Wearable small frogman carrier with vector propulsion function

Abstract

The invention discloses a wearable small frogman carrier with vector propulsion, and belongs to the field of underwater frogman vector propulsion. Comprising a main control board which is electrically connected with four electronic speed regulators, a depth sensor (304), an inertial navigation module and a satellite positioning navigation module through a function board; the four electronic speed regulators are electrically connected with motors of the four propellers respectively, the main control board resolves instruction signals, resolves direction values, calculates rotating speed values of the motors of the four propellers through a PID algorithm and outputs four paths of PWM signals respectively, and the four electronic speed regulators control the motors of the four propellers respectively. According to the invention, the movement and posture of the vehicle are controlled by rotating the adjusting knob, and latitude and longitude coordinates, depth, navigational speed and battery electric quantity information displayed on the waterproof navigation screen can be checked underwater to complete man-machine interaction.

Description

[0001] (This application is a divisional application with application number: 202510156817.6 and filing date: February 13, 2025) Technical Field

[0002] The present invention belongs to the field of underwater frogman vector propulsion, and specifically relates to a wearable small frogman carrier with vector propulsion Background Art

[0003] Small frogman carriers, the "vehicle" for underwater frogmen, have become essential underwater special equipment for divers in underwater rescue operations due to their low cost, ease of concealment, and maneuverability. Existing small frogman carriers in China can be divided into two categories based on their control method: the first relies on the frogman's body posture to adjust their heading, and the second uses a connecting rod to control a mechanical rudder to adjust their heading. They can be divided into three categories based on their propulsion method: the first is "propeller + rudder" propulsion, the second is built-in pump water jet vector propulsion, and the third is traditional propeller vector propulsion. Traditional propeller vector propulsion technology is mainly used in autonomous submersibles, achieving multi-directional movement through multiple fixed propellers or a combination of fixed propellers and binary vector propellers. The advantages of traditional propeller vector propulsion technology are practicality, high efficiency, and a simple structure without a complex transmission system.

[0004] For example, patent application CN105947154A discloses an unmanned underwater vehicle for detecting ship-radiated noise and magnetic signals: when the vehicle requires high maneuverability, it is driven by a thruster, a three-bladed ducted propeller device is used for propulsion, the horizontal fin rudders of a cross-fin rudder device are used for diving depth control, the vertical fin rudders of a cross-fin rudder device are used for heading control, and a buoyancy adjustment mechanism is used to achieve ascent and descent. Patent application CN107628210A discloses an underwater vehicle controlled and ridden by a diver: the vehicle is composed of a front cabin and a rear cabin, wherein the front cabin includes an instrument display, a starting speed control controller, a main drive mechanism of a steering system, and a head float of a buoyancy mechanism; the rear cabin includes a power supply cabin, a driven mechanism of a steering system, a propulsion mechanism, and a tail float of a buoyancy mechanism; the shells of the front cabin and the rear cabin can slide against each other, so that the underwater vehicle can be in two states: expanded and retracted; when a diver rides the vehicle, the motor is turned on by starting the speed control controller to drive the propeller to absorb water in the flow cover, and water is sprayed through the grating blades, and at the same time, the cross rudder is driven by the main drive handle of the steering system. This navigation attitude control method combining water spraying in the flow cover and cross rudder can realize the ascent, descent, and left and right turning of the underwater vehicle. Patent application CN110104150A discloses a deformable underwater vehicle: a pair of head thrusters are respectively installed at both ends of a rotating body connector, a rotating drive mechanism is installed inside the main body shell cavity, and the rotating drive mechanism is in a transmission connection with the middle part of the rotating body connector; in the initial state, the axes of the pair of head thrusters are in a vertical state, and when the head and the main body of the submersible are perpendicular to each other, the axes of the pair of head thrusters are in a horizontal state; the head can be rotated and displaced so that the thrust direction of the head thrusters after the rotation and displacement is horizontal, thereby accurately adjusting the distance between the underwater robot and the observed object, and can effectively reduce the influence of underwater eddies when observing columnar objects, thereby realizing close-range surround detection of the target object.

[0005] Through a summary and analysis of the above-mentioned small frogman carriers or frogman propulsion devices, it was found that the existing technology has the following shortcomings: ① Inconvenient to carry: The size is too large and the weight is too heavy, making it inconvenient to carry. ② Inconvenient operation and backward control methods: Under normal circumstances, the frogman uses the force of his hands to pull the operating handle, and the connecting rod drives the mechanical rudder through mechanical force transmission to control the vehicle's heading. However, when sailing at high speeds, the rudder is greatly impacted by the water flow, and the frogman has difficulty overcoming the impact of the water flow on the rudder to pull the operating handle. ③ Low attitude stability: When the frogman rides underwater, the vehicle's attitude cannot be maintained due to the influence of the water flow, and it is easy to ride too deep and deviate greatly from the direction. ④ Complex mechanism: The propulsion and heading control of the vehicle require the coordination of a large number of mechanisms such as propellers, rudders, buoyancy adjustment, etc., which makes the mechanism too complex. ⑤ Single function: Most frogman carriers only have a single propulsion function and do not have functions such as underwater navigation. Summary of the Invention

[0006] In order to solve the above problems, the present invention adopts the following technical solutions:

[0007] A vector-propelled wearable small frogman carrier, comprising a body assembly, a propulsion assembly, and a control system;

[0008] The bag assembly comprises a sealed shell (11) and a pair of shoulder straps (12), wherein the exterior of the sealed shell (11) has a back surface, a front surface and two side surfaces, and the pair of shoulder straps (12) are symmetrically connected to the back surface of the sealed shell (11);

[0009] The propulsion assembly includes four propellers (21), wherein two propellers (21) are arranged on the front of the sealed shell (11), and the other two propellers (21) are respectively arranged on the two sides of the sealed shell (11), the axes of the drive shafts of all the propellers (21) are located in the same direction, the propeller blades of the two propellers (21) located on the front of the sealed shell (11) are in opposite directions, the propeller blades of the two propellers (21) located on the two sides of the sealed shell (11) are in opposite directions, and the propeller blades of two adjacent propellers (21) on the sealed shell (11) are in opposite directions; the control system includes a function board (301), a main control board (302), four electronic speed regulators (303), a depth sensor (304), an inertial navigation module (305), a satellite positioning navigation module (306), a command controller (307), a battery pack (309) and a waterproof navigation screen (310);

[0010] The function board (301), the main control board (302), the four electronic speed regulators (303), the depth sensor (304), the inertial navigation module (305), the satellite positioning navigation module (306) and the battery pack (309) are all arranged in a sealed housing (11), and the probe of the depth sensor (304) and the antenna of the satellite positioning navigation module (306) extend out of the sealed housing (11); the command controller (307) and the waterproof navigation screen (310) are located outside the sealed housing (11); the command controller (307) is provided with a plurality of adjustment knobs (308), and each adjustment knob (308) is electrically connected to the main control board (302).

[0011] The main control board (302) is stacked on the function board (301) and electrically connected to the function board (301). The main control board (302) is electrically connected to four electronic speed regulators (303), a depth sensor (304), an inertial navigation module (305), and a satellite positioning navigation module (306) through the function board (301), and is used to receive the command signal of the adjustment knob (308) and collect and resolve the depth and attitude signals, and send the command, depth, and attitude signals to the waterproof navigation screen (310) and Electronic speed regulator (303); four electronic speed regulators (303) are electrically connected to the motors of the four propellers (21), respectively, and are used to receive signals from the main control board (302) and control the direction and speed of the motors of the four propellers (21); wherein the main control board (302) resolves the command signal, resolves the direction value, calculates the speed value of the motors of the four propellers (21) using the PID algorithm, and outputs four PWM signals respectively, and the four electronic speed regulators (303) respectively control the motors of the four propellers (21);

[0012] The battery pack (309) has two voltage output terminals, the first voltage output terminal is electrically connected to the propeller (21) through the electronic speed regulator (303), and the second voltage output terminal is electrically connected to the main control board (302), the waterproof navigation screen (310), the depth sensor (304), the inertial navigation module (305), and the satellite positioning navigation module (306) through the function board (301);

[0013] Method of using the above-mentioned vector-propelled wearable small frogman carrier:

[0014] When the vehicle starts to operate, the battery pack (309) is first powered on. At the same time, the battery pack (309) supplies power to the main control board (302), the function board (301), and the electronic speed regulator (303). Then, the battery pack (309) supplies power to the depth sensor (304), the inertial navigation module (305), and the satellite positioning navigation module (306) through the function board (301). The battery pack (309) then supplies power to the propeller (21) through the electronic speed regulator (303).

[0015] The satellite positioning navigation module (306) obtains positioning information from the satellite before the carrier enters the water, and then sends the positioning information to the main control board (302). The main control board (302) then sends the initial latitude and longitude data to the inertial navigation module (305). The inertial navigation module (305) performs real-time integration calculation on the data underwater and outputs the real-time latitude and longitude information to the main control board (302). The inertial navigation module (305) also sends the speed and pitch angle information obtained by its own measurement and calculation to the main control board (302). The main control board (302) packages the above data and the power information from the battery pack (309) and sends them to the waterproof navigation screen (310).

[0016] At the same time, the propeller (21) is powered on and is in a standby state, and the electronic speed regulator (303) starts a self-test program to detect whether the electronic speed regulator (303) has a fault. If the electronic speed regulator (303) completes the self-test, it means that the electronic speed regulator (303) can control the motor of the propeller (21) to operate normally, and then waits for the PWM signal output by the main control board (302); if the electronic speed regulator (303) cannot self-test, it means that the electronic speed regulator (303) has an operating fault and the carrier cannot be used normally. A fault alarm module can be set to realize a fault alarm; the frogman assists the frogman in making decisions underwater by observing the data information displayed on the waterproof navigation screen (310): depth value, speed, pitch angle, battery pack power, longitude and latitude information, thereby completing the human-computer interaction process.

[0017] Furthermore, there are four adjustment knobs (308) on the command controller (307), namely a direction knob, a speed knob, a steering knob and a pitch angle knob.

[0018] Furthermore, a watertight command cable (311) is connected between the command controller (307) and the function board (301), and each adjustment knob (308) is electrically connected to the main control board (302) through the watertight command cable (311) and the function board (301).

[0019] Furthermore, a navigation watertight cable (312) is provided between the waterproof navigation screen (310) and the function board (301), and the waterproof navigation screen (310) is electrically connected to the main control board (302) via the navigation watertight cable (312) and the function board (301).

[0020] Furthermore, the command controller (307) is provided with a left wrist strap (313), and the waterproof navigation screen (310) is provided with a right wrist strap (314).

[0021] Furthermore, the propeller (21) and the electronic speed regulator (303) are electrically connected via a power watertight cable (315).

[0022] The vector-propelled wearable small frogman carrier and control method provided by the present invention have the following advantages over the prior art:

[0023] (1) The present invention employs a four-propeller arrangement in a near-X shape. This design simplifies the mechanical structure and reduces the size of the vector propulsion system. Since attitude adjustment and control can be achieved simply by controlling the speed and direction of each propeller, the four-propeller vector propulsion technology has a faster response speed and better attitude control performance.

[0024] (2) The present invention addresses the shortcomings of traditional "handheld, prone" small frogman carriers, such as inconvenience in carrying, inconvenience in operation, backward control methods, poor attitude stability, and single functions. By combining vector propulsion technology with wearable technology, a vector-propelled wearable small frogman carrier is designed. After the frogman wears the carrier and enters the water, he or she quickly reaches the mission location under the control of the adjustment knob. According to the mission requirements, he or she enters the water and performs dynamic hovering at a fixed depth and attitude. When the frogman wears the carrier and prepares to work, he or she can carry the carrier on his or her back and give the propeller instructions for forward, backward, steering, changing pitch attitude, acceleration and deceleration by rotating the adjustment knob.

[0025] (3) When the frogman is working underwater, he can control the movement and posture of the vehicle by rotating the adjustment knob. He can view the latitude and longitude coordinates, depth, speed, battery power and other information displayed on the waterproof navigation screen underwater to complete human-computer interaction.

[0026] (4) The navigation and positioning function of the present invention adopts a combined navigation technology: that is, a combined navigation method using an inertial navigation system underwater and GPS for auxiliary positioning on the surface can control the accumulation of inertial navigation errors, compensate for the signal deficiency problem of satellite navigation, improve navigation accuracy, and improve navigation continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is the operation flow chart of the control system.

[0028] Figure 2 This is a schematic structural diagram of a vector-propelled wearable small frogman carrier described in the present invention.

[0029] Figure 3 This is a side view of a vector-propelled wearable small frogman vehicle according to the present invention.

[0030] Figure 4 This is a top view of the vector-propelled wearable small frogman carrier described in the present invention.

[0031] Figure 5 Schematic diagram of the disassembly of the package components.

[0032] Figure 6 This is a schematic diagram of the interior of a vector-propelled wearable small frogman carrier described in the present invention.

[0033] Figure 7 The diagram is a schematic diagram of the layout of the thruster when viewed from a top-down perspective of the enclosure assembly.

[0034] In the figure: 11-sealed shell, 12-shoulder strap, 13-bottom fixing strap, 14-connecting strap, 15-buckle, 101-main shell, 102-sealed bottom cover, 103-O-ring, 21-thruster, 301-function board, 302-main control board, 303-electronic speed regulator, 304-depth sensor, 305-inertial navigation module, 306-satellite positioning navigation module, 307-command controller, 308-adjustment knob, 309-battery pack, 310-waterproof navigation screen, 311-command watertight cable, 312-navigation watertight cable, 313-left wrist strap, 314-right wrist strap, 315-power watertight cable, 316-electronic compartment. DETAILED DESCRIPTION

[0035] Example 1

[0036] like Figures 1 to 5 As shown, the present invention provides a specific embodiment of a vector-propelled wearable small frogman vehicle, comprising a body assembly, a propulsion assembly, and a control system;

[0037] The bag assembly includes a sealed shell 11 and a pair of shoulder straps 12. The sealed shell 11 has a back surface, a front surface, and two side surfaces. The pair of shoulder straps 12 are symmetrically connected to the back surface of the sealed shell 11.

[0038] The propulsion assembly includes four propellers 21, two of which are arranged on the front of the sealed shell 11, and the other two propellers 21 are respectively arranged on the two sides of the sealed shell 11. The axes of the drive shafts of all propellers 21 are located in the same direction (i.e., parallel to each other), the propeller blades of the two propellers 21 located on the front of the sealed shell 11 are in opposite directions, the propeller blades of the two propellers 21 located on the two sides of the sealed shell 11 are in opposite directions, and the propeller blades of two adjacent propellers 21 on the sealed shell 11 are in opposite directions;

[0039] The control system includes a function board 301, a main control board 302, four electronic speed regulators 303, a depth sensor 304, an inertial navigation module 305, a satellite positioning navigation module 306, a command controller 307, a battery pack 309 and a waterproof navigation screen 310;

[0040] The function board 301, main control board 302, four electronic speed regulators 303, depth sensor 304, inertial navigation module 305, satellite positioning navigation module 306 and battery pack 309 are all arranged in the sealed housing 11, and the probe of the depth sensor 304 and the antenna of the satellite positioning navigation module 306 extend out of the sealed housing 11; the command controller 307 and the waterproof navigation screen 310 are located outside the sealed housing 11;

[0041] The command controller 307 is provided with a plurality of adjustment knobs 308 , and each adjustment knob 308 is electrically connected to the main control board 302 ;

[0042] The main control board 302 is stacked on the function board 301 and electrically connected to the function board 301. The main control board 302 is electrically connected to the four electronic speed regulators 303, the depth sensor 304, the inertial navigation module 305, and the satellite positioning navigation module 306 through the function board 301, respectively, for receiving the command signal of the adjustment knob 308 and collecting and solving the depth and attitude signals, and sending the command, depth, and attitude signals to the waterproof navigation screen 310 and the electronic speed regulator 303; the four electronic speed regulators 303 are electrically connected to the motors of the four propellers 21, respectively, for receiving the signal of the main control board 302 and controlling the direction and speed of the motors of the four propellers 21; wherein the main control board 302 solves the command signal, solves the direction value, calculates the speed value of the motors of the four propellers 21 by using the PID algorithm, and outputs four PWM signals respectively, and the four electronic speed regulators 303 control the motors of the four propellers 21 respectively;

[0043] The battery pack 309 has two voltage output ends, the first voltage output end is electrically connected to the propeller 21 through the electronic speed regulator 303, and the second voltage output end is electrically connected to the main control board 302, the waterproof navigation screen 310, the depth sensor 304, the inertial navigation module 305, and the satellite positioning navigation module 306 through the function board 301.

[0044] The propeller 21 used in this embodiment is a traditional propeller vector propulsion technology. Figure 7 As shown, the layout of the propellers is approximately X-shaped when viewed from above the enclosure assembly. The propellers 21 in the upper left and upper right corners of the figure correspond to the propellers 21 on the right side and left side of the front of the sealed shell 11, respectively. The propellers 21 in the lower left and lower right corners of the figure correspond to the propellers 21 on the right side and left side of the sealed shell 11, respectively. The propeller blades of the propellers 21 on the left and right side of the front of the sealed shell 11 are positive propellers, and the propeller blades of the propellers 21 on the right and left side of the front of the sealed shell 11 are reverse propellers. The positive propellers are arranged as follows: Figure 6 When the propeller rotates clockwise, it pushes water from bottom to top (as shown in the figure). Figure 3The thrust of the reverse propeller is as follows: Figure 6 When the propeller rotates counterclockwise, the propeller pushes water to give the enclosed assembly a thrust from bottom to top; similarly, when the positive propeller rotates counterclockwise, the propeller pushes water to give the enclosed assembly a thrust from top to bottom; when the reverse propeller rotates clockwise, the propeller pushes water to give the enclosed assembly a thrust from top to bottom;

[0045] Method of using the above-mentioned vector-propelled wearable small frogman carrier:

[0046] When the vehicle starts running, the battery pack 309 is powered on first. At the same time, the battery pack 309 supplies power to the main control board 302, the function board 301, and the electronic speed regulator 303. Then, the battery pack 309 supplies power to the depth sensor 304, the inertial navigation module 305, and the satellite positioning navigation module 306 through the function board 301. The battery pack 309 then supplies power to the propeller 21 through the electronic speed regulator 303.

[0047] Before the vehicle enters the water, the satellite positioning and navigation module 306 obtains positioning information from satellites and sends it to the main control board 302. The main control board 302 then sends the initial latitude and longitude data to the inertial navigation module 305. The inertial navigation module 305 performs real-time integration calculations on the data underwater and outputs the real-time latitude and longitude information to the main control board 302. The inertial navigation module 305 also sends the speed and pitch angle information it has measured and calculated to the main control board 302. The main control board 302 packages the above data and the power information from the battery pack 309 and sends them to the waterproof navigation screen 310.

[0048] At the same time, the propeller 21 is powered on and in standby mode, and the electronic speed regulator 303 starts a self-test program to detect whether the electronic speed regulator 303 has a fault. If the electronic speed regulator 303 completes the self-test, it means that the electronic speed regulator 303 can control the motor of the propeller 21 to operate normally, and then waits for the PWM signal output by the main control board 302; if the electronic speed regulator 303 cannot self-test, it means that there is an operating fault in the electronic speed regulator 303 and the carrier cannot be used normally. A fault alarm module can be set to realize a fault alarm;

[0049] The frogman can assist in making decisions by observing the data information displayed on the waterproof navigation screen 310 underwater: depth value, speed, pitch angle, battery power, longitude and latitude information, thereby completing the human-computer interaction process.

[0050] like Figure 1As shown, there are four adjustment knobs 308 on the command controller 307, namely a direction knob, a speed knob, a steering knob, and a pitch angle knob. In this embodiment, the main control board 302 can adopt a PCB circuit board with an STM32 microcontroller as the core; the function board 301 can also adopt a PCB circuit board with an STM32 microcontroller as the core.

[0051] Specifically, the direction knob is used to control the movement direction of the vehicle, such as forward or backward.

[0052] The speed knob is used to control the running speed of the carrier, which actually controls the motor speed of the propeller 21. The command signal of the speed knob can be a numerical value, and the numerical range is [0,10]. The larger the numerical value, the higher the motor speed of the propeller 21. When the speed command signal value is "0", the motor speed of the propeller 21 is 0.

[0053] The steering knob controls the vehicle's rotation direction, typically left or right. The steering knob's command signal can be a numeric value in the union of [-1, 0] and [0, +1], where the left turn value is "-1" and the right turn value is "+1." When the steering command signal value is "0," the vehicle's rotation direction remains unchanged.

[0054] The pitch knob controls the vehicle's pitch angle, typically tilting the vehicle's head up or down. The pitch knob's command signal can be a numeric value within the union of [-1, 0] and [0, +1], where the pitch command signal is "-1" and the head-up command signal is "+1." When the pitch command signal is "0," the vehicle's pitch angle remains unchanged.

[0055] like Figure 1As shown, when the carrier starts running, the battery pack 309 is powered on first. At the same time, the battery pack 309 supplies power to the main control board 302, the function board 301, and the electronic speed regulator 303 respectively. Then, the battery pack 309 supplies power to the depth sensor 304, the inertial navigation module 305, and the satellite positioning navigation module 306 respectively through the function board 301. The battery pack 309 then supplies power to the propeller 21 through the electronic speed regulator 303. Before the carrier enters the water, the satellite positioning and navigation module 306 obtains positioning information from the satellite and then sends it to the main control board 302. The main control board 302 then sends the initial latitude and longitude data to the inertial navigation module 305. The inertial navigation module 305 performs real-time integration calculations on the data underwater and outputs real-time latitude and longitude information to the main control board 302. The inertial navigation module 305 also sends the speed, pitch angle and other information measured and calculated by itself to the main control board 302. The main control board 302 packages the above data and the power information from the battery pack 309, and then sends them to the waterproof navigation screen 310 through the navigation waterproof cable 312 (which supplies power to the waterproof navigation screen 310 and transmits data). At the same time, the propeller 21 is powered on and enters a standby state, and the electronic speed controller 303 initiates a self-test procedure to detect whether it is faulty. If the electronic speed controller 303 completes the self-test, it indicates that it can control the propeller 21's motor normally, and then waits for the PWM signal output by the main control board 302. If the electronic speed controller 303 fails to perform the self-test, it indicates that there is an operational fault in the electronic speed controller 303, and the vehicle cannot be used normally. A fault alarm module can be configured to provide a fault alarm. Underwater, the frogman observes the data displayed on the waterproof navigation screen 310: depth value, speed, pitch angle, battery pack power, longitude and latitude information, etc. This assists the frogman in making decisions, thus completing the human-computer interaction process. In this embodiment, the vehicle information collected by the depth sensor 304, inertial navigation module 305, and satellite positioning navigation module 306 is transmitted to the main control board 302. The main control board 302 combines this information and calculates it to obtain the vehicle's depth value, speed, pitch angle, longitude and latitude information. In the context of the present invention, attitude information includes information such as the speed, pitch angle, longitude and latitude of the vehicle.

[0056] It should be noted that in this embodiment, after each adjustment knob 308 sends a command signal to the main control board 302, the main control board 302 interprets the command signal, calculates its value, and uses the PID algorithm (proportional, integral, and differential) to calculate the rotational speed of the four thruster 21 motors. These signals are then output as four PWM signals. Upon receiving the corresponding PWM signals, the electronic speed regulator 303 uses the corresponding four PWM waves to control the positive and negative voltages and magnitudes of the thruster 21 drive circuits, thereby regulating the rotational direction and speed of the thruster 21 motors. Simultaneously, the depth sensor 304, inertial navigation module 305, and satellite positioning and navigation module 306 transmit depth, attitude, and other information to the main control board 302 in real time. Based on this depth and attitude information, the main control board 302 determines whether the vehicle's operation has reached the target value set by the knobs, thus completing the entire control process. At the same time, the main control board 302 sends the real-time depth, attitude and other information of the carrier to the waterproof navigation screen 310 in the form of digital quantities, so that the underwater frogman can make corresponding adjustments based on the real-time information on the waterproof navigation screen 310.

[0057] In this embodiment, in order to meet the watertight requirements of the operating system, a command watertight cable 311 is connected between the command controller 307 and the function board 301, and each adjustment knob 308 is electrically connected to the main control board 302 through the command watertight cable 311 and the function board 301; a navigation watertight cable 312 is connected between the waterproof navigation screen 310 and the function board 301, and the waterproof navigation screen 310 is electrically connected to the main control board 302 through the navigation watertight cable 312 and the function board 301; the propeller 21 and the electronic speed regulator 303 are electrically connected through a power watertight cable 315.

[0058] In one embodiment of the present invention, to facilitate the frogman's control of the adjustment knob 308 and to facilitate real-time viewing of the information displayed on the waterproof navigation screen 310, the command controller 307 is provided with a left wrist strap 313, and the waterproof navigation screen 310 is provided with a right wrist strap 314. The frogman can use these wrist straps to secure the command controller 307 and the waterproof navigation screen 310 to their left and right wrists, respectively. To facilitate easy attachment and detachment of the wrist straps, the wrist straps in this embodiment can be either Velcro or snap-on.

[0059] The present invention utilizes computational fluid dynamics (CFD) methods to simulate flow fields and predict sailing resistance. To ensure the wearing stability of the bag assembly, the bag assembly is further provided with a bottom fixing strap 13 and a connecting strap 14. The connecting strap 14 is connected between a pair of shoulder straps 12. One end of the bottom fixing strap 13 is fixedly connected to the bottom back of the sealed shell 11, and the other end of the bottom fixing strap 13 is connected to the connecting strap 14 via a locking assembly. Specifically, the pair of shoulder straps 12 extend over the frogman's shoulders, and the bottom fixing strap 13 extends from the frogman's back to between his legs, and continues to the abdomen, where it is connected to the connecting strap 14 via a locking assembly. In this way, the sealed shell 11 is effectively and stably positioned on the frogman's back through three-point positioning.

[0060] like Figure 2-3 As shown, the locking assembly may be a buckle 15 or a lock buckle with an elastic opening.

[0061] Furthermore, the present invention utilizes three-dimensional design software to design the carrier package components in accordance with fluid dynamics, such as Figure 5 As shown, the upper portion of the sealed shell 11 is shaped like a smooth, pointed tip. Through numerical hydrodynamic calculations and simulation studies (drag estimation, motor output power estimation, and energy demand estimation), the components within the sealed shell 11 of this embodiment can be designed to be compactly arranged, resulting in a volume that is halved compared to traditional frogman carriers. The overall weight of the carrier is less than 20 kg, and the maximum diving depth is greater than 20 meters.

[0062] At the same time, in order to further meet the watertight requirements of the operating system, such as Figure 4-5 As shown, the function board 301, main control board 302, and four electronic speed regulators 303 are located within an electronic compartment 316. The electronic compartment 316 is a sealed structure, with watertight cables connected to internal components through the electronic compartment 316 and the cable holes in the sealed housing 11. The contact points between the watertight cables and the cable holes are sealed with epoxy resin glue to achieve a watertight seal. To facilitate assembly of the various components within the sealed housing 11, the sealed housing 11 includes a main housing 101 and a sealed bottom cover 102. The sealed bottom cover 102 is fastened to the main housing 101 using fastening bolts, while squeezing the O-ring 103 located on the sealed bottom cover 102 to achieve a watertight seal.

[0063] Since the probe of the depth sensor 304 and the antenna of the satellite positioning and navigation module 306 extend out of the sealed housing 11 , the probe of the depth sensor 304 , the antenna of the satellite positioning and navigation module 306 and the wire hole of the sealed housing 11 are sealed with epoxy resin glue.

[0064] Specifically, the four propellers 21 use DC waterproof brushless motors, and the maximum thrust of a single propeller 21 can reach 10 kg.

[0065] The battery pack 309 uses lithium-ion batteries with a capacity of 15Ah and a maximum discharge current of 20A, enabling a maximum underwater speed exceeding 3 knots and stable attitude. Testing has shown that the four thrusters 21 in this embodiment, arranged in a near-X shape, can achieve a vehicle deviation angle of less than 10 degrees and a steering sensitivity of less than 3 seconds.

[0066] This embodiment provides a method for controlling the direction of a vector-propelled wearable small frogman vehicle. The control method uses the above-mentioned vector-propelled wearable small frogman vehicle, and includes the following steps:

[0067] 1) The direction knob sends a forward command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The main control board 302 interprets the command signal, calculates the direction value, and uses the PID algorithm to calculate the speed value of the motors of the four propellers 21. It outputs four PWM signals respectively. The four electronic speed regulators 303 control the motors of the four propellers 21 respectively. The blades of the propellers 21 located on the left side and the right side of the front of the sealed shell 11 rotate counterclockwise, and the blades of the propellers 21 located on the right side and the left side of the front of the sealed shell 11 rotate clockwise. The speeds of the motors of the four propellers 21 are controlled based on the four PWM signals. The main control board 302 determines whether the operation of the carrier has reached the target value set by the knob based on the depth and attitude information.

[0068] 2) The direction knob sends a backward command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The rotation direction of the blades of all propellers 21 is opposite to the forward command signal; that is, the blades of the propeller 21 located on the left side and the right side of the front of the closed shell 11 rotate clockwise, and the blades of the propeller 21 located on the right side and the left side of the front of the closed shell 11 rotate counterclockwise.

[0069] This embodiment further provides a steering control method for a vector-propelled wearable small frogman vehicle. The steering control method adopts the above-mentioned vector-propelled wearable small frogman vehicle, and includes the following steps:

[0070] 1) The steering knob sends a left-turn command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The main control board 302 interprets the command signal, calculates the steering value, and uses the PID algorithm to calculate the speed values ​​of the motors of the four propellers 21. It outputs four PWM signals respectively. The four electronic speed regulators 303 control the motors of the four propellers 21 respectively. The blades of the propellers 21 located on the left and right sides of the sealed shell 11 rotate clockwise, and the blades of the propellers 21 located on the left and right sides of the sealed shell 11 rotate counterclockwise. The speeds of the motors of the four propellers 21 are controlled based on the four PWM signals. The main control board 302 determines whether the operation of the carrier has reached the preset target value of the knob based on the depth and attitude information.

[0071] 2) The steering knob sends a right turn command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The rotation direction of the blades of all propellers 21 is opposite to the left turn command signal; that is, the blades of the propellers 21 located on the left and right sides of the sealed shell 11 rotate counterclockwise, and the blades of the propellers 21 located on the left and right sides of the front of the sealed shell 11 rotate clockwise.

[0072] This embodiment further provides a pitch control method for a vector-propelled wearable small frogman vehicle. The control method uses the above-mentioned vector-propelled wearable small frogman vehicle, and includes the following steps:

[0073] 1) The pitch knob sends a pitch command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The main control board 302 interprets the command signal to calculate the pitch angle value, and uses the PID algorithm to calculate the speed value of the motor of the four propellers 21. It outputs four PWM signals respectively. The four electronic speed regulators 303 control the motors of the four propellers 21 respectively. The blades of the propellers 21 located on the left side and left side of the front of the sealed shell 11 rotate counterclockwise, and the blades located on the right side and right side of the front of the sealed shell 11 rotate clockwise. The speed of the motors of the four propellers 21 is controlled based on the four PWM signals. The main control board 302 determines whether the operation of the carrier has reached the preset target value of the knob based on the depth and attitude information.

[0074] 2) The pitch knob sends a pitch command signal to the main control board 302. At the same time, the speed knob sends a speed signal to the main control board 302. The rotation direction of the blades of all propellers 21 is opposite to the pitch command signal; that is, the blades of the propeller 21 located on the left side of the front face and the left side of the sealed shell 11 rotate clockwise, and the blades located on the right side of the front face and the right side of the sealed shell 11 rotate counterclockwise.

[0075] The above description is merely a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A vector-propelled wearable small frogman carrier, characterized in that: Including the body assembly, propulsion assembly and control system; The bag assembly comprises a sealed shell (11) and a pair of shoulder straps (12), wherein the exterior of the sealed shell (11) has a back surface, a front surface and two side surfaces, and the pair of shoulder straps (12) are symmetrically connected to the back surface of the sealed shell (11); The propulsion assembly includes four propellers (21), wherein two propellers (21) are arranged on the front of the sealed shell (11), and the other two propellers (21) are respectively arranged on the two sides of the sealed shell (11), the axes of the drive shafts of all the propellers (21) are located in the same direction, the propeller blades of the two propellers (21) located on the front of the sealed shell (11) are in opposite directions, the propeller blades of the two propellers (21) located on the two sides of the sealed shell (11) are in opposite directions, and the propeller blades of two adjacent propellers (21) on the sealed shell (11) are in opposite directions; the control system includes a function board (301), a main control board (302), four electronic speed regulators (303), a depth sensor (304), an inertial navigation module (305), a satellite positioning navigation module (306), a command controller (307), a battery pack (309) and a waterproof navigation screen (310); The function board (301), the main control board (302), the four electronic speed regulators (303), the depth sensor (304), the inertial navigation module (305), the satellite positioning navigation module (306) and the battery pack (309) are all arranged in a sealed housing (11), and the probe of the depth sensor (304) and the antenna of the satellite positioning navigation module (306) extend out of the sealed housing (11); the command controller (307) and the waterproof navigation screen (310) are located outside the sealed housing (11); the command controller (307) is provided with a plurality of adjustment knobs (308), and each adjustment knob (308) is electrically connected to the main control board (302). The main control board (302) is stacked on the function board (301) and electrically connected to the function board (301). The main control board (302) is electrically connected to four electronic speed regulators (303), a depth sensor (304), an inertial navigation module (305), and a satellite positioning navigation module (306) through the function board (301), and is used to receive the command signal of the adjustment knob (308) and collect and resolve the depth and attitude signals, and send the command, depth, and attitude signals to the waterproof navigation screen (310) and Electronic speed regulator (303); four electronic speed regulators (303) are electrically connected to the motors of the four propellers (21), respectively, and are used to receive signals from the main control board (302) and control the direction and speed of the motors of the four propellers (21); wherein the main control board (302) resolves the command signal, resolves the direction value, calculates the speed value of the motors of the four propellers (21) using the PID algorithm, and outputs four PWM signals respectively, and the four electronic speed regulators (303) respectively control the motors of the four propellers (21); The battery pack (309) has two voltage output terminals, the first voltage output terminal is electrically connected to the propeller (21) through the electronic speed regulator (303), and the second voltage output terminal is electrically connected to the main control board (302), the waterproof navigation screen (310), the depth sensor (304), the inertial navigation module (305), and the satellite positioning navigation module (306) through the function board (301); Method of using the above-mentioned vector-propelled wearable small frogman carrier: When the vehicle starts to operate, the battery pack (309) is first powered on. At the same time, the battery pack (309) supplies power to the main control board (302), the function board (301), and the electronic speed regulator (303). Then, the battery pack (309) supplies power to the depth sensor (304), the inertial navigation module (305), and the satellite positioning navigation module (306) through the function board (301). The battery pack (309) then supplies power to the propeller (21) through the electronic speed regulator (303). The satellite positioning navigation module (306) obtains positioning information from the satellite before the carrier enters the water, and then sends the positioning information to the main control board (302). The main control board (302) then sends the initial latitude and longitude data to the inertial navigation module (305). The inertial navigation module (305) performs real-time integration calculation on the data underwater and outputs the real-time latitude and longitude information to the main control board (302). The inertial navigation module (305) also sends the speed and pitch angle information obtained by its own measurement and calculation to the main control board (302). The main control board (302) packages the above data and the power information from the battery pack (309) and sends them to the waterproof navigation screen (310). At the same time, the propeller (21) is powered on and is in a standby state, and the electronic speed regulator (303) starts a self-test program to detect whether the electronic speed regulator (303) has a fault. If the electronic speed regulator (303) completes the self-test, it means that the electronic speed regulator (303) can control the motor of the propeller (21) to operate normally, and then waits for the PWM signal output by the main control board (302); if the electronic speed regulator (303) cannot self-test, it means that the electronic speed regulator (303) has an operating fault and the carrier cannot be used normally. A fault alarm module can be set to realize a fault alarm; the frogman assists the frogman in making decisions underwater by observing the data information displayed on the waterproof navigation screen (310): depth value, speed, pitch angle, battery pack power, longitude and latitude information, thereby completing the human-computer interaction process.

2. A vector-propelled wearable small frogman carrier according to claim 1, characterized in that: There are four adjustment knobs (308) on the command controller (307), namely a direction knob, a speed knob, a steering knob and a pitch angle knob.

3. A vector-propelled wearable small frogman carrier according to claim 2, characterized in that: A command watertight cable (311) is connected between the command controller (307) and the function board (301), and each adjustment knob (308) is electrically connected to the main control board (302) through the command watertight cable (311) and the function board (301).

4. A vector-propelled wearable small frogman carrier according to claim 3, characterized in that: A navigation watertight cable (312) is connected between the waterproof navigation screen (310) and the function board (301), and the waterproof navigation screen (310) is electrically connected to the main control board (302) via the navigation watertight cable (312) and the function board (301).

5. The vector-propelled wearable small frogman carrier according to claim 4, characterized in that: The command controller (307) is provided with a left wrist strap (313), and the waterproof navigation screen (310) is provided with a right wrist strap (314).

6. The vector-propelled wearable small frogman carrier according to claim 4, characterized in that: The propeller (21) and the electronic speed regulator (303) are electrically connected via a power watertight cable (315).

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