feedback control unit 107 is introduced into the execution module, aiming to ensure that the actual operating state of the vector propeller is highly consistent with the preset operating parameters through real-time monitoring and adjustment. That is, the execution module also includes a feedback control unit 107, which is used to monitor the actual operating state of the vector propeller in real time, compare the actual operating state with the operating parameters, and adjust the vector propeller according to the comparison result until it meets the error range allowed by the operating parameters.

[0031] Specifically, the working principle of the feedback control unit 107 is based on the concept of a closed-loop control system, and its core lies in the continuous monitoring and accurate feedback of the actual operating status of the vector thruster. The feedback control unit 107 first captures the key parameters such as the thrust size, direction, and actual operating time or distance of the vector thruster during operation in real time through various sensors (such as thrust sensors, direction sensors, etc.) integrated on the submersible. These actual operating parameters are then sent to the feedback control unit 107 and compared one by one with the theoretical operating parameters previously calculated and output by the thruster parameter acquisition module.

[0032] The purpose of the comparison is to identify and quantify the differences between the actual operating state and the theoretical operating parameters, which may be caused by changes in the external environment (such as sudden changes in water speed and direction), small fluctuations in the state of the submersible itself, or changes in the performance of the propeller itself. Once the difference is detected, the feedback control unit 107 will immediately start the adjustment mechanism to gradually reduce these differences by adjusting the control instructions of the vector thruster until the actual operating state is corrected to the error range allowed by the operating parameters. This improves the ability of the submersible to escape from a complex underwater environment and enhances the robustness and adaptability of the system.

[0033] Furthermore, it further includes a dynamic adjustment unit 106 for real-time monitoring and evaluating the operating status of each vector thruster; when one or more vector thrusters are detected to have failures or performance degradation, the dynamic adjustment unit 106 activates a compensation mechanism; the compensation mechanism includes: calculating the yaw position, yaw direction, and yaw speed of the submersible according to the real-time thrust magnitude and direction of the faulty thruster and the real-time position in the current environmental three-dimensional model of the submersible; controlling the normal vector thrusters to travel in the opposite direction of the yaw direction and at the yaw speed until the submersible returns to the yaw position and then stops.

[0034] Specifically, in this embodiment, a dynamic adjustment unit 106 is introduced into the original control system of the submersible vector propulsion system to enhance the stability and safety of the system. The dynamic adjustment unit 106 is designed to real-time monitor and evaluate the operating status of each vector thruster, and can detect potential failures or performance degradation problems of the thruster in the first time, so as to take timely measures to avoid potential accidents. When the dynamic adjustment unit 106 detects that one or more vector thrusters have failures or performance degradation, it immediately activates the compensation mechanism. The core of this compensation mechanism is that it can quickly and accurately calculate the yaw position, yaw direction, and yaw speed of the submersible according to the real-time thrust magnitude and direction of the faulty thruster and the real-time position of the submersible in the environmental three-dimensional model. Once the yaw information is calculated, the dynamic adjustment unit 106 will control the vector thrusters that are still working properly to travel in the opposite direction of the yaw direction and at the yaw speed. This strategy aims to make the submersible return to its original position as soon as possible, that is, the position before yaw, so as to minimize the path deviation and potential risks caused by thruster failures. During this process, the dynamic adjustment unit 106 will continuously monitor the status of the submersible to ensure that it can safely and accurately return to the yaw position and stop traveling after arrival to avoid unnecessary energy consumption and potential risks.

[0035] Furthermore, it further includes a recording module 105 for recording the travel route of the submersible and the environmental three-dimensional model on the travel route, positioning the submersible at a position where it can establish a connection with the positioning system, calculating the coordinate points of the travel route according to the positioning, and generating a corresponding three-dimensional route map.

[0036] Specifically, the core function of the recording module 105 is to record in real time the travel route of the submersible and the three-dimensional environmental model along the way. Throughout the entire process of the submersible performing tasks, whether it is exploring unknown waters, performing monitoring tasks, or conducting underwater rescues, etc., this module will continuously collect data. Specifically, it first uses a technology similar to that of the environmental scanning module to capture in real time detailed information about the surrounding environment of the submersible through a sonar device, including water flow speed, obstacle distribution, terrain undulation, etc., and then constructs a three-dimensional environmental model on the travel route. These models not only contain static obstacle information but also can reflect dynamic water flow changes, providing valuable basis for subsequent path planning and data analysis.

[0037] When the submersible travels to a position where it can establish a connection with an external positioning system (such as satellite positioning systems like GPS and Beidou, or underwater dedicated positioning base stations), the recording module 105 will activate the positioning function to accurately determine the current position of the submersible. Based on this positioning information, the module can calculate the accurate coordinate points of the travel route and combine these coordinate points with the previously recorded three-dimensional environmental model to generate a complete three-dimensional route map. This three-dimensional map not only intuitively shows the travel trajectory of the submersible but also incorporates rich environmental information, enabling the operator to clearly understand the movement state of the submersible and the changes in the surrounding environment during the entire mission process, and also providing a reference route for subsequent arriving submersibles.

[0038] Based on the same inventive concept, the present invention provides a control method for a vector propulsion system of a submersible, including: S1, start when the submersible is in a preset environment, and obtain in real time the terrain environment data within a preset range through a sonar device. The terrain environment data includes water flow speed, obstacle density and shape, and the distance from the obstacle; establish a three-dimensional environmental model based on the terrain environment data and determine the position coordinates of the submersible in the three-dimensional environmental model; S2, use a pre-set path planning model to establish an escape path based on the position coordinates and the three-dimensional environmental model; among them, the path planning model takes reaching the target position, avoiding obstacles, and minimizing energy consumption as constraints, assigns weights to influencing factors according to the constraints, and the influencing factors include water flow speed, obstacle density, shape, travel distance, travel time, energy consumption, and risk level; based on the weights and influencing factors, construct a path cost function; through a heuristic search algorithm, search for a set of candidate paths from the current position of the submersible to the target position in the three-dimensional environmental model; evaluate the set of candidate paths according to the path cost function, and screen out the path that meets the constraints and has the minimum cost as the escape path; S3, decomposing the escape path into a series of discrete control points, and calculating the thrust magnitude, direction, and running time or distance of each vector thruster required for the submersible to reach the control point from the current position according to the water flow speed and direction of each control point; S4, controlling the corresponding vector thruster to perform escape operation according to the operating parameters.

[0039] Based on the same inventive concept, the present invention provides an electronic device, including: a memory 202, a processor 201, and a computer program stored in the memory 202 and executable on the processor 201. When the processor 201 executes the computer program, a control method for a vector propulsion system of a submarine is implemented.

[0040] Based on the same inventive concept, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for controlling a vector propulsion system of a submersible.

[0041] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control system for a vector propulsion system of a submersible, characterized in that: It includes a sonar device, a control terminal connected to the sonar device, and a plurality of vector thrusters connected to the control terminal; The system comprises: An environment scanning module, configured in the control terminal, is used to start when the submersible is in a preset environment, and obtain terrain environment data within a preset range in real time through the sonar device, wherein the terrain environment data includes water flow velocity, obstacle density and shape, and distance to obstacles; establish an environment three-dimensional model according to the terrain environment data, and determine the position coordinates of the submersible in the environment three-dimensional model; A path planning module is configured in the control terminal and is used to establish an escape path according to the position coordinates and the three-dimensional model of the environment using a preset path planning model; wherein the path planning model takes reaching the target position, avoiding obstacles and minimizing energy consumption as constraints, and weights are assigned to influencing factors according to the constraints, and the influencing factors include water flow speed, obstacle density, shape, driving distance, driving time, energy consumption and risk level; a path cost function is constructed based on the weights and influencing factors; a set of candidate paths from the current position of the submersible to the target position is searched in the three-dimensional model of the environment through a heuristic search algorithm; the set of candidate paths is evaluated according to the path cost function, and a path that meets the constraints and has the lowest cost is selected as the escape path; A propeller parameter acquisition module is configured in the control terminal and is used to decompose the escape path into a series of discrete control points, and calculate the thrust size, direction, and running time or distance operation parameters of each vector propeller required for the submersible to reach the control point from the current position according to the water flow speed and direction of each control point; The execution module is used to receive the operating parameters output by the thruster parameter acquisition module, and control the corresponding vector thruster to perform an escape operation according to the operating parameters.

2. The control system of a submersible vector propulsion system according to claim 1, characterized in that: The execution module also includes a feedback control unit for monitoring the actual operating state of the vector thruster in real time, comparing the actual operating state with the operating parameters, and adjusting the vector thruster according to the comparison result until the error range allowed by the operating parameters is met.

3. The control system of a submersible vector propulsion system according to claim 1, characterized in that: The path planning model is: ； ； in, For the escape route, is the set of candidate paths, is the index of the candidate path, is the number of candidate paths, is the weight of the constraint; For path In the The cost function on the influencing factors is For path Curves, paths in three-dimensional coordinate systems A series of discrete control points composition; To indicate the path The total cost, is the number of control points on the path, is the index of the control point, to are the weights corresponding to different influencing factors. to are the corresponding influencing factors.

4. The control system of a submersible vector propulsion system according to claim 1, characterized in that: It also includes a dynamic adjustment unit for real-time monitoring and evaluation of the operating status of each vector thruster; When one or more vector thrusters are detected to be faulty or have performance degradation, the dynamic adjustment unit activates a compensation mechanism; the compensation mechanism includes: calculating the yaw position, yaw direction and yaw speed of the submersible based on the real-time thrust size and direction of the faulty thruster and the real-time position of the submersible in the three-dimensional model of the environment in which the submersible is currently located; controlling the normal vector thrusters to travel in the opposite direction of the yaw direction and at the yaw speed until the submersible returns to the yaw position and stops.

5. The control system of a submersible vector propulsion system according to claim 1, characterized in that: The risk level is obtained by searching and matching the corresponding level in a pre-set database based on the detected obstacle size and water flow speed.

6. The control system of a submersible vector propulsion system according to claim 1, characterized in that: The heuristic search algorithm adopts one of A* algorithm, Dijkstra algorithm or genetic algorithm.

7. The control system of a submersible vector propulsion system according to claim 1, characterized in that: It also includes a recording module for recording the driving route of the submersible and the three-dimensional model of the environment on the driving route, positioning the submersible at a position where it can establish a connection with the positioning system, calculating the coordinate points of the driving route based on the positioning, and generating a corresponding three-dimensional map of the route.

8. A control method for a vector propulsion system of a submersible, applied to a control system of a vector propulsion system of a submersible as claimed in any one of claims 1 to 7, characterized in that: include: When the submersible is in a preset environment, the sonar device is started to obtain terrain environment data within a preset range in real time, wherein the terrain environment data includes water flow velocity, obstacle density and shape, and distance to obstacles; a three-dimensional model of the environment is established according to the terrain environment data, and the position coordinates of the submersible in the three-dimensional model of the environment are determined; Using a preset path planning model, an escape path is established according to the position coordinates and the three-dimensional model of the environment; wherein the path planning model takes reaching the target position, avoiding obstacles and minimizing energy consumption as constraints, and weights are assigned to influencing factors according to the constraints, and the influencing factors include water flow speed, obstacle density, shape, driving distance, driving time, energy consumption and risk level; based on the weights and influencing factors, a path cost function is constructed; through a heuristic search algorithm, a set of candidate paths from the current position of the submersible to the target position is searched in the three-dimensional model of the environment; according to the path cost function, the set of candidate paths is evaluated, and a path that meets the constraints and has the lowest cost is selected as the escape path; Decomposing the escape path into a series of discrete control points, and calculating the thrust magnitude, direction, and running time or distance of each vector thruster required for the submersible to reach the control point from the current position according to the water flow speed and direction of each control point; The corresponding vector thruster is controlled according to the operating parameters to perform an escape operation.

9. An electronic device, characterized in that: The electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the processor implements the steps corresponding to the control method of a vector propulsion system of a submarine as described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the steps corresponding to the control method of a vector propulsion system of a submarine as described in claim 8 are implemented.

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