Control system and control method of underwater vehicle vector propulsion system

Abstract

This application relates to vector propulsion system control technology, providing a control system and method for a submersible vector propulsion system. The system includes: real-time acquisition of terrain and environmental data within a preset range around the submersible via an integrated sonar device; an environment scanning module constructing a 3D environmental model and determining the submersible's position based on the terrain and environmental data; a path planning module using a heuristic search algorithm based on position and environmental information to search for and evaluate candidate paths under constraints, determining an optimal escape path; subsequently, a thruster parameter acquisition module decomposes this path into a series of discrete control points and accurately calculates the required thrust, direction, and travel time or distance for each vector thruster based on the water flow velocity and direction at each control point; and an execution module receiving these parameters and controlling the corresponding vector thrusters to perform escape operations, ensuring the submersible can safely and efficiently reach the target location along the optimal path.

Description

Technical Field

[0001] This application relates to the field of vector propulsion system control technology, and more specifically, to a control system and control method for a submarine vector propulsion system. Background Technology

[0002] The content in this section provides only background information related to this application and may not constitute prior art.

[0003] Submersible vehicles (UVs) play a crucial role in marine scientific research, underwater rescue, and topographic mapping. However, during underwater operations, UVs must contend with complex and ever-changing environmental challenges, such as strong currents, dense obstacles, and undulating terrain, all of which pose significant difficulties for path planning and escape operations. While current vector propulsion systems employed by UVs have achieved a certain level of underwater navigation and obstacle avoidance, they still have significant shortcomings. Existing technologies primarily rely on simple sensor data fusion and basic path planning algorithms. These algorithms often fail to fully consider the complexity of the underwater environment, such as variations in water current speed, the diversity of obstacle shapes, and the dynamic relative positions of the UV and obstacles, making it difficult to generate optimal escape paths during path planning. This not only reduces the operational efficiency of UVs but also increases operational risks.

[0004] To address this issue, Chinese Patent CN115206157A proposes a pathfinding training method, device, and unmanned underwater vehicle (UUV). This method trains the UUV based on continuous judgment and correction of its pathfinding decisions, enabling it to possess a certain degree of autonomous judgment. The trained UUV can rely on its own experience to navigate through unfamiliar waters using avoidance and detour methods when facing complex underwater environments. However, this patent also has limitations: it requires a large amount of underwater data for training, and if situations not covered in the training data occur, the UUV cannot perform pathfinding. Therefore, a new control system and method for a UUV's vector propulsion system are needed. Summary of the Invention

[0005] To address the aforementioned technical problems, the purpose of this application is to provide a control system and control method for a submarine vector propulsion system. By employing a heuristic search algorithm on a three-dimensional environmental model, the system finds an escape route for the submarine, ensuring that the submarine can safely and efficiently reach the target location along the optimal path.

[0006] The objective of this application is achieved through the following technical solution:

[0007] In a first aspect, the present invention provides a control system for a submarine vector propulsion system, comprising 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:

[0008] The environment scanning module 101, configured in the control terminal, is used to activate when the submersible is in a preset environment. It acquires 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 distance to obstacles. Based on the terrain environment data, a three-dimensional environmental model is established, and the position coordinates of the submersible in the three-dimensional environmental model are determined.

[0009] The path planning module 102, configured within the control terminal, is used to establish an escape path based on the location coordinates and a 3D environmental model using a pre-set path planning model. The path planning model is constrained by reaching the target location, avoiding obstacles, and minimizing energy consumption. Weights are assigned to influencing factors based on these constraints, including water flow speed, obstacle density, shape, travel distance, travel time, energy consumption, and risk level. A path cost function is constructed based on the weights and influencing factors. A heuristic search algorithm searches the 3D environmental model for a set of candidate paths from the submersible's current location to the target location. The candidate path set is evaluated according to the path cost function, and the path that satisfies the constraints and has the lowest cost is selected as the escape path.

[0010] The thruster parameter acquisition module 103, configured in the control terminal, is used to decompose the escape path into a series of discrete control points. Based on the water flow velocity and direction at each control point, it calculates the thrust magnitude, direction, and operating time or distance of each vector thruster required for the submersible to reach the control point from its current position.

[0011] The execution module 104 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.

[0012] Furthermore, the execution module also includes a feedback control unit, which monitors the actual operating status of the vector thruster in real time, compares the actual operating status with the operating parameters, and adjusts the vector thruster according to the comparison results until it meets the allowable error range of the operating parameters.

[0013] Furthermore, the path planning model is as follows:

[0014] ;

[0015] ;

[0016] in, As a route to escape, For the candidate path set, This is the index of the candidate path. The number of candidate paths, The weights of the constraints; For path In the Cost function for each influencing factor For path Curves and paths in a three-dimensional coordinate system Consisting of a series of discrete control points composition; To represent a path The total cost, This represents the number of control points on the path. For the index of the control point, to These are all weights corresponding to different influencing factors. to These are the corresponding influencing factors.

[0017] Furthermore, 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 malfunctioning or experiencing 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 magnitude and direction of the malfunctioning thruster and the real-time position of the submersible in the three-dimensional environmental model; controlling the normal vector thrusters to travel in the opposite direction and at the yaw speed until the submersible returns to the yaw position and stops.

[0018] Furthermore, the risk level is determined by searching and matching the corresponding level in a pre-set database based on the size of the detected obstacle and the water flow speed.

[0019] Furthermore, the heuristic search algorithm employs one of the following: A* algorithm, Dixtro algorithm, or genetic algorithm.

[0020] Furthermore, it also includes a recording module for recording the underwater vehicle's travel route and the 3D model of the environment along the route, locating the underwater vehicle at a position where it can establish a connection with the positioning system, calculating the coordinates of the travel route based on the location, and generating the corresponding 3D map of the route.

[0021] In a second aspect, the present invention provides a control method for a submarine vector propulsion system, applied to a control system of a submarine vector propulsion system as described in the first aspect, the method comprising:

[0022] The system is activated when the submersible is in a preset environment. It acquires 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 distance to obstacles. Based on the terrain environment data, a three-dimensional environmental model is built, and the submersible's position coordinates in the three-dimensional environmental model are determined.

[0023] Using a pre-defined path planning model, an escape path is established based on the location coordinates and a 3D environmental model. The path planning model is constrained by reaching the target location, avoiding obstacles, and minimizing energy consumption. Weights are assigned to influencing factors based on these constraints, including water flow speed, obstacle density, shape, travel distance, travel time, energy consumption, and risk level. A path cost function is constructed based on these weights and influencing factors. A heuristic search algorithm is then used to search for a set of candidate paths from the submersible's current location to the target location within the 3D environmental model. The candidate path set is evaluated based on the path cost function, and the path that satisfies the constraints and has the lowest cost is selected as the escape path.

[0024] The escape path is decomposed into a series of discrete control points. Based on the water flow velocity and direction at each control point, the thrust magnitude, direction, and operating time or distance of each vector thruster required for the submersible to reach the control point from its current position are calculated.

[0025] The corresponding vector thruster is controlled according to the operating parameters to perform the extrication operation.

[0026] Thirdly, 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, wherein the processor executes the computer program to implement the steps corresponding to the control method of a submarine vector propulsion system in the second aspect.

[0027] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps corresponding to the control method for a submarine vector propulsion system in the second aspect.

[0028] In summary, the technical solutions of this application have at least the following advantages and beneficial effects:

[0029] This invention integrates a sonar device to capture real-time terrain and environmental data within a preset range around the submersible, including key information such as water flow velocity, obstacle density, shape, and distance. This data is used by the environment scanning module to construct a detailed 3D environmental model and determine the submersible's precise location. Next, the path planning module, based on this location and environmental information, employs a heuristic search algorithm to search and evaluate candidate paths, considering constraints such as reaching the target location, avoiding obstacles, and minimizing energy consumption, ultimately determining an optimal escape path. Subsequently, the thruster parameter acquisition module decomposes this path into a series of discrete control points and, based on the water flow velocity and direction at each control point, precisely calculates the required thrust, direction, and travel time or distance for each vector thruster. The execution module receives these parameters and controls the corresponding vector thrusters to perform the escape operation, ensuring the submersible can safely and efficiently reach the target location along the optimal path. Attached Figure Description

[0030] Figure 1 A schematic diagram of the control system for the vector propulsion system of a submersible provided by the present invention;

[0031] Figure 2 A flowchart of the control method for a submarine vector propulsion system provided by the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of an electronic device provided by the present invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] This application provides a control system for a submarine vector propulsion system, comprising a sonar device, a control terminal connected to the sonar device, and multiple vector thrusters connected to the control terminal; the system includes:

[0035] The environmental scanning module, configured within the control terminal, is activated when the submersible is in a preset environment. It acquires terrain environmental data within a preset range in real time via a sonar device. The terrain environmental data includes water flow velocity, obstacle density and shape, and distance to obstacles. Based on the terrain environmental data, a three-dimensional environmental model is built, and the submersible's position coordinates in the three-dimensional environmental model are determined.

[0036] Specifically, the environment scanning module aims to capture real-time terrain and environmental data within a predetermined range around the submersible using a sonar device integrated on the submersible. This data encompasses crucial hydrological information, such as water flow velocity, and detailed obstacle information, including obstacle density, specific shape, and relative distance between the submersible and obstacles. The module's operation relies primarily on the sonar device's detection capabilities. It utilizes the propagation characteristics of sound waves in water, emitting sound waves and receiving reflected signals to analyze the specific features of the surrounding environment. The acquired terrain and environmental data is then input into the environment scanning module, which uses advanced algorithms to process this data and construct a detailed 3D environmental model. This model not only accurately reflects the actual terrain around the submersible but also allows the system to determine the submersible's precise position coordinates in 3D space, providing a solid foundation for subsequent path planning. Water flow velocity is primarily detected through the Doppler effect; when the sonar device emits sound waves towards particles in the water flow, the frequency of the reflected sound waves will change if the water flow is dynamic. This frequency change is proportional to the water flow velocity. The velocity of the water flow can be estimated by measuring the frequency difference between the reflected and emitted sound waves and combining this with the known propagation speed of sound waves and the reflection characteristics of particles in the water flow.

[0037] The path planning module, configured within the control terminal, is used to establish an escape path based on the pre-set path planning model, location coordinates, and a 3D environmental model. The path planning model uses reaching the target location, avoiding obstacles, and minimizing energy consumption as constraints. Weights are assigned to influencing factors based on these constraints, including water flow speed, obstacle density, shape, travel distance, travel time, energy consumption, and risk level. A path cost function is constructed based on these weights and influencing factors. A heuristic search algorithm searches the 3D environmental model for a set of candidate paths from the submersible's current location to the target location. The candidate path set is evaluated based on the path cost function, and the path that satisfies the constraints and has the lowest cost is selected as the escape path.

[0038] Specifically, the path planning module aims to ensure that the submersible can reach its target location efficiently and safely. First, the path planning module uses the position coordinates and a 3D environmental model provided by the environment scanning module as input information. This information details the underwater environment in which the submersible is currently located, including key data such as water flow velocity, obstacle density and shape, and distance to obstacles.

[0039] During path planning, the model primarily considers reaching the target location, avoiding obstacles, and minimizing energy consumption as constraints. To more accurately guide path planning, the model transforms these constraints into specific influencing factors and assigns a corresponding weight to each. These influencing factors include, but are not limited to, water flow speed, obstacle density, shape, travel distance, travel time, energy consumption, and risk level. The weight of each factor reflects its importance in path planning, ensuring that path planning comprehensively and objectively considers various practical situations. The risk level is derived by searching and matching the corresponding level in a pre-defined database based on the detected obstacle size and water flow speed. Next, the path planning module constructs a path cost function based on these influencing factors and weights. This function quantifies the merits of different paths in satisfying the constraints, thus providing an objective basis for path selection. The path cost function is as follows:

[0040] ;

[0041] in, To represent a path The total cost, This represents the number of control points on the path. For the index of the control point, to These are all weights corresponding to different influencing factors. to These are the corresponding influencing factors.

[0042] After constructing the path cost function, the path planning module employs a heuristic search algorithm to search for a set of candidate paths from the submersible's current position to the target position within the 3D environmental model. The heuristic search algorithm uses one of the following: A* algorithm, Dixtrahedral algorithm, or genetic algorithm. This algorithm ensures search efficiency while exploring as many possible path options as possible, providing a rich selection space for path selection. Finally, the path planning module evaluates and filters the candidate path set based on the path cost function. During this process, the module comprehensively considers various influencing factors and weights, selecting the path that satisfies the constraints and has the lowest cost as the final escape path. This path not only effectively avoids obstacles but also minimizes energy consumption and travel time while ensuring safety, thereby improving the overall performance and efficiency of the submersible. The path planning model is as follows:

[0043] ;

[0044] in, As a route to escape, For the candidate path set, This is the index of the candidate path. The number of candidate paths, The weights of the constraints; For path In the Cost function for each influencing factor For path Curves and paths in a three-dimensional coordinate system Consisting of a series of discrete control points composition.

[0045] The thruster parameter acquisition module, configured in the control terminal, is used to decompose the escape path into a series of discrete control points. Based on the water flow velocity and direction at each control point, it calculates the thrust magnitude, direction, and operating time or distance of each vector thruster required for the submersible to reach the control point from its current position.

[0046] Specifically, the thruster parameter acquisition module is responsible for converting the escape path generated by the path planning module into specific thruster operation commands. This 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. This path consists of a series of discrete control points in the three-dimensional environment, and each control point represents a key position that the submersible needs to reach during its movement.

[0047] After obtaining the escape path, the thruster parameter acquisition module begins operation. It first analyzes the water flow velocity and direction at each control point, which are key factors in determining the submersible's propulsion strategy. Water flow velocity not only affects the submersible's speed but also directly impacts its energy consumption and stability; while the water flow direction determines the magnitude and direction of the resistance the submersible needs to overcome during propulsion.

[0048] Based on precise analysis of the water flow velocity and direction at each control point, the thruster parameter acquisition module then calculates the thrust magnitude, direction, and travel time or distance required for the submersible to reach that control point from its current position. Specifically, the thrust magnitude calculation considers factors such as the submersible's mass, acceleration, and water flow resistance; the thrust direction determination requires precise calculation based on the submersible's current position, target position, and water flow direction; and the travel time or distance calculation involves factors such as the submersible's speed planning and path smoothness. Through the calculations of the thruster parameter acquisition module, the submersible receives a series of precise thruster operation commands, which are then transmitted to the execution module. The execution module then controls the corresponding vector thrusters to perform escape operations according to these commands, ensuring that the submersible can safely and efficiently reach the target position along the escape path.

[0049] The execution module receives the operating parameters output by the thruster parameter acquisition module and controls the corresponding vector thruster to perform the escape operation based on the operating parameters.

[0050] Specifically, the execution module receives precise operating parameters from the thruster parameter acquisition module and uses these parameters to precisely control the corresponding vector thrusters for obstacle avoidance. After receiving the operating parameters from the thruster parameter acquisition module, the execution module receives detailed information such as the thrust magnitude, direction, and travel time or distance required for the submersible to reach each discrete control point from its current position. Based on these parameters, the execution module generates a series of specific control commands, which directly act on the submersible's vector thrusters.

[0051] Furthermore, in the control system of the original underwater vehicle vector propulsion system, the execution module plays a crucial role in converting the precise operating parameters output by the thruster parameter acquisition module into actual operational commands, thereby driving the vector thruster to perform extrication operations. To further improve the control accuracy and stability of the system, a feedback control unit 107 is introduced into the execution module. This unit aims to ensure, through real-time monitoring and adjustment, that the actual operating state of the vector thruster is highly consistent with the preset operating parameters. Specifically, the execution module also includes a feedback control unit 107, which monitors the actual operating state of the vector thruster in real time, compares the actual operating state with the operating parameters, and adjusts the vector thruster according to the comparison results until it meets the allowable error range of the operating parameters.

[0052] Specifically, the feedback control unit 107 operates based on the concept of a closed-loop control system, with its core being the continuous monitoring and precise feedback of the actual operating status of the vector thruster. The feedback control unit 107 first captures key parameters of the vector thruster in real time, such as thrust magnitude, direction, and actual operating time or distance, through various sensors integrated on the submersible (e.g., thrust sensors, direction sensors). These actual operating parameters are then sent into 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.

[0053] The purpose of the comparison is to identify and quantify the differences between the actual operating state and the theoretical operating parameters. These differences may stem from changes in the external environment (such as sudden changes in water flow speed or direction), minor fluctuations in the submersible's own state, or changes in the performance of the thrusters themselves. Once a difference is detected, the feedback control unit 107 immediately initiates an adjustment mechanism, gradually reducing these differences by adjusting the control commands of the vector thrusters until the actual operating state is corrected to within the allowable error range of the operating parameters. This improves the submersible's ability to escape from complex underwater environments and enhances the system's robustness and adaptability.

[0054] Furthermore, it also includes a dynamic adjustment unit 106 for real-time monitoring and evaluation of the operating status of each vector thruster; when one or more vector thrusters are detected to be malfunctioning or experiencing performance degradation, the dynamic adjustment unit 106 initiates 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 magnitude and direction of the malfunctioning thruster and the real-time position of the submersible in the three-dimensional environmental model; 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.

[0055] Specifically, this embodiment introduces a dynamic adjustment unit 106 into the existing submersible vector propulsion system control system to enhance system stability and safety. The dynamic adjustment unit 106 is designed to monitor and evaluate the operating status of each vector thruster in real time, enabling it to detect potential thruster malfunctions or performance degradation issues immediately and take timely measures to prevent potential accidents. When the dynamic adjustment unit 106 detects a malfunction or performance degradation in one or more vector thrusters, it immediately activates a compensation mechanism. The core of this compensation mechanism lies in its ability to quickly and accurately calculate the submersible's yaw position, yaw direction, and yaw speed based on the real-time thrust magnitude and direction of the malfunctioning thruster and the submersible's current real-time position in the environmental 3D model. Once the yaw information is calculated, the dynamic adjustment unit 106 controls the still-operating vector thrusters to travel in the opposite direction and at the yaw speed. This strategy aims to return the submersible to its original position as quickly as possible, i.e., its position before yaw, thereby minimizing path deviation and potential risks caused by thruster malfunctions. During this process, the dynamic adjustment unit 106 continuously monitors the status of the submersible to ensure that it can safely and accurately return to the yaw position and stop driving after reaching it, so as to avoid unnecessary energy consumption and potential risks.

[0056] Furthermore, it also includes a recording module 105, which is used to record the underwater vehicle's travel route and the three-dimensional model of the environment on the travel route, locate the underwater vehicle at a position where it can establish a connection with the positioning system, calculate the coordinate points of the travel route based on the positioning, and generate the corresponding three-dimensional map of the route.

[0057] Specifically, the core function of the recording module 105 is to record the underwater vehicle's route and the 3D model of the environment along the way in real time. Throughout the entire mission, whether exploring unknown waters, performing monitoring tasks, or conducting underwater rescue, this module continuously collects data. Specifically, it first uses technology similar to that of the environmental scanning module to capture detailed information about the underwater vehicle's surrounding environment in real time through a sonar device, including water flow speed, obstacle distribution, and terrain undulations, thereby constructing a 3D environmental model of the route. These models not only contain static obstacle information but also reflect dynamic water flow changes, providing valuable data for subsequent path planning and data analysis.

[0058] When the submersible reaches a location where it can establish a connection with an external positioning system (such as GPS, BeiDou satellite positioning systems, or a dedicated underwater positioning base station), the recording module 105 activates its positioning function to accurately determine the submersible's current position. Based on this positioning information, the module can calculate the precise coordinates of the travel route and combine these coordinates with the previously recorded 3D environmental model to generate a complete 3D route map. This 3D map not only visually displays the submersible's trajectory but also incorporates rich environmental information, enabling operators to clearly understand the submersible's movement status and changes in the surrounding environment throughout the mission, and also providing a reference route for subsequent arriving submersibles.

[0059] Based on the same inventive concept, this invention provides a control method for a submarine vector propulsion system, comprising:

[0060] S1 is activated when the submersible is in a preset environment. It acquires terrain environment data within a preset range in real time through the sonar device. The terrain environment data includes water flow speed, obstacle density and shape, and distance to obstacles. Based on the terrain environment data, a three-dimensional environmental model is built and the position coordinates of the submersible in the three-dimensional environmental model are determined.

[0061] S2 utilizes a pre-defined path planning model to establish an escape path based on the location coordinates and a 3D environmental model. The path planning model uses reaching the target location, avoiding obstacles, and minimizing energy consumption as constraints. Weights are assigned to influencing factors based on these constraints, including water flow speed, obstacle density, shape, travel distance, travel time, energy consumption, and risk level. A path cost function is constructed based on these weights and influencing factors. A heuristic search algorithm searches the 3D environmental model for a set of candidate paths from the submersible's current location to the target location. The candidate path set is evaluated based on the path cost function, and the path that satisfies the constraints and has the lowest cost is selected as the escape path.

[0062] S3 decomposes the escape path into a series of discrete control points. Based on the water flow velocity and direction at each control point, it calculates the thrust magnitude, direction, and operating time or distance required for the submersible to reach the control point from its current position.

[0063] S4 controls the corresponding vector thruster to perform the extrication operation based on the operating parameters.

[0064] 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, it implements a control method for a submarine vector propulsion system.

[0065] 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 control method for a submarine vector propulsion system.

[0066] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control system for a submarine vector propulsion system, characterized in that, It includes a sonar device, a control terminal connected to the sonar device, and multiple vector thrusters connected to the control terminal; The system includes: An environmental scanning module, configured within the control terminal, is activated when the submersible is in a preset environment. It acquires terrain environmental data within a preset range in real time through the sonar device. The terrain environmental data includes water flow velocity, obstacle density and shape, and distance to obstacles. Based on the terrain environmental data, a three-dimensional environmental model is established, and the submersible's position coordinates within the three-dimensional environmental model are determined. A path planning module, configured within the control terminal, is used to establish an escape path based on the location coordinates and the 3D environmental model using a pre-set path planning model. The path planning model is constrained by reaching the target location, avoiding obstacles, and minimizing energy consumption. Weights are assigned to influencing factors based on these constraints, including water flow speed, obstacle density, shape, travel distance, travel time, energy consumption, and risk level. A path cost function is constructed based on these weights and influencing factors. A heuristic search algorithm searches the 3D environmental model for a set of candidate paths from the submersible's current location to the target location. The candidate path set is evaluated according to the path cost function, and the path that satisfies the constraints and has the lowest cost is selected as the escape path. The thruster parameter acquisition module, configured in the control terminal, is used to decompose the escape path into a series of discrete control points, and calculate the thrust magnitude, direction, and running time or distance of each vector thruster required for the submersible to reach the control point from its current position based on the water flow velocity and direction at 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 the escape operation according to the operating parameters.

2. The control system of a submarine vector propulsion system according to claim 1, characterized in that: The execution module also includes a feedback control unit, which is used to monitor the actual operating status of the vector thruster in real time, compare the actual operating status with the operating parameters, and adjust the vector thruster according to the comparison result until it meets the error range allowed by the operating parameters.

3. The control system of a submarine vector propulsion system according to claim 1, characterized in that: The path planning model is as follows: ； ； in, As a route to escape, For the candidate path set, This is the index of the candidate path. The number of candidate paths, The weights of the constraints; For path In the Cost function for each influencing factor For path Curves and paths in a three-dimensional coordinate system Consisting of a series of discrete control points composition; To represent a path The total cost, This represents the number of control points on the path. For the index of the control point, to These are all weights corresponding to different influencing factors. to These are the corresponding influencing factors.

4. The control system of a submarine 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 malfunctioning or experiencing performance degradation, the dynamic adjustment unit initiates 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 magnitude and direction of the malfunctioning thruster and the real-time position of the submersible in the current three-dimensional environmental model; controlling the normal vector thrusters to travel in the opposite direction of the yaw direction and the yaw speed until the submersible returns to the yaw position and stops.

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

6. The control system of a submarine vector propulsion system according to claim 1, characterized in that: The heuristic search algorithm used is one of the A* algorithm, Dixtro algorithm, or genetic algorithm.

7. The control system of a submarine vector propulsion system according to claim 1, characterized in that: It also includes a recording module, which records the underwater vehicle's route and the 3D model of the environment along the route. It locates the underwater vehicle at a position where it can establish a connection with the positioning system, calculates the coordinates of the route based on the location, and generates the corresponding 3D map of the route.

8. A control method for a submarine vector propulsion system, applied to a control system for a submarine vector propulsion system as described in any one of claims 1 to 7, characterized in that, include: The submersible is activated when it is in a preset environment. It acquires terrain environment data within a preset range in real time through the sonar device. The terrain environment data includes water flow speed, obstacle density and shape, and distance to obstacles. Based on the terrain environment data, a three-dimensional environmental model is established and the position coordinates of the submersible in the three-dimensional environmental model are determined. Using a pre-set path planning model, an escape path is established based on the location coordinates and the 3D environmental model. The path planning model is constrained by reaching the target location, avoiding obstacles, and minimizing energy consumption. Weights are assigned to influencing factors based on these constraints, including water flow speed, obstacle density, shape, travel distance, travel time, energy consumption, and risk level. A path cost function is constructed based on these weights and influencing factors. A heuristic search algorithm is used to search for a set of candidate paths from the submersible's current location to the target location within the 3D environmental model. The candidate path set is evaluated based on the path cost function, and the path that satisfies 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. Based on the water flow velocity and direction at each control point, the thrust magnitude, direction, and operating time or distance of each vector thruster required for the submersible to reach the control point from its current position are calculated. The corresponding vector thruster is controlled according to the operating parameters to perform the extrication 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, it implements the steps corresponding to the control method of a submarine vector propulsion system 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, it implements the steps corresponding to the control method of the underwater vehicle vector propulsion system as described in claim 8.

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