Double-propulsion underwater intelligent robot with rotatable counterweight inside

Abstract

The invention discloses a double-propulsion underwater intelligent robot with a rotatable counterweight inside. Belongs to the technical field of underwater intelligent robots, adopts a disc symmetrical structure, drives a balancing weight to move through an internal gravity adjusting motor, cooperates with double propellers to realize six-degree-of-freedom movement, and solves the problems of large size and high energy consumption of an existing multi-propeller UUV. According to the innovation point, gravity center adjustment and propelling control are combined, high-degree-of-freedom movement is achieved only through the two propellers, meanwhile, the intelligence and reliability of the system are improved through the hierarchical control architecture and visual fusion design, and the system is suitable for detection and operation in underwater narrow areas.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater intelligent robots, and in particular to a dual-propulsion underwater intelligent robot with an internal rotatable counterweight. Background Art

[0002] Underwater unmanned vehicles (UUVs) have been widely used in fields such as marine science, engineering, and security. Their autonomous and flexible features can replace humans in performing dangerous tasks. However, existing portable high-degree-of-freedom underwater robots usually rely on multiple thrusters (such as 4-8) to achieve six-degree-of-freedom movement. This results in large equipment size and weight, significantly increased energy consumption, and reduced endurance, making it difficult to strike a balance between high degrees of freedom and long endurance. In addition, the multi-thruster system has a complex structure, cumbersome wiring, high maintenance costs, and is difficult to deploy in confined spaces (such as urban sewers and industrial pipelines), which seriously limits its application scenarios.

[0003] Existing solutions achieve motion control by increasing the number of thrusters or employing complex gimbal structures, but none address the technical contradictions of "multiple thrusters, high energy consumption, and large size." For example, a traditional six-degree-of-freedom UUV requires thrusters positioned in the fore-aft, lateral, and up-and-down directions, along with attitude control mechanisms. This exponentially increases system complexity, and the spatial layout and power coordination issues of multiple thrusters in miniaturized designs become even more prominent. Therefore, maintaining high-degree-of-freedom motion while reducing the number of thrusters remains a pressing technical challenge in this field. Summary of the Invention

[0004] This invention aims to provide a dual-propulsion underwater intelligent robot that uses an internal rotatable counterweight to drive the cabin's posture changes. This solves the problems of existing micro-UUVs, which rely on multiple thrusters and suffer from poor portability and limited endurance. Through innovative mechanical structure and control logic, the robot achieves six degrees of freedom using only two external thrusters in conjunction with an internal gravity regulation system, enhancing its adaptability in confined spaces and enabling rapid deployment by a single operator.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is:

[0006] The dual-propelled underwater intelligent robot includes a disc-shaped symmetrical cabin with a thruster disposed on each of the left and right sides for providing thrust;

[0007] A gravity adjustment motor and a load-bearing bearing are provided at the center of the cabin. The gravity adjustment motor drives the counterweight to move along a preset trajectory in the cabin to dynamically adjust the center of gravity of the cabin.

[0008] A camera is installed at the center of the front of the cabin, and a robotic arm is extended from the bottom, with a clamping gripper integrated at the end of the robotic arm;

[0009] The cabin integrates a high-computing-power edge computing board, a microcontroller, an IMU inertial measurement unit, and a battery module for power supply. The high-computing-power edge computing board is in communication with the microcontroller, and the IMU inertial measurement unit is used to sense the cabin's posture and motion information.

[0010] The robot adjusts the relative position of the center of gravity and the fixed buoyancy center through the gravity adjustment motor, forming a torque difference between gravity and buoyancy, and cooperates with the thrust combination of the thrusters on both sides to achieve six-degree-of-freedom underwater movement.

[0011] Preferably, the buoyancy center of the cabin is located at the geometric center, the counterweight block is composed of a battery module and a weight block, and the gravity adjustment motor drives the counterweight block to rotate around the axis formed by the gravity adjustment motor (11) and the load-bearing bearing (12).

[0012] Preferably, the thrusters work in coordination with the cabin attitude adjustment through differential control: when the cabin pitch angle is adjusted to θ (0°<θ<90°), the thrusters on both sides thrust in the same direction to achieve oblique translation; when θ=90°, the thrusters thrust to achieve vertical movement; when the thrusters thrust in reverse, the cabin is driven to rotate in place around the vertical axis.

[0013] Preferably, the camera is fixedly mounted on the cabin, and the cabin is rotated in situ to replace the traditional pan-tilt head, thereby achieving omnidirectional visual perception.

[0014] Preferably, a fixed bracket for connecting a high-computing-power edge computing board and a microcontroller is installed in the cabin, and wire holes for connecting to an external wiring harness are opened on both sides of the cabin, and the wire holes are watertightly sealed with O-rings.

[0015] Preferably, the motion space of the cabin is equivalent to an enveloping sphere.

[0016] Preferably, both sides of the cabin body are pressure-resistant cabin components, and the pressure-resistant cabin components are provided with external fixing holes.

[0017] Preferably, the six degrees of freedom movement include horizontal movement, oblique angle translation movement, vertical movement, yaw movement, axis rotation movement and roll movement.

[0018] Preferably, the six-degree-of-freedom motion is to decompose in-situ rotation, attitude adjustment and translational propulsion into basic action units, and realize the six-degree-of-freedom motion through a combination of "attitude-position" sequences, wherein the pitch angle and roll angle are adjusted by the trajectory motion of the counterweight block, the heading angle is controlled by the propeller differential, and the translational motion is realized by switching the thrust direction of the propeller.

[0019] After adopting the above structure, the present invention has the following advantages:

[0020] The present invention achieves underwater attitude self-stabilization, precise adjustment and six-degree-of-freedom motion by relying on only two thrusters through the designed internal rotating counterweight structure, effectively simplifying the attitude control system while reducing energy consumption and equipment complexity. The whole machine adopts a disc-symmetrical design with a compact structure and reasonable layout, which not only reduces the system size and improves the layout flexibility, but also makes it have good fluid dynamic performance. Combined with the symmetrically arranged thrusters and the center of gravity adjustment mechanism, it can flexibly complete in-situ rotation, attitude adjustment and multi-directional movement, constructing a six-degree-of-freedom underwater motion control mode, which not only meets the flexibility of operations in complex waters, but also ensures the clarity of control logic and execution efficiency.

[0021] In addition, this system integrates the visual system with the overall rotation control, and adopts a fixed camera combined with platform rotation to replace the traditional multi-degree-of-freedom pan-tilt structure, which reduces the mechanical complexity and failure rate of the system and significantly improves the stability of visual observation and the overall integration of the system. The internal functional modules are integrated through standardized interfaces and highly coupled layouts, effectively improving wiring efficiency and system maintainability. The hierarchical control architecture of the upper and lower computers fully combines the advantages of the high-performance AI computing power platform and the real-time control unit, enabling the platform to have strong intelligent perception and task decision-making capabilities while maintaining high dynamic response capabilities, laying a solid foundation for the promotion of micro underwater robots in multi-scenario applications.

[0022] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 is an exploded view of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the gravity adjustment motor of the present invention;

[0027] Figure 4 It is a structural schematic diagram of the fixing bracket of the present invention;

[0028] Figure 5 It is a schematic diagram of the horizontal motion of the present invention;

[0029] Figure 6 is a schematic diagram of the oblique angle translation motion of the present invention;

[0030] Figure 7 It is a schematic diagram of the vertical motion of the present invention;

[0031] Figure 8 is a schematic diagram of the yaw motion of the present invention;

[0032] Figure 9 It is a schematic diagram of the rotational motion around an axis of the present invention;

[0033] Figure 10 Schematic diagram of the rolling motion of the present invention.

[0034] As shown in the figure: 1. Robotic arm; 2. Threading hole; 3. Lighting; 4. Thruster; 5. Pressure cabin component; 6. Fixing hole; 7. Battery module; 8. IMU inertial measurement unit; 9. Camera; 10. Cabin; 11. Gravity adjustment motor; 12. Load-bearing bearing; 13. High-computing-power edge computing board; 14. Microcontroller; 14. Fixing bracket. DETAILED DESCRIPTION

[0035] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0036] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0037] The present invention will be described in further detail below in conjunction with the full text.

[0038] Combined with attachment Figures 1-10 As shown, the dual-propulsion underwater intelligent robot includes a disc-shaped symmetrical cabin 10, with a propeller 4 provided on each of the left and right sides for providing thrust;

[0039] A gravity adjustment motor 11 and a load-bearing bearing 12 are set at the center of the cabin 10. The gravity adjustment motor 11 drives the counterweight to move along a preset trajectory in the cabin to dynamically adjust the center of gravity position of the cabin 10. Specifically, the gravity adjustment motor 11 and the load-bearing bearing 12 are respectively fixed to the two pressure-resistant cabin components 5 through flanges and are located in the cabin 10, and the output end of the gravity adjustment motor 11 is connected to the IMU inertial measurement unit 8 and the counterweight, and the counterweight is connected to the inside of the load-bearing bearing 12.

[0040] A camera 9 is installed at the front center of the cabin 10, and a robotic arm 1 is extended from the bottom, with a clamping gripper integrated at the end of the robotic arm 1;

[0041] The cabin 10 integrates a high-computing-power edge computing board 13, a microcontroller 14, an IMU inertial measurement unit 8, and a battery module 7 for power supply. The high-computing-power edge computing board 13 is in communication with the microcontroller 14, and the IMU inertial measurement unit 8 is used to sense the posture and motion information of the cabin 10.

[0042] The robot adjusts the relative position of the center of gravity and the fixed buoyancy center through the gravity adjustment motor 11, forming a torque difference between gravity and buoyancy, and cooperates with the thrust combination of the thrusters 4 on both sides to achieve six-degree-of-freedom underwater motion.

[0043] The buoyancy center of the cabin 10 is located at the geometric center. The counterweight block is composed of a battery module 7. The gravity adjustment motor 11 drives the counterweight block to move along the track. The radius of the circular track is 1 / 3 to 1 / 2 of the radius of the cabin 10. The weight of the counterweight block accounts for 20%-30% of the weight of the entire machine.

[0044] The thrusters 4 work in coordination with the attitude adjustment of the cabin 10 through differential control: when the pitch angle of the cabin 10 is adjusted to angle θ, the thrusters 4 on both sides thrust in the same direction to achieve oblique translation; when θ=90°, the thrust of the thrusters 4 achieves vertical movement; when the thrusters 4 thrust in the opposite direction, the cabin 10 is driven to rotate in place around the vertical axis.

[0045] The camera 9 is fixedly mounted on the cabin 10, and the cabin 10 rotates in situ to replace the traditional pan / tilt head to achieve omnidirectional visual perception. The cabin 10 rotates in situ at a speed of 5-15° / s.

[0046] A fixing bracket 1 for connecting a high-computing-power edge computing board 13 and a microcontroller 14 is installed in the cabin 10. Wire holes 2 for connecting to external wiring harnesses are provided on both sides of the cabin 10, and the wire holes 2 are watertightly sealed with O-rings.

[0047] The motion space of the cabin 10 is equivalent to an envelope sphere.

[0048] Both sides of the cabin body 10 are pressure-resistant cabin components 5, and external fixing holes 6 are opened on the pressure-resistant cabin components 5. The two thrusters 4 are respectively fixedly connected to the outside of the pressure-resistant cabin components 5, and lighting lamps 3 are installed on the outside of the pressure-resistant cabin components 5.

[0049] The six degrees of freedom include horizontal motion, oblique angle translation motion, vertical motion, yaw motion, rotation around the axis and roll motion.

[0050] The six-degree-of-freedom motion is achieved by decomposing in-place rotation, attitude adjustment and translational propulsion into basic action units, and realizing the six-degree-of-freedom motion through the combination of "attitude-position" sequence, in which the pitch angle and roll angle are adjusted by the trajectory motion of the counterweight block, the heading angle is controlled by the differential of the thruster 4, and the translational motion is achieved by switching the thrust direction of the thruster 4.

[0051] Overall structure of the robot:

[0052] The underwater robot features a disc-shaped main structure with four symmetrically arranged thrusters, each rated at 5N thrust and a rotational speed range of 0-3000rpm. A 1080P HD camera (9) with a 120° viewing angle is mounted at the front center. The bottom arm (1) is retractable (maximum extension length 10cm), and the end gripper has an adjustable gripping force of 1-5N. A gravity-regulating motor (model N20, torque 0.5N·m) at the center of the cabin drives a battery-powered counterweight (300g) via a load-bearing bearing, which moves along a circular track within the cabin with a radius of 5cm.

[0053] Internal layout such as Figure 2 and Figure 3 As shown: The high-performance edge computing board is located in the upper part of the cabin, responsible for image recognition and mission planning. The lower-level control board is located in the middle, connecting the IMU (Inertial Measurement Unit) and the thruster drive circuit. The battery module is located in the bottom, powering each unit via a power distribution board. The entire cabin is sealed with an O-ring (made of nitrile rubber), ensuring water resistance to a depth of 50 meters.

[0054] Visual fusion control process:

[0055] The camera is fixed to the front of the cabin. When omnidirectional observation is required, the lower computer controls the propeller differential to rotate the cabin in place. The camera rotates with the cabin to capture 360° images. The edge computing board stitches the image sequence to construct a panoramic map of the environment. The control cycle is 100ms, and the image latency is ≤150ms.

[0056] The overall structural design features a disc-shaped, symmetrical structure with a thruster integrated into each side, a camera mounted in the center of the front, and a robotic arm extending from the bottom (with a gripper at the end). A gravity-adjusting motor and load-bearing bearing are located in the center of the cabin. Internally, it integrates a high-performance edge computing board (upper-level control), a lower-level control board, an IMU inertial measurement unit, and a battery module. O-rings ensure watertightness.

[0057] Attitude Stabilization Mechanism: A circular disc structure secures the center of buoyancy at the geometric center. A gravity-regulating motor drives the battery counterweight to track within the cabin, dynamically adjusting the center of gravity. The relative displacement between the center of buoyancy and the center of gravity generates a restoring torque, guiding the cabin to automatically restore its balanced pitch attitude. The symmetrical structure aligns the center of gravity with the midpoint of the thrust line connecting the thrusters, allowing the cabin to rotate in place about its vertical axis during thrust reversal, eliminating the need for additional attitude control devices.

[0058] Hierarchical control architecture: The upper controller utilizes an AI edge computing platform, responsible for intelligent decision-making, deep learning, and scene perception. The lower controller is a microcontroller equipped with a real-time operating system, focusing on sensor data analysis and motor control. These upper and lower controllers collaborate through standardized interfaces, enabling parallel processing of compute-intensive tasks and real-time control.

[0059] Propulsion and rotation control principle: The internal counterweight rotates to adjust the pitch angle of the cabin. When the thrusters tilt to a specific angle with the cabin, the same-direction thrust of the thrusters on both sides can achieve oblique translation (such as vertical movement at 90°); the reverse thrust of the thrusters drives the roll rotation; the combination of thruster differential and counterweight adjustment can achieve heading angle adjustment, front and rear translation, and lateral translation, building a six-degree-of-freedom motion control system.

[0060] Multi-DOF motion logic: In-place rotation, attitude adjustment, and translational propulsion are broken down into basic motion units, achieving six degrees of freedom control through a combination of "attitude-position" sequences. Attitude control relies on counterweights to adjust pitch and roll angles, and propeller differentials to adjust heading angles. Displacement control is based on the current attitude, achieving three-dimensional movement by switching the thrust direction of the propellers. Each degree of freedom can be executed independently or in combination.

[0061] Equivalent spherical motion modeling: The swept path of the disk structure is approximated to a sphere, simplifying the motion space into an enveloping sphere. This facilitates 3D path planning and obstacle avoidance algorithm design, and is suitable for motion simulation in confined spaces.

[0062] Modular internal layout: The system is divided into actuators (thrusters, gravity control motors), sensors (IMU, cameras, depth sensors), computing units (edge ​​computing boards, lower computers) and power supply units. Each module is connected through a standardized interface to improve wiring efficiency and maintainability.

[0063] Visual fusion control: The camera is fixed to the cabin, and the cabin's in-situ rotation feature is used to replace the traditional pan-tilt head. The housing drives the rotation of the viewing angle to achieve omnidirectional visual coverage, reduce mechanical complexity and power consumption, and improve underwater observation stability.

[0064] The present invention has the following advantages:

[0065] 1. Simplified structure and reduced energy consumption: Only two thrusters are used in conjunction with an internal counterweight system to achieve six-degree-of-freedom motion, which reduces more than 50% of power components compared to traditional multi-thruster solutions, reduces the device volume by 40%, reduces weight by 35%, reduces energy consumption by about 30%, and increases endurance by 50%.

[0066] 2. High-degree-of-freedom movement capability: Through the coordinated control of the center of gravity-center of buoyancy torque difference and the thrusters, precise six-degree-of-freedom movement of pitch, roll, yaw, front and back, left and right, and up and down can be achieved, with a movement accuracy of up to ±1.5° (angle control) and ±2cm (displacement control).

[0067] 3. Adaptability to narrow spaces: The compact disc-shaped design (diameter ≤ 20 cm) and the equivalent spherical motion space modeling enable it to move flexibly in pipes with a diameter of ≥ 30 cm, making it suitable for complex environments such as urban sewers and industrial pipelines.

[0068] 4. Vision and control integration innovation: The omnidirectional perception solution that combines a fixed camera with a rotating cabin reduces the failure rate by 60% and power consumption by 40% compared to traditional gimbal structures, while also improving the stability and continuity of visual data.

[0069] 5. Intelligent decision-making and real-time control: The layered control architecture enables parallel processing of AI algorithms (such as target recognition and path planning) and underlying motion control, with a task response time of ≤50ms, meeting real-time operation requirements.

[0070] Working principle of the present invention:

[0071] Step 1: Overall Robot Structure: The UUV adopts a disc-shaped symmetrical structure, integrating a camera, robotic arm, and propulsion system, with a compact layout and multifunctional collaborative capabilities.

[0072] Specifically, the robot's overall structure. The underwater robot features a disc-shaped main structure with bilateral symmetry, equipped with a thruster on each side for underwater attitude and direction control. A camera is mounted in the center of the front for image acquisition or navigation tasks. A robotic arm extends from the bottom, with a gripper integrated at the end for underwater operations or target grasping. A gravity-adjusting motor and load-bearing bearing are located in the center to drive the cabin's rotation. The system is equipped with a high-performance edge computing board and a lower-level control board, responsible for high-level task processing and low-level control, respectively. Power distribution is achieved through a power distribution board. The system is equipped with an IMU inertial measurement unit for attitude and motion sensing; a battery module is located at the bottom as the primary energy source. All electronic units are mounted on a fixed bracket and connected to the outside through threading holes. The entire structure is sealed watertight with O-rings.

[0073] Step 2: Attitude self-stabilization design, through symmetrical design and internal counterweight adjustment, to achieve self-stabilization pitch recovery and in-place rotation control without the need for additional devices.

[0074] Specifically, in order to achieve attitude self-stabilization and fast control response, the whole machine adopts a disc-shaped symmetrical structure so that the center of buoyancy is always maintained at the geometric center of the UUV (such as Figure 5 (As shown). An internal gravity-regulating motor drives a battery-powered counterweight along a set trajectory within the cabin, precisely adjusting the center of gravity. During this adjustment process, the center of buoyancy remains unchanged. The component forces between buoyancy and gravity generate a stable restoring torque, guiding the UUV naturally back to a balanced pitch attitude. Furthermore, the symmetrical design ensures that the center of gravity coincides with the midpoint of the thrust line connecting the thrusters. This allows the UUV to "rotate in place" about its vertical axis when the thrusters reverse direction, eliminating the need for additional attitude control devices and improving structural compactness and underwater operational flexibility.

[0075] Step 3: Design a hierarchical control architecture, with high-level and low-level controllers working together to implement an efficient hierarchical control system with intelligent decision-making and real-time execution.

[0076] Specifically, a high-computing-power edge computing board serves as the upper controller for intelligent decision-making, while the lower controllers are responsible for real-time execution and sensor response. The control system employs a hierarchical control architecture with upper and lower computers to achieve coordinated optimization of intelligent decision-making and real-time control. The upper controller utilizes an embedded edge computing platform with AI capabilities, supporting edge computing, deep learning, reinforcement learning, and intelligent perception in complex scenarios. The lower controllers utilize microcontrollers equipped with real-time operating systems, focusing on high-frequency response tasks such as sensor data analysis, motor control command issuance, and posture adjustment. This architectural division prevents interference between highly compute-intensive tasks and fast real-time control, ensuring efficient and stable system operation.

[0077] Step 4: The thruster action and rotation control principle combines the thrust of the thruster with the attitude adjustment of the cabin to achieve motion control of multi-angle translation and multi-axis attitude rotation.

[0078] Specifically, the internal counterweight rotates to drive the cabin pitch change, achieving low-speed and high-stability attitude adjustment. When the cabin (propeller) is adjusted to a specific angle, the propellers on both sides can thrust in the same direction to achieve oblique angle translation (such as Figure 6 As shown), when the angle is 90°, the UUV can achieve vertical movement (as shown Figure 7 ); reverse thrust from the thrusters allows for roll rotation around the transverse axis. Further combined motor thrust in the same direction allows for fore-aft horizontal translation; reverse thrust from the thrusters directly drives angular rotation. If the thrusters first generate a 90° angular rotation and then apply thrust in the same direction, the UUV can achieve lateral translation within the initial reference coordinate system, achieving full six-degree-of-freedom control.

[0079] Step 5, multi-DOF motion control logic, combines basic actions into posture-position sequences to build flexible six-DOF underwater motion control logic.

[0080] Specifically, based on the disc-symmetrical structure and the ability to rotate in place, the UUV can achieve fine control under six degrees of freedom through the coordinated action of the thrusters and internal counterweights. Its core control logic is to combine basic actions such as rotation in place, attitude adjustment and translational propulsion into a set of continuously controllable attitude-position change sequences. Specifically, attitude control relies on internal counterweights to adjust the pitch and roll angles, while using the propeller differential to achieve heading angle adjustment; displacement control is based on the current attitude configuration, and the yaw motion is achieved through the same or reverse thrust drive of the thrusters (such as Figure 8 As shown), rotational motion around an axis (as shown Figure 9 as shown) and rolling motion (as shown) Figure 10 (as shown). Control actions between each degree of freedom are both separable and combinable, allowing the controller to dynamically restructure command sequences based on mission requirements, enabling stable and reliable three-dimensional path planning and attitude response in complex underwater environments. This logic design not only supports complete six-degree-of-freedom motion control but also provides a feasible foundation for the subsequent construction of equivalent spherical motion models and multi-task system layouts.

[0081] Step 6: Setting the equivalent spherical motion space. The structure is approximately spherical, and the motion space can be simplified into an enveloping sphere, which is convenient for 3D path planning and obstacle avoidance modeling.

[0082] Specifically, because the structure is close to a sphere, the space required during movement can be regarded as an equivalent envelope sphere, meeting the requirements of six-degree-of-freedom movement. Since the UUV is a disc-shaped structure as a whole, when performing movements such as rotation or attitude adjustment, its outer sweep path can be approximated as a sphere. Based on this geometric characteristic, the calculation of the motion space can be simplified, and it can be equivalently considered that the UUV only needs an operating space that can accommodate the largest circumscribed sphere, in which it can complete six-degree-of-freedom movement in any direction. This simplified modeling has important engineering significance in complex mission spaces, and is particularly suitable for motion planning and obstacle avoidance simulation in confined structural environments.

[0083] Step 7: Modularize the internal structure layout and modularize the internal division of the system to achieve highly integrated and independent operation of execution, perception, computing, and power supply.

[0084] Specifically, the internal system is divided into actuators, sensors, computing units, and power supply units to achieve a functionally independent and highly integrated system architecture. The actuator part includes two external thrusters and an internal gravity adjustment motor. The external thrusters are responsible for providing thrust support in all directions, requiring sufficient thrust and rapid response; the internal gravity adjustment motor needs to output sufficient torque in a confined space to drive the internal counterweight to rotate. The sensor part includes an IMU inertial measurement unit, a depth sensor, and a fixed camera. The IMU is installed in the center of the shell to obtain accurate attitude data; the camera is also rigidly connected to the shell. With the help of the UUV's in-situ rotation characteristics, gimbal-free omnidirectional observation can be achieved, greatly simplifying the structure and algorithm complexity, and improving mission adaptability.

[0085] Step 8: The camera and rotation are integrated and controlled, and the cabin rotation is used to replace the gimbal to achieve low-power, high-reliability omnidirectional visual perception capabilities.

[0086] Specifically, the camera is fixed to the cabin, utilizing the UUV's cabin's rotational characteristics to replace the traditional gimbal, achieving omnidirectional observation capabilities. By leveraging the cabin's ability to rotate in place, the UUV can achieve omnidirectional visual coverage without the need for a traditional three-axis gimbal system. The camera is fixed to the UUV cabin, with the housing driving the rotation of the viewing angle, enabling all-round observation capabilities. This design is particularly suitable for operating environments with limited space and high underwater anti-interference requirements. This design significantly reduces mechanical complexity and power consumption while improving reliability, representing an innovative means of deeply integrating an in-place rotating platform with visual tasks.

[0087] The present invention and its embodiments are described above. This description is not restrictive. What is shown in the full text is only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs a structure and embodiment similar to this technical solution without creatively designing, they shall all fall within the scope of protection of the present invention.

Claims

1. A dual-propulsion underwater intelligent robot with an internal rotatable counterweight, characterized in that: It comprises a disc-shaped symmetrical cabin (10), with a propeller (4) provided on each of the left and right sides for providing thrust; A gravity regulating motor (11) and a weight bearing (12) are provided at the center of the cabin (10). The gravity regulating motor (11) drives a counterweight block composed of a battery and a weight block to move around an axis formed by the gravity regulating motor (11) and the weight bearing (12) in the cabin to dynamically adjust the center of gravity position of the cabin (10); A camera (9) is installed at the front center of the cabin (10), and a mechanical arm (1) is extended from the bottom, with a clamping gripper integrated at the end of the mechanical arm (1); The cabin (10) is internally integrated with a high-computing-power edge computing board (13), a microcontroller (14), an IMU inertial measurement unit (8), and a battery module (7) for power supply. The high-computing-power edge computing board (13) is communicatively connected to the microcontroller (14), and the IMU inertial measurement unit (8) is used to sense the posture and motion information of the cabin (10); The robot adjusts the relative position of the center of gravity and the fixed buoyancy center through a gravity regulating motor (11), thereby forming a moment difference between gravity and buoyancy, and cooperates with the thrust combination of the thrusters (4) on both sides to achieve underwater six-degree-of-freedom movement.

2. The dual-propulsion underwater intelligent robot with an internal rotatable counterweight according to claim 1, characterized in that: The buoyancy center of the cabin (10) is located at the geometric center, the counterweight block is composed of a battery module (7), and the gravity adjustment motor (11) drives the counterweight block to rotate around an axis formed by the gravity adjustment motor (11) and the load-bearing bearing (12).

3. The dual-propulsion underwater intelligent robot with an internal rotatable counterweight according to claim 1, characterized in that: The propellers (4) work in coordination with the attitude adjustment of the cabin (10) through differential control: when the pitch angle of the cabin (10) is adjusted to an angle of θ (0°<θ<90°), the propellers (4) on both sides thrust in the same direction to achieve oblique translation; when θ=90°, the propellers (4) thrust achieve vertical movement; when the propellers (4) thrust in the opposite direction, the cabin (10) is driven to rotate in situ around the vertical axis.

4. The dual-propulsion underwater intelligent robot with an internal rotatable counterweight according to claim 1, characterized in that: The camera (9) is fixedly mounted on the cabin (10), and the cabin (10) rotates in situ to replace the traditional pan-tilt head, thereby achieving omnidirectional visual perception.

5. The dual-propulsion underwater intelligent robot with an internal rotatable counterweight according to claim 1, characterized in that: A fixing bracket (15) for connecting a high-computing-power edge computing board (13) and a microcontroller (14) is installed in the cabin (10). Wire holes (2) for connecting to an external wiring harness are provided on both sides of the cabin (10), and the wire holes (2) are sealed watertight with O-rings.

6. The dual-propulsion underwater intelligent robot with an internal rotatable counterweight according to claim 1, characterized in that: The motion space of the cabin (10) is equivalent to an envelope sphere.

7. The dual-propulsion underwater intelligent robot with an internal rotatable counterweight according to claim 1, characterized in that: Both sides of the cabin body (10) are pressure-resistant cabin components (5), and the pressure-resistant cabin components (5) are provided with external fixing holes (6). The two thrusters (4) are respectively fixedly connected to the outside of the pressure-resistant cabin components (5), and the outside of the pressure-resistant cabin components (5) are both equipped with lighting lamps (3).

8. The dual-propulsion underwater intelligent robot with an internal rotatable counterweight according to claim 1, characterized in that: The six degrees of freedom motion include horizontal motion, oblique angle translation motion, vertical motion, yaw motion, axis rotation motion and roll motion.

9. The dual-propulsion underwater intelligent robot with an internal rotatable counterweight according to claim 8, characterized in that: The six-degree-of-freedom motion is achieved by decomposing in-situ rotation, attitude adjustment and translational propulsion into basic action units, and realizing the six-degree-of-freedom motion through a combination of an "attitude-position" sequence, wherein the pitch angle and the roll angle are adjusted by the trajectory motion of the counterweight block, the heading angle is controlled by the differential speed of the propeller (4), and the translational motion is achieved by switching the thrust direction of the propeller (4).

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