Scouring repair and detection composite function robot for flow-state solidified soil

Abstract

The invention relates to the technical field of underwater construction, in particular to a scouring repair and detection composite function robot for flow-state solidified soil, which comprises a cabin body, an underwater propelling device, a control device and a pouring device. The control device is provided with an attitude controller, the attitude controller is used for determining an attitude control signal according to the hydrodynamic torque and the guniting torque, and the attitude control signal is used for driving the underwater propelling device. According to the method, the hydrodynamic torque and the guniting torque are input to the attitude controller, the attitude controller calculates the total disturbance torque, then the antisymmetric matrix is calculated according to the disturbance torque, and the control parameters are output according to the antisymmetric matrix to adjust the propelling torque of the underwater propeller. The control parameters are calculated through the attitude controller according to the disturbance torque, so that the underwater propeller outputs the reverse propelling torque, the disturbance torque is counteracted to realize constant angular momentum, and attitude imbalance caused by interference of the robot during operation is prevented.

Description

Technical Field

[0001] The present application relates to the field of underwater construction technology, and in particular to a robot with composite functions for scouring, repairing and detecting fluidized solidified soil. Background Art

[0002] Fluidized solidified soil (FSU) scour repair and protection technology is a novel scour repair and protection technology. This technology uses fluidized solidified soil (FSU) to create a protective layer around the pile foundation, effectively controlling localized scour on the pile foundation. The FSU scour prevention technology solidifies the silt and, leveraging its initial fluidity, pumps it onto the seabed around the pile foundation or into developing scour pits. The FSU gradually hardens and forms a protective layer.

[0003] In the underwater pouring operation of fluidized solidified soil, the fluidized solidified soil needs to be mixed and pumped. In the prior art, underwater frogmen guide the pouring pipe to align with the scouring pit and pour the mud into the pit.

[0004] For example, in the underwater robot disclosed in CN119568382A, the casting pipe can be transported by the underwater robot. However, the robot may be disturbed by external forces underwater, which may result in the inability to maintain balance of the underwater robot.

[0005] The control system of existing underwater vehicles generally performs attitude control through a feedback closed-loop control system, which compares the feedback signal of a tilt sensor or gyroscope with the expected signal and adjusts the control signal of the system according to the deviation.

[0006] When pouring fluidized solidified soil on an underwater foundation, an underwater robot first needs to determine its navigation area and then control the pouring device to grout that area. During the grouting process, the underwater robot is subject to two external torques: the hydrodynamic torque exerted by the water flow on the underwater robot, and the deflection torque exerted by the ejected slurry.

[0007] When existing underwater vehicles are equipped with a pouring device, the hydraulic torque and shotcrete torque generated during operation can cause significant deviations in the vehicle's attitude angle. The feedback closed-loop control system must respond with adaptive compensation signals to correct these deviations. When faced with significant deviations, the feedback closed-loop control system often suffers from repeated corrections, causing the vehicle to sway violently.

[0008] In order to prevent the external torque generated by water flow and shotcrete from causing the posture angle deflection of the underwater robot, the present application provides a composite function robot for scouring, repairing and detecting fluidized solidified soil. Summary of the Invention

[0009] In order to overcome the problems existing in the related art, the present application provides a robot with composite functions for scouring, repairing and detecting fluidized solidified soil, comprising a cabin, an underwater propulsion device, a control device and a pouring device;

[0010] The underwater propulsion device is arranged on two opposite sides of the cabin, the control device is arranged inside the cabin, and the pouring device is arranged at the bottom of the cabin;

[0011] The pouring device is used to perform spraying operations on the area to be poured;

[0012] The control device is equipped with a posture controller, which is used to determine a posture control signal according to the hydraulic torque and the shotcrete torque, wherein the hydraulic torque is the torque generated by the water flow on the cabin body and the shotcrete torque is the torque generated by the casting device spraying the fluidized solidified soil;

[0013] The attitude control signal is used to drive the underwater propulsion device.

[0014] In one embodiment, the underwater propulsion device is provided with N longitudinal thrusters, where N is an integer greater than or equal to 2;

[0015] The N longitudinal thrusters are arranged on both sides of the y-axis of the body coordinate axis and are symmetrical along the y-axis.

[0016] In one embodiment, the attitude controller is used to determine the attitude control signal according to the hydraulic torque and the shotcrete torque, specifically including:

[0017] The gesture controller is configured to perform the following steps:

[0018] Acquire water flow data and shotcrete data; the water flow data includes water flow velocity and water flow direction, and the shotcrete data includes shotcrete velocity and shotcrete direction;

[0019] Inputting the water flow data into a hydrodynamic model and outputting the hydrodynamic moment;

[0020] determining the shotcrete torque according to the shotcrete data;

[0021] The attitude control signal is determined according to the hydraulic torque and the shotcrete torque.

[0022] In one embodiment, determining the attitude control signal according to the hydraulic torque and the shotcrete torque specifically includes:

[0023] determining a total interference torque according to the hydraulic torque and the shotcrete torque;

[0024] determining a counter torque according to the interference torque;

[0025] The attitude control signal is determined according to the reverse torque.

[0026] In one embodiment, the control device is further equipped with a position controller, and the underwater propulsion device is provided with M transverse thrusters, where M is an integer greater than or equal to 2;

[0027] The M transverse thrusters are respectively arranged on the left and right sides of the cabin, and the M transverse thrusters on both sides are symmetrical along the yoz plane. The thrust direction of the transverse thrusters points to the origin of the body coordinate system.

[0028] The position controller is used to send a position control signal to the transverse thruster.

[0029] In one embodiment, the pouring device is provided with a slurry nozzle and a nozzle rotator;

[0030] The mud nozzle is used to pump fluidized solidified soil to the area to be poured; the nozzle rotator is used to adjust the nozzle direction of the mud nozzle.

[0031] In one embodiment, the robot further includes a depth detection device; the depth detection device is used to construct a three-dimensional map of the area to be poured.

[0032] In one embodiment, the robot further includes an obstacle avoidance detection device; the obstacle avoidance detection device is used to detect obstacles on the underwater route.

[0033] In one embodiment, the obstacle avoidance detection device includes a forward-looking sonar and a camera unit.

[0034] In one embodiment, the robot further includes a positioning unit; the positioning unit is used to detect the coordinates of the robot.

[0035] The technical solution provided by this application may have the following beneficial effects:

[0036] In the present application, the hydrodynamic torque and the shotcrete torque are input to the attitude controller, which calculates the total interference torque, then calculates an antisymmetric matrix based on the interference torque. The propulsion torque of the underwater thruster is adjusted based on the output control parameters of the antisymmetric matrix. In the present application, the attitude controller calculates the control parameters based on the interference torque, causing the underwater thruster to output a reverse propulsion torque, offsetting the interference torque to achieve constant angular momentum and preventing the robot from being disturbed and experiencing posture imbalance during operation.

[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0039] Figure 1 A three-dimensional structural diagram of the robot shown in an embodiment of the present application;

[0040] Figure 2 for Figure 1 A right side view of the three-dimensional structure diagram of the robot shown;

[0041] Figure 3 This is a schematic diagram of the control flow of the posture controller shown in an embodiment of the present application;

[0042] Figure 4 for Figure 3 The control flow diagram shown is a flow diagram of step S104;

[0043] Description of the accompanying drawings: 100, cabin; 200, underwater propulsion device; 210, longitudinal thruster; 220, transverse thruster; 300, casting device; 400, depth detection device; 500, obstacle avoidance detection device; 600, positioning unit. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0045] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0046] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] Example 1

[0048] Existing control systems for underwater vehicles generally perform attitude control through a feedback closed-loop control system, which compares the feedback signal from an inclination sensor or gyroscope with the desired signal and adjusts the system control signal based on the deviation.

[0049] When pouring fluidized solidified soil on an underwater foundation, an underwater robot first needs to determine its navigation area and then control the pouring device to grout that area. During the grouting process, the underwater robot is subject to two external torques: the hydrodynamic torque exerted by the water flow on the underwater robot, and the deflection torque exerted by the ejected slurry.

[0050] When existing underwater vehicles are equipped with a pouring device, the hydraulic torque and shotcrete torque generated during operation can cause significant deviations in the vehicle's attitude angle. The feedback closed-loop control system must respond with adaptive compensation signals to correct these deviations. When faced with significant deviations, the feedback closed-loop control system often suffers from repeated corrections, causing the vehicle to sway violently.

[0051] Therefore, in order to prevent the external torque generated by water flow and shotcreting from causing the posture angle deflection of the underwater robot, the embodiment of the present application provides a composite function robot for scouring, repairing and detecting fluidized solidified soil, such as Figure 1 and Figure 2 As shown, it includes a cabin 100, an underwater propulsion device 200, a control device and a pouring device 300.

[0052] exist Figure 1 and Figure 2 In the robot structure diagram shown, the underwater propulsion device 200 is arranged on opposite sides of the cabin 100, the control device is arranged inside the cabin 100, and the pouring device 300 is arranged at the bottom of the cabin 100.

[0053] Specifically, N underwater thrusters are provided on both sides of the longitudinal direction of the cabin 100, and the underwater thrusters on both sides are symmetrically arranged. N is an integer greater than or equal to 2.

[0054] Specifically, the pouring device 300 is equipped with a slurry nozzle and a nozzle rotator for pumping fluidized solidified soil to the area to be poured. The slurry nozzle is connected to the fluidized solidified soil slurry production equipment, and the nozzle ejects the pumped fluidized solidified soil. The nozzle rotator is used to rotate the nozzle of the slurry nozzle.

[0055] Furthermore, the control device is used to control the pouring device 300 and the underwater propulsion device 200 .

[0056] In the embodiment of the present application, the robot controls the underwater propulsion device 200 through the control device, drives the robot to navigate and operate underwater, and controls the posture during the operation.

[0057] Specifically, the control device is equipped with a posture controller, which is used to determine a posture control signal according to the hydraulic torque and the shotcrete torque.

[0058] The hydrodynamic torque is the torque generated by the water flow on the hull 100 , and the shotcrete torque is the torque generated by the mud nozzle. The attitude control signal is used to drive the underwater propulsion device 200 .

[0059] In one embodiment, the shotcrete torque is obtained by collecting control signals from the pouring device 300. The pouring control signals are analyzed to obtain the pipe pressure of the slurry nozzle and the angle of the nozzle rotator, and then the shotcrete torque is calculated based on the pipe pressure and angle.

[0060] In one embodiment, the calculation of the hydrodynamic torque requires first collecting the velocity and direction of the water flow through a sensor, and then calculating the hydrodynamic torque based on the water flow, direction, and a pre-built hydrodynamic model.

[0061] In an embodiment of the present application, the hydrodynamic torque and the shotcrete torque are input into the attitude controller, the attitude controller calculates the total interference torque, and then calculates the antisymmetric matrix based on the interference torque, and adjusts the propulsion torque of the underwater thruster based on the control parameters output by the antisymmetric matrix.

[0062] In the embodiment of the present application, the attitude controller calculates control parameters based on the interference torque, so that the underwater thruster outputs a reverse propulsion torque to offset the interference torque to achieve constant angular momentum, thereby preventing the robot from being disturbed and experiencing attitude imbalance during operation.

[0063] Example 2

[0064] Based on the first embodiment, in order to specifically illustrate the control method of the posture controller, the embodiment of the present application provides a robot with a composite function of scouring, repairing and detecting fluidized solidified soil, and its structure is as follows: Figure 1 and Figure 2 As shown, it includes a cabin 100, an underwater propulsion device 200, a control device and a pouring device 300.

[0065] Furthermore, the underwater propulsion device 200 is provided with N longitudinal thrusters 210 and M transverse thrusters 220 .

[0066] In the body coordinate system, with the center of mass of the cabin 100 as the origin, the y-axis points to the front of the cabin 100 along the axis of the cabin 100, the x-axis points to the side chord of the cabin 100, and the z-axis points vertically downward.

[0067] like Figure 1 and Figure 2 As shown, the N longitudinal thrusters 210 and the M transverse thrusters 220 are arranged on both sides of the y-axis and are symmetrical along the y-axis.

[0068] Two transverse thrusters 220 are respectively disposed on the front and rear sides of the cabin 100. Four transverse thrusters 220 are distributed in four quadrants of the horizontal plane (xoy plane) of the cabin 100, with thrust directed toward the origin. The four transverse thrusters 220 are arranged on the left and right sides of the cabin 100, symmetrically along the yoz plane. The thrust of each transverse thruster 220 is directed toward the origin of the aircraft coordinate system.

[0069] The robot adopts an axisymmetric layout, and drives the cabin 100 to translate along the z-axis direction through the longitudinal propeller 210, and drives the cabin 100 to translate on the xoy plane through the transverse propeller 220.

[0070] During the pouring process, in order to keep the pouring device 300 spraying mud smoothly, the robot needs to suppress the roll angle and pitch angle. Due to the existence of hydrodynamic lift and the reaction force of the mud nozzle, the embodiment of the application uses N longitudinal thrusters 210 to maintain the horizontal plane of the body.

[0071] Further, such as Figure 3 As shown, the posture controller is used to perform the following steps:

[0072] S101, acquiring water flow data and shotcrete data; the water flow data includes water flow velocity and water flow direction, and the shotcrete data includes shotcrete velocity and shotcrete direction;

[0073] S102, inputting the water flow data into a hydrodynamic model, and outputting the hydrodynamic torque;

[0074] S103, determining the shotcrete torque according to the shotcrete data;

[0075] S104: Determine the attitude control signal according to the hydraulic torque and the shotcrete torque.

[0076] Among them, the encoding of water flow data is {V1,θ x ,θ y ,θ z}, V1 is the water flow velocity, θ x is the angle between the water flow and the x-axis, θ y is the angle between the water flow and the y-axis, θ z is the angle between the water flow and the z-axis.

[0077] The coding of shotcrete data is represent the reaction force of the mud and the angle between the coordinate axes respectively.

[0078] Specifically, the water flow data is collected by a water flow sensor, and the shotcrete data is obtained by extracting and encoding the control signal of the pouring device 300 .

[0079] Specifically, the hydrodynamic model is a mathematical model obtained by fitting CFD simulation data. The hydrodynamic model can be used to obtain the lift size, direction and point of action of the cabin 100 under the action of water flow.

[0080] Exemplarily, the steps of constructing the hydrodynamic model are:

[0081] S301, constructing a three-dimensional model of the robot;

[0082] S302, importing the robot three-dimensional model into the calculation domain of the CFD simulation software;

[0083] S303, defining fluid density, fluid velocity, and fluid direction;

[0084] S304, configuring solver parameters to perform simulation and obtain simulation data;

[0085] S305: Fit the simulation data to obtain a hydrodynamic model.

[0086] Furthermore, the function of the hydrodynamic model is expressed as:

[0087]

[0088] Among them, M x represents the flipping moment along the x-axis, M y represents the flipping moment along the y-axis, M z represents the flipping moment along the z axis, r xrepresents the distance between the x-axis component of the hydrodynamic lift and the center of mass; r y represents the distance between the x-axis component of the hydrodynamic lift and the center of mass; r z represents the distance between the x-axis component of the hydrodynamic lift and the center of mass; Represents the hydrodynamic lift in each axis, V x ,V y ,V z is the water velocity in each axis, S is the surface area of the top of the hull 100, Q is the dynamic pressure, and C is the lift coefficient. i represents a slice of the hull 100 model, and j is the total number.

[0089] In the embodiment of the present application, the control data of the pouring device 300 is obtained, and the reaction force of the nozzle is calculated by the mud density, mud pressure and mud density. Solve, where is the mass flow rate of mud, v e is the flow rate of the mud. and v e Both can be calculated from mud pressure and mud density.

[0090] Specifically, the shotcrete torque is

[0091] M' x =L·F x

[0092] M' y =L·F y

[0093] M' z =L·F z

[0094] Among them, M' x M' represents the turning moment of the reaction force in the x-axis direction on the center of mass of the cabin 100. y The overturning moment of the reaction force in the y-axis direction on the center of mass of the cabin 100, M' z It represents the overturning moment of the reaction force in the z-axis direction on the center of mass of the cabin 100, and L is the distance between the nozzle and the center of mass.

[0095] Specifically, such as Figure 4 As shown, S104 includes:

[0096] S201, determining a total interference torque according to the hydraulic torque and the shotcrete torque;

[0097] S202, determining a reverse torque according to the interference torque;

[0098] S203: Determine the attitude control signal according to the reverse torque.

[0099] In S201, the total interference torque is calculated as follows:

[0100]

[0101] in, It represents the overturning moment of the reaction force in the x-axis direction on the center of mass of the cabin, It represents the overturning moment of the reaction force in the y-axis direction on the center of mass of the cabin, It represents the overturning moment of the reaction force in the z-axis direction on the center of mass of the cabin.

[0102] In S202, the reverse torque required to balance the interference torque is calculated as follows:

[0103]

[0104] In S203, the thrust of the N longitudinal thrusters is controlled according to the reverse torque, and the calculation formula is:

[0105]

[0106] Among them, L n represents the distance between the nth longitudinal thruster and the center of mass of the cabin, K n represents the torque coefficient of the nth longitudinal thruster, Δw n Indicates the change in speed of the nth longitudinal propeller.

[0107] After determining the interference torque, this embodiment of the application substitutes the control torque matrix to solve for the speed change of the N longitudinal propellers. The thrust of the N longitudinal propellers is controlled to output three reverse torques in the x-axis, y-axis, and z-axis directions respectively, so that the aircraft maintains horizontal balance.

[0108] In the movement control of the robot, the embodiment of the present application controls M lateral thrusters through a position controller, where M is an integer greater than or equal to 2.

[0109] Specifically, the position controller obtains the coordinates at the next moment, inputs the coordinates into the position controller, and the position controller outputs the rotational speed changes of the M transverse thrusters.

[0110] It can be understood that after the speed change of the propeller is determined, the speed change of the next time step is input into the PID control loop of the propeller, and the PID control loop outputs a PWM signal to control the motor speed.

[0111] Example 3

[0112] The robot in the above embodiment also has the function of terrain exploration and obstacle avoidance. In order to realize the functions of exploration and obstacle avoidance, the embodiment of the present application provides a robot with composite functions of scouring, repairing and detecting fluidized solidified soil, such as Figure 1 As shown, it also includes: a depth detection device 400, an obstacle avoidance detection device 500 and a positioning unit 600.

[0113] The positioning unit 600 is disposed on the top of the cabin 100 , the depth detection device 400 is disposed on the bottom of the cabin 100 , and the obstacle avoidance detection device 500 is disposed on the front end of the cabin 100 .

[0114] The front end of the cabin 100 is provided with a transparent window, behind which the camera unit is located. A cable connection hole is provided at the rear end of the cabin 100. An umbilical cable electrically connects the various devices within the cabin 100 through the cable connection hole. The umbilical cable houses a video signal output line, an electrical cable, a remote control data transmission line, and a sonar data transmission line.

[0115] Furthermore, the positioning unit 600 is provided with an ultra-short baseline array, which is provided on the top of the cabin 100. In the embodiment of the present application, the positioning unit 600 sends a positioning signal to a receiving terminal for monitoring the position of the robot.

[0116] Furthermore, the depth detection device 400 is provided with a downward-looking sonar, which is arranged at the bottom of the cabin 100. The downward-looking sonar collects water depth to generate an underwater topographic map to verify the repair effect.

[0117] Furthermore, the obstacle avoidance detection device 500 is provided with a forward-looking sonar and a camera unit, and the forward-looking sonar is provided at the front end of the cabin 100. The obstacle avoidance detection device 500 is used for underwater obstacle avoidance and target recognition.

[0118] Furthermore, the transparent window at the front end of the cabin 100 contains four rectangular LED light strips and a ring-shaped light shield. In low-visibility environments, the LED light strips are used to provide lighting for the camera.

[0119] Before slurry pouring, the area to be poured is scanned using a downward-looking bathymetric sonar, and the underwater three-dimensional topography is constructed based on the positioning signals. The control device plans a construction path based on the 3D underwater topography and controls the propellers to navigate along the construction path. The pouring device 300 begins pumping slurry for pouring. During navigation, the obstacle avoidance detection device 500 transmits forward detection information to the control device, which then replans the construction path to avoid obstacles.

[0120] After the mud pouring operation, the riverbed is scanned by downward-looking sonar to construct the underwater three-dimensional terrain after construction and verify the effect of the pouring.

[0121] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0122] The solution of the present application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the description of each embodiment has its own focus. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. Those skilled in the art should also be aware that the actions and modules mentioned in the description are not necessarily required for this application.

[0123] In addition, it can be understood that the steps in the method of the embodiment of the present application can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0124] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0125] Alternatively, the present application can also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or electronic device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0126] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the application herein may be implemented as electronic hardware, computer software, or combinations of both.

[0127] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems and methods according to multiple embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0128] The embodiments of the present application have been described above. The above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A robot with multiple functions for scouring, repairing and detecting fluidized solidified soil, characterized in that: It includes a cabin (100), an underwater propulsion device (200), a control device, and a pouring device (300); The underwater propulsion device (200) is arranged on two opposite sides of the cabin (100), the control device is arranged inside the cabin (100), and the pouring device (300) is arranged at the bottom of the cabin (100); The pouring device (300) is used to perform a spraying operation on the area to be poured; The control device is equipped with a posture controller, and the posture controller is used to determine a posture control signal according to a hydraulic torque and a shotcreting torque, wherein the hydraulic torque is the torque generated by the water flow on the cabin (100), and the shotcreting torque is the torque generated by the pouring device (300) ejecting fluidized solidified soil; The attitude control signal is used to drive the underwater propulsion device (200).

2. A robot with multiple functions for scour repair and detection of fluidized solidified soil according to claim 1, characterized in that: The underwater propulsion device (200) is provided with N longitudinal thrusters (210), where N is an integer greater than or equal to 2; The N longitudinal thrusters (210) are arranged on both sides of the y-axis of the body coordinate axis and are symmetrical along the y-axis.

3. A robot with multiple functions for scour repair and detection of fluidized solidified soil according to claim 2, characterized in that: The attitude controller is used to determine the attitude control signal according to the hydraulic torque and the shotcrete torque, specifically including: The gesture controller is configured to perform the following steps: Acquire water flow data and shotcrete data; the water flow data includes water flow velocity and water flow direction, and the shotcrete data includes shotcrete velocity and shotcrete direction; Inputting the water flow data into a hydrodynamic model and outputting the hydrodynamic moment; determining the shotcrete torque according to the shotcrete data; The attitude control signal is determined according to the hydraulic torque and the shotcrete torque.

4. A robot with a composite function for scour repair and detection of fluidized solidified soil according to claim 3, characterized in that: Determining the attitude control signal according to the hydraulic torque and the shotcrete torque specifically includes: determining a total interference torque according to the hydraulic torque and the shotcrete torque; determining a counter torque according to the interference torque; The attitude control signal is determined according to the reverse torque.

5. The robot with a composite function for scouring, repairing and detecting fluidized solidified soil according to claim 1, characterized in that: The control device is further equipped with a position controller, and the underwater propulsion device (200) is provided with M transverse thrusters (220), where M is an integer greater than or equal to 2; The M transverse thrusters (220) are respectively arranged on the left and right sides of the cabin (100), the M transverse thrusters (220) on both sides are symmetrical along the yoz plane, and the thrust direction of the transverse thrusters (220) points to the origin of the body coordinate system; The position controller is used to send a position control signal to the transverse thruster (220).

6. The robot with a composite function for scour repair and detection of fluidized solidified soil according to claim 1, characterized in that: The pouring device (300) is provided with a slurry nozzle and a nozzle rotator; The mud nozzle is used to pump fluidized solidified soil to the area to be poured; the nozzle rotator is used to adjust the nozzle direction of the mud nozzle.

7. The robot with multiple functions for scour repair and detection of fluidized solidified soil according to claim 1, characterized in that: It also includes a depth detection device (400); the depth detection device (400) is used to construct a three-dimensional map of the area to be poured.

8. The robot with multiple functions for scour repair and detection of fluidized solidified soil according to claim 1, characterized in that: Obstacle avoidance detection device (500); the obstacle avoidance detection device (500) is used to detect obstacles on an underwater route.

9. The robot with a composite function for scouring, repairing and detecting fluidized solidified soil according to claim 8, characterized in that: The obstacle avoidance detection device (500) comprises a forward-looking sonar and a camera unit.

10. The robot with multiple functions for scour repair and detection of fluidized solidified soil according to claim 1, characterized in that: It also includes a positioning unit (600); the positioning unit (600) is used to detect the coordinates of the robot.

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