Submarine topography measurement method for submarine vehicle and vehicle attitude adjustment method

Abstract

A submarine topography measurement method for a submarine vehicle and a vehicle attitude adjustment method are provided, a vehicle body is provided with a plurality of submarine fitting mechanisms, the structure of each submarine fitting mechanism comprises a hydraulic cylinder, and a cylinder body of the hydraulic cylinder is connected with the vehicle body; one end of the telescopic rod is connected with the end part of a piston rod of the hydraulic cylinder; a swing joint; the lower surface of the sliding plate corresponds to the seabed, and the sliding plate is movably connected with the telescopic rod through the swing connector. The first attitude sensor is fixedly mounted on the sliding plate; in the walking process of the vehicle, the hydraulic cylinder drives the telescopic rod to move, the lower surface of the sliding plate makes contact with the seabed and changes the posture along with changes of the submarine topography, the first posture sensor outputs the measuring point topography posture angle of the corresponding position of the seabed attaching mechanism, and then the submarine topography posture angle is obtained and used for posture adjustment of the vehicle body. The suspension action can be accurately guided to adjust the posture of the vehicle body in the next step, and the posture stability of the vehicle body is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of deep-sea operation vehicle technology, and in particular to a method for measuring seabed topography and adjusting vehicle attitude for underwater vehicles. Background Technology

[0002] In the deep-sea environment, the seabed topography is complex and varied, often with sloping terrain. Deep-sea vehicles, such as mining trucks, are highly susceptible to the influence of the terrain when traveling and exploring on the seabed, and may overturn. For example, when a vehicle uses tracks as its walking device to travel on terrain with large undulations, if the vehicle tilts too much, it will cause the overall vehicle to become unstable, seriously affecting operational safety and efficiency. Subsea mobile drilling rigs require that the tilt angle between the drill pipe section and the horizontal plane be less than a safe value, and the vehicle body must be leveled.

[0003] Currently, the commonly used method for guiding vehicle body leveling is based on onboard sensors measuring the vehicle's attitude (roll and pitch angles) and then guiding the suspension's extension and retraction to level the vehicle. However, roll and pitch angles alone cannot accurately guide suspension actions to adjust the vehicle's attitude further. This can lead to situations where, after adjusting the suspension, the vehicle's attitude is not level, resulting in significant fluctuations and tilting or even overturning, thus compromising vehicle stability. Summary of the Invention

[0004] In response to the shortcomings of the existing production technology, the applicant provides a method for measuring seabed topography and adjusting vehicle attitude for underwater vehicles, which can accurately guide the suspension action to adjust the vehicle body attitude in the next step and ensure the vehicle body attitude stability.

[0005] The technical solution adopted in this invention is as follows: A method for seabed topography measurement for subsea vehicles, wherein multiple seabed bonding mechanisms are installed on the vehicle body, and the multiple seabed bonding mechanisms are distributed in a planar, multi-point manner relative to the extension plane of the vehicle chassis. The structure of a single seabed bonding mechanism includes: A hydraulic cylinder, the cylinder body of which is connected to the vehicle body; A telescopic rod, one end of which is connected to the piston rod end of the hydraulic cylinder; A swing joint, one end of which is connected to the other end of the telescopic rod; The skateboard has its other end connected to the upper surface of the swing joint, and the lower surface of the skateboard corresponds to the seabed. The swing joint movably connects the skateboard to the telescopic rod. The first attitude sensor is fixedly mounted on the skateboard; The method includes the following steps: During vehicle movement, the hydraulic cylinder drives the telescopic rod to move, causing the lower surface of the slide plate to contact the seabed and change its posture as the seabed topography changes. The first posture sensor outputs the measurement point topography posture angle at the corresponding position of the seabed contact mechanism, thereby obtaining the seabed topography posture angle, which is used for vehicle posture adjustment.

[0006] The area of ​​the lower surface of the sliding plate in contact with the seabed is A, 0.05m². 2 ≤A≤0.25m 2 .

[0007] A guide sleeve is installed on the vehicle body, and the guide sleeve slides in conjunction with the telescopic rod.

[0008] The swing joint includes: The first connecting block has one end hinged to the end of the telescopic rod, and the axis of the hinge is the first hinge axis. The second connecting block has one end hinged to the other end of the first connecting block, with the axis of the hinge being the second hinge axis, and the other end of the second connecting block being fixedly connected to the upper surface of the slide plate. During the process of the sliding plate contacting the seabed, the first connecting block swings relative to the telescopic rod around the first hinge axis, and the second connecting block swings relative to the first connecting block around the second hinge axis, with the first hinge axis being perpendicular to the second hinge axis; The first hinge axis is parallel to the lateral or longitudinal axis of the vehicle, and the measuring point terrain attitude angle includes the measuring point terrain roll angle. and the dip angle of the terrain at the measuring point Where i = 1, 2, 3…N, N is the number of seabed bonding mechanisms, and the seabed topography attitude angle includes the seabed topography roll angle. and seabed topography dip angle .

[0009] Methods for obtaining seabed topographic attitude angles include: when , When, i=2, 3…N-1, , .

[0010] The vehicle body is equipped with a second attitude sensor; Establish a vehicle coordinate system. The X-axis of the vehicle coordinate system is aligned with the longitudinal axis of the vehicle body, the Y-axis is aligned with the transverse axis of the vehicle body, and the Z-axis of the vehicle coordinate system points upwards along the height of the vehicle body. Select three seabed bonding mechanisms arranged in a triangle, where: The location of the first underwater bonding mechanism in the vehicle coordinate system is: The extension length of the telescopic rod is -ha, where ha ≤ 0. The location of the second underwater bonding mechanism in the vehicle coordinate system is: The extension length of the telescopic rod is -hb, where hb≤0. The location of the third underwater bonding mechanism in the vehicle coordinate system is as follows: The extension length of the telescopic rod is -hc, where hc ≤ 0. The coordinates of the contact points between the first, second, and third seabed bonding mechanisms and the seabed in the vehicle coordinate system are as follows: , , ; when or When i = 2, 3…N-1, the second attitude sensor measures the vehicle roll angle. and vehicle body pitch angle , calculate , The angle between the seabed surface in the lateral direction of the vehicle body and the extended plane of the chassis. calculate , Let be the angle between the seabed surface in the longitudinal direction of the vehicle body and the extended plane of the chassis, where:

[0011] , .

[0012] The seabed bonding mechanism is equipped with a displacement sensor for detecting the extension length of the telescopic rod.

[0013] A method for controlling the extension and retraction of the piston rod of a hydraulic cylinder to bring the lower surface of a sliding plate into contact with the seabed includes the following steps: The pressure in the rodless chamber of the hydraulic cylinder is detected, and the pressure in the rodless chamber when the lower surface of the slide plate contacts the seabed is set to p1.

[0014] Where s is the cross-sectional area of ​​the oil chamber of the hydraulic cylinder, A is the area of ​​the lower surface of the slide plate in contact with the seabed, and p2 is the ground pressure when the lower surface of the slide plate is in contact with the seabed.

[0015] After the vehicle is deployed on the seabed, before it can move, the terrain bearing capacity is first assessed. The terrain bearing capacity assessment steps include: In flat terrain areas, all the sliding plates of the seabed bonding mechanism are brought into contact with the seabed. During the contact process between the lower surface of the sliding plate and the seabed, If the rate of change of the extension length of the telescopic rod is ΔL / Δt=0 during the process of the pressure in the rodless chamber of the hydraulic cylinder increasing to p1, then the seabed topography is hard bedrock. If the rate of change of the extension length of the telescopic rod is 0.001 mm / s ≤ ΔL / Δt ≤ 0.1 mm / s during the process of the pressure in the rodless chamber of the hydraulic cylinder increasing to p1, then the seabed topography is semi-hard soil. If the rate of change of the extension length of the telescopic rod ΔL / Δt ≥ 0.1 mm / s during the process of the pressure in the rodless chamber of the hydraulic cylinder increasing to p1, then the seabed topography is soft sediment.

[0016] A method for adjusting the attitude of an underwater vehicle, applying any of the above-described methods for measuring seabed topography for underwater vehicles, wherein the vehicle has four running gears, each running gear connected to the vehicle body via a suspension, the connection point between the running gear and the suspension is a suspension point, and the distance between the front and rear suspensions is 2× lb The distance between the left and right suspensions is 2× lw ; When the seabed topography roll angle and seabed topography dip angle When all values ​​are zero and the vehicle body is in a horizontal position: The coordinates of the left front suspension point in the vehicle coordinate system are: ; The coordinates of the right front suspension point in the vehicle coordinate system are: ; The coordinates of the left rear suspension point in the vehicle coordinate system are: ; The coordinates of the right rear suspension point in the vehicle coordinate system are: ; The attitude adjustment method includes the following steps: During vehicle movement, the roll angle of the seabed topography at the vehicle's current location on the seabed is measured. and seabed topography dip angle The measurement, along with the roll angle based on the seabed topography. and seabed topography dip angle Adjust the suspension's telescopic range to level the vehicle's chassis, including: The Z-axis coordinate of the left front suspension point is:

[0017] The Z-axis coordinate of the right front suspension point is:

[0018] The Z-axis coordinate of the left rear suspension point is:

[0019] The Z-axis coordinate of the right rear suspension point is: .

[0020] The beneficial effects of this invention are as follows: This invention features a compact and reasonable structure and is easy to operate. Through a terrain sensing module independent of the vehicle body—multiple seabed contact mechanisms—it measures the seabed terrain where the operating vehicle is located in real time, decoupling the measurement of terrain and vehicle body attitude. This allows for accurate guidance of suspension actions to adjust the vehicle body attitude in the next step, ensuring the vehicle body's attitude stability.

[0021] Furthermore, the present invention also has the following advantages: (1) Multiple seabed bonding mechanisms measure the roll angle of the seabed topography around the operating vehicle in real time. and seabed topography dip angle This method makes seabed topography measurement applicable to different seabed topographic environments. It continuously measures the topographic attitude angle of the deep-sea vehicle in real time using the same benchmark. When the seabed topography is flat or sloping, the first attitude sensor is used for direct measurement. When the seabed topography is complex and irregular, such as uneven or stepped seabed with a large size relative to the sliding plate, the extension length of the telescopic rod of the seabed bonding mechanism is combined with the vehicle roll angle measured by the second attitude sensor on the vehicle body. and vehicle body pitch angle The reverse calculation yields the seabed topography roll angle. and seabed topography dip angle This ensures that the vehicle can measure the seabed topography attitude angle in real time during its movement, accurately distinguish between the terrain and the vehicle's attitude, and ensure a precise grasp of the seabed topography around the vehicle, so that the vehicle is in a safe operating state.

[0022] (2) In the prior art, deep-sea acoustic sensors (such as altimeters) are usually used to identify the bearing capacity of the seabed terrain. However, they are prone to failure due to water turbidity. This application uses a seabed bonding mechanism to identify the bearing capacity of the terrain. It can make a judgment based solely on the change of mechanical quantity (length) parameters, which can provide a basis for the vehicle to decide whether it can be rolled over, avoid the tracks from sinking into soft terrain, provide a basis for vehicle travel path planning and suspension adjustment force control, greatly reduce the risk of vehicle overturning in complex seabed terrain, ensure the safety and efficiency of deep-sea operations, and at the same time meet the attitude stability requirements of different operating vehicles such as mining vehicles and mobile drilling rigs.

[0023] (3) By measuring the seabed topography in a decoupled manner from the vehicle body attitude, the terrain and vehicle body attitude can be accurately distinguished. Whether the vehicle body is facing a slope, sideways to a slope, or obliquely to a slope, the vehicle body attitude can be accurately adjusted. When a certain walking mechanism of the vehicle cannot fully fit the seabed topography due to its large bottom area, the vehicle body attitude angle cannot reflect the seabed topography. Multiple seabed fitting mechanisms are used to measure the current seabed topography, which more accurately reflects the seabed slope angle at the vehicle's location, and the seabed topography roll angle is used. and seabed topography dip angle Adjust the suspension based on the reference point to avoid instability in the vehicle's posture during subsequent driving caused by incorrect suspension adjustments.

[0024] (4) During the operation of the vehicle on the seabed, the vehicle can identify the slope of the seabed in real time, assist the vehicle to stop in the optimal posture and start the operation mechanism, enhance the engineering adaptability, and promote the intelligent upgrading of deep-sea operations. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the underwater vehicle of the present invention.

[0026] Figure 2 This is a schematic diagram of the underwater vehicle of the present invention (bottom view).

[0027] Figure 3 This is a top view of the structure of the underwater vehicle of the present invention.

[0028] Figure 4 This is a schematic diagram of the underwater bonding mechanism of the present invention.

[0029] Figure 5 This is a schematic diagram of the underwater bonding mechanism of the present invention (when the telescopic rod is extended).

[0030] Figure 6 This is a diagram showing the state of the sliding plate of the seabed bonding mechanism of the present invention during its swing.

[0031] Figure 7 This is a schematic diagram of the topographic roll angle of the measuring point measured by the seabed bonding mechanism of the present invention.

[0032] Figure 8 This is a schematic diagram of the longitudinal tilt angle of the measuring point measured by the seabed bonding mechanism of the present invention.

[0033] Figure 9 This is a diagram (a) showing the vehicle's driving state on a slope according to the present invention.

[0034] Figure 10 This is a schematic diagram showing the relative relationships of different roll angles in this invention.

[0035] Figure 11 This is diagram (II) showing the vehicle's driving state on a slope according to the present invention.

[0036] Figure 12 This is diagram (III) showing the vehicle's driving state on a slope according to the present invention.

[0037] Figure 13 This is a schematic diagram of the vehicle posture and adjustment method of the present invention.

[0038] The components include: 1. Body; 10. Chassis; 2. Suspension; 3. Running gear; 4. Submarine bonding mechanism; 41. Hydraulic cylinder; 42. Telescopic rod; 43. Guide sleeve; 44. Swing joint; 441. First connecting block; 4410. First hinge axis; 442. Second connecting block; 4420. Second hinge axis; 45. Slide plate; 451. Guide section; 46. First attitude sensor; 47. Mounting plate; 48. Pressure sensor. Detailed Implementation

[0039] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0040] Currently, the commonly used method for guiding vehicle leveling is based on onboard sensors measuring the vehicle's attitude (such as roll and pitch angles) and then guiding the suspension to adjust the vehicle's position. However, research has found that the reason why the vehicle tilts or even overturns after adjusting the suspension based on roll and pitch angles is that the current attitude of the vehicle is not necessarily directly related to the current terrain. This is because underwater vehicles often need to perform heavy-duty operations, and the running gear 3 is usually large, using four tracks. When the seabed surface has large undulations, and the vehicle's direction of travel is not perpendicular to the slope direction during uphill and downhill travel, one track may not be in contact with the ground. The next step of the underwater vehicle may change due to the abrupt change in the contact mode between the running gear 3 and the seabed. The onboard sensors are installed on the main body of the vehicle, and the measured attitude angles cannot scientifically reflect whether the vehicle is in a stable contact with the seabed. This may result in the vehicle tilting or even overturning after adjusting the suspension, meaning that the suspension adjusted based on the roll and pitch angles cannot meet the stability requirements of the vehicle's attitude during travel.

[0041] To address the aforementioned technical problems, the technical solution in this application involves installing a seabed bonding mechanism 4 on the vehicle at seabed. This mechanism measures the seabed terrain independently of the vehicle's own posture, and allows the measurement of terrain data to be synchronized with the vehicle's roll angle and pitch angle. This allows the suspension to be extended and retracted based on the terrain, thereby leveling the vehicle body 1 and ensuring the stability of the vehicle's posture during travel.

[0042] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0043] An exemplary embodiment illustrates a method for seabed topography measurement for underwater vehicles, such as... Figures 1-3 Multiple underwater bonding mechanisms 4 are installed on the vehicle body 1 located underwater. These underwater bonding mechanisms 4 are distributed in a planar, multi-point manner relative to the extended plane of the chassis 10 of the vehicle body 1, such as... Figures 4-8 As shown, the structure of a single seabed bonding mechanism 4 includes: a hydraulic cylinder 41, a telescopic rod 42, a swing joint 44, and a sliding plate 45.

[0044] The cylinder body of hydraulic cylinder 41 is connected to the vehicle body 1; One end of the telescopic rod 42 is connected to the end of the piston rod of the hydraulic cylinder 41; One end of the swing joint 44 is connected to the other end of the telescopic rod 42; The other end of the swing joint 44 is connected to the upper surface of the slide plate 45, and the lower surface of the slide plate 45 corresponds to the seabed. The swing joint 44 movably connects the slide plate 45 to the telescopic rod 42. The first attitude sensor 46 is fixedly mounted on the skateboard 45; Seabed topographic surveying methods include the following steps: During vehicle movement, hydraulic cylinder 41 drives telescopic rod 42 to move, causing the lower surface of slide plate 45 to contact the seabed and change its attitude with the seabed topography. First attitude sensor 46 outputs the measurement point topography attitude angle at the corresponding position of seabed contact mechanism 4, thereby obtaining the seabed topography attitude angle, which is used for attitude adjustment of vehicle body 1.

[0045] In this embodiment, walking mechanisms 3 are provided on both sides of the vehicle body 1 in the direction of travel. The walking mechanisms 3 are connected to the vehicle body 1 through a suspension mechanism 2. The walking mechanisms 3 are typically tracked walking devices, such as... Figure 1 As shown; a second attitude sensor is usually installed on the vehicle body 1 to detect the current attitude of the vehicle body 1; the first attitude sensor 46 is placed in a circular pressure-resistant cylinder, which is fixedly installed on the upper surface of the slide plate 45.

[0046] like Figure 1As shown, in this embodiment, each seabed contact mechanism 4 has a sliding plate 45. The area of ​​the sliding plate 45 is smaller than that of the vehicle travel mechanism 3, and it has multiple degrees of freedom of movement relative to the vehicle body 1. The degrees of freedom of movement of the sliding plate 45 are provided by the movement of the telescopic rod 42 and the swing joint 44, allowing the sliding plate 45 to conform to the seabed and reflect the terrain attitude angle of the seabed measurement point. Although the seabed contact mechanism 4 is mounted on the vehicle body 1, the sliding plate 45 is decoupled from the attitude of the vehicle body 1, and independently of the vehicle body 1 and the travel mechanism 3, it performs precise measurement of terrain attitude angle.

[0047] The seabed bonding mechanism 4 has a simple structure and is easy to use. When it is not necessary to measure the terrain, the hydraulic cylinder 41 drives the telescopic rod 42 to rise and retract the slide plate 45. When it is necessary to measure the terrain, the hydraulic cylinder 41 drives the telescopic rod 42 to fall and make the slide plate 45 contact the seabed.

[0048] In addition, in order to ensure the consistency of the terrain attitude angle measured by the first attitude sensor 46, it is necessary to ensure that the axis of relative swing of the slide plate 45 is fixed, wherein the telescopic rod 42 can only move up and down and cannot rotate relative to its own axis.

[0049] The aforementioned multiple seabed contact mechanisms 4 are distributed in a planar, multi-point manner relative to the extended plane of the chassis 10 of the vehicle body 1. This means that the positions of the terrain attitude angles measured by the seabed contact mechanisms 4 are arranged in a planar pattern, thereby accurately reflecting the terrain of the current seabed position of the vehicle body 1. Preferably, the seabed contact mechanisms 4 are located around the vehicle body 1, including at least three at the front end and both sides in the forward direction of the vehicle body 1. The planar, multi-point distributed seabed contact mechanisms 4, combined with the independently extendable hydraulic cylinder 41 and the slide plate 45 of the first attitude sensor 46, can capture the terrain attitude angles of each measuring point in real time, breaking through the limitations of traditional single-point large-area measurement, realizing three-dimensional perception of the seabed terrain, and providing accurate terrain data support for attitude adjustment.

[0050] The seabed terrain attitude angle measured in this embodiment varies with the vehicle's forward direction and location. Preferably, the measurement reference of the seabed terrain attitude angle changes with the vehicle's forward direction, so that the suspension 2 at different positions on the vehicle body 1 can be adjusted directly through the seabed terrain attitude angle to achieve the leveling of the vehicle body 1.

[0051] In the existing technology, the attitude sensor is fixed to the vehicle body 1. Since the working vehicle is relatively large, the attitude sensor can only reflect the attitude change of the vehicle body 1. The angle measured by the attitude sensor cannot accurately reflect the actual terrain attitude angle of the vehicle's location. It lacks an environmental reference and equates the attitude of the vehicle body 1 with the attitude of the seabed terrain. This may result in the vehicle body attitude not being level when the vehicle is moving after the suspension is adjusted. The vehicle body attitude fluctuates greatly and may tilt or even overturn, which cannot guarantee the attitude stability of the vehicle body.

[0052] This embodiment provides a method for measuring seabed topography for underwater vehicles. By using a terrain sensing module independent of the vehicle body 1—multiple seabed contact mechanisms 4—the method measures the seabed topography where the vehicle is located in real time, decoupling the measurement of the topography and the vehicle body attitude. This allows for accurate guidance of suspension actions to adjust the vehicle body attitude in the next step, ensuring the attitude stability of the vehicle body 1.

[0053] For example, the area of ​​the lower surface of the slide plate 45 in contact with the seabed is A, 0.05m². 2 ≤A≤0.25m 2 The contact surface between the running gear 3 of the subsea vehicle used for heavy-duty operations and the seabed is rectangular, with an area greater than 1m². 2 0.05m 2 ≤A≤0.25m 2 To adapt the slide plate 45 to the seabed structure and accurately reflect the seabed topography, the shape of the slide plate 45 is preferably a rectangle with an aspect ratio close to or equal to 1. The specific area and dimensions can be selected according to the flatness of the seabed topography on which the vehicle travels, and to adapt to the measurement of the terrain attitude angle of the measuring point.

[0054] Specifically, such as Figures 4-8 As shown, in order to facilitate good contact between the slide plate 45 and the seabed, guide sections 451 are provided at the front and rear ends of the slide plate 45 along the direction of travel. That is, the arrangement direction of the two guide sections 451 is consistent with the longitudinal axis direction of the vehicle. The guide section 451 is an arc-shaped bending section formed by extending upward from the end of the slide plate 45, which is used to guide the slide plate 45 to slide on the seabed.

[0055] For example, such as Figures 4-8 As shown, a guide sleeve 43 is installed on the vehicle body 1, and the guide sleeve 43 slides in conjunction with the telescopic rod 42.

[0056] Specifically, such as Figure 4 As shown, the seabed bonding mechanism 4 also includes a mounting plate 47 fixedly installed on the side of the chassis 10 of the vehicle body 1. The end of the cylinder body of the hydraulic cylinder 41 is hinged to the mounting plate 47, and the end of the telescopic rod 42 is hinged to the end of the piston rod of the hydraulic cylinder 41. The axial directions of the telescopic rod 42 and the hydraulic cylinder 41 are consistent. The guide sleeve 43 matches the shape of the telescopic rod 42, and the inner hole of the guide sleeve 43 cooperates with the outer wall of the telescopic rod 42. It is used to guide the telescopic rod 42 to move along the axial direction of the telescopic rod 42 while restricting the telescopic rod 42 from rotating around its own axis.

[0057] Preferably, each telescopic rod 42 is parallel to each other, and the axis of the telescopic rod 42 is perpendicular to the extension plane of the chassis 10 of the vehicle body 1.

[0058] To ensure that the terrain attitude angle measured by the first attitude sensor 46, and consequently the seabed terrain attitude angle, is directly synchronized with the directions of the vehicle roll angle and vehicle pitch angle, in an exemplary embodiment, such as... Figure 1 , Figure 6 As shown, the swing joint 44 includes: a first connecting block 441 and a second connecting block 442.

[0059] One end of the first connecting block 441 is hinged to the end of the telescopic rod 42, and the axis of the hinge is the first hinge axis 4410; One end of the second connecting block 442 is hinged to the other end of the first connecting block 441, and the axis of the hinge is the second hinge axis 4420. The other end of the second connecting block 442 is fixedly connected to the upper surface of the slide plate 45. During the contact between the sliding plate 45 and the seabed, the first connecting block 441 swings relative to the telescopic rod 42 around the first hinge axis 4410, and the second connecting block 442 swings relative to the first connecting block 441 around the second hinge axis 4420. The first hinge axis 4410 and the second hinge axis 4420 are perpendicular. The first hinge axis 4410 is parallel to the vehicle's lateral or longitudinal axis, and the first hinge axis 4410 is perpendicular to the second hinge axis 4420. The terrain attitude angle at the measuring point includes the terrain roll angle at the measuring point. and the dip angle of the terrain at the measuring point Where i = 1, 2, 3…N, N is the number of seabed bonding mechanisms 4, and the seabed topography attitude angle includes the seabed topography roll angle. and seabed topography dip angle .

[0060] Specifically, such as Figure 6 As shown, the first hinge axis 4410 is located at the hinge between the first connecting block 441 and the telescopic rod 42, and the second hinge axis 4420 is located at the hinge between the second connecting block 442 and the first connecting block 441. When the sliding plate 45 connected by the swing joint 44 moves forward or backward with the vehicle body 1, the orientation of the guide portion 451 at the front end of the sliding plate 45 is always consistent with the orientation of the front of the vehicle.

[0061] In this embodiment, the terrain roll angle (measuring point terrain roll angle) Seabed topography roll angle The longitudinal tilt angle (or seabed topography tilt angle) refers to the angle of rotation of the seabed surface relative to the longitudinal axis of the vehicle, with the horizontal plane as a reference. The longitudinal and lateral slopes of the terrain at the measuring point The angle of rotation of the seabed surface relative to the vehicle's lateral axis is based on the horizontal plane; both the first attitude sensor 46 and the second attitude sensor can be gyroscopes.

[0062] In this embodiment, the seabed bonding mechanism 4 is equipped with a displacement sensor for detecting the extension length of the telescopic rod 42.

[0063] Specifically, the extension length of the telescopic rod 42 can be fed back by a built-in magnetostrictive displacement sensor installed on the hydraulic cylinder 41, which detects the displacement of the piston rod of the hydraulic cylinder 41.

[0064] Based on the swing pattern of the skateboard 45 relative to the vehicle body 1 under the action of the swing joint 44, the method for obtaining the seabed terrain attitude angle in this embodiment includes two cases.

[0065] First scenario: when , When, i=2, 3…N-1, , .

[0066] That is, when the roll angles of the terrain measured by all the first attitude sensors 46 are equal, and the dip angles of the terrain measured by all the first attitude sensors 46 are equal, the seabed topography is either a plane or a slope, and the roll angle of the terrain at any measurement point is equal. This refers to the roll angle of the seabed topography. The vertical slope angle of the terrain at any measuring point That is, the dip angle of the seabed topography. .

[0067] The second scenario: A second attitude sensor is installed on vehicle body 1; Establish a vehicle coordinate system. The X-axis of the vehicle coordinate system is aligned with the longitudinal axis of vehicle body 1, the Y-axis is aligned with the transverse axis of vehicle body 1, and the Z-axis of the vehicle coordinate system points upward along the height direction of vehicle body 1. like Figure 9 As shown, in the vehicle coordinate system, the positive X-axis points in the direction of vehicle travel, and the positive Y-axis points to the left side of the vehicle.

[0068] Three seabed bonding mechanisms 4 are selected in a triangular distribution, wherein: The position of the first underwater bonding mechanism 4 in the vehicle coordinate system is: The extension length of telescopic rod 42 is -ha, where ha ≤ 0. The position of the second underwater bonding mechanism 4 in the vehicle coordinate system is: The extension length of telescopic rod 42 is -hb, where hb≤0. The third underwater bonding mechanism 4 is located in the vehicle coordinate system as follows: The extension length of telescopic rod 42 is -hc, where hc ≤ 0. The coordinates of the contact points between the first, second, and third seabed bonding mechanisms 4 and the seabed in the vehicle coordinate system are as follows: , , ; when or When i = 2, 3…N-1, the second attitude sensor measures the vehicle roll angle. and vehicle body pitch angle , calculate , The angle between the seabed surface in the lateral direction of the vehicle body 1 and the extended plane of the chassis 10. calculate , Let be the angle between the seabed surface in the longitudinal direction of the vehicle body 1 and the extended plane of the chassis 10, where:

[0069] , .

[0070] Specifically, positions A, B, and C refer to the installation positions of the seabed bonding mechanism 4 in the XY plane of the vehicle coordinate system. The three selected positions of the seabed bonding mechanism 4 are one at the front center of the vehicle body 1 and the other two at the rear of the vehicle body 1, symmetrical about the longitudinal axis of the vehicle body 1. This allows the three seabed bonding mechanisms 4 to reflect the terrain of the seabed directly below the entire vehicle body 1, thereby providing more realistic guidance for the walking mechanisms 3 on both sides of the vehicle body 1 to adjust their distance from the vehicle body 1 through the suspension mechanism 2. This allows the vehicle body 1 to be adjusted to a more scientific and accurate level, ensuring the vehicle is in a safe driving state.

[0071] It should be noted that in the above calculation process, the sign of the angle varies depending on the direction, such as... Figure 9 , Figure 11 and Figure 12 As shown in the figure, and In the positive direction of the angle (the direction indicated by the rotating arrow), after the chassis 10 swings relative to the seabed, when the chassis 10 is higher on the left and lower on the right relative to the seabed, it is... When the chassis 10 is lower in the front and higher in the back relative to the seabed, it is... Positive value, relative to the vehicle roll angle on the horizontal plane and vehicle body pitch angle The measurement and recording methods are consistent. For the seabed topography roll angle... In general, the seabed surface is higher on the left and lower on the right relative to the horizontal plane in the direction of vehicle movement, which is a positive value. Similarly, the longitudinal dip angle of the seabed topography... The value is positive when the sea surface is lower in front and higher behind the horizontal in the direction the vehicle is moving.

[0072] like Figure 10 As shown in (a), Greater than zero, Greater than zero, Less than zero; like Figure 10 As shown in (b), Less than zero, Less than zero, Less than zero.

[0073] and The derivation of the calculation formula is as follows: Calculate the normal vector n of the extended plane of chassis 10 relative to the seabed surface: n = (BA) × (CA)

[0074]

[0075] The normal vector n of the extended plane of chassis 10 relative to the seabed is normalized. The normalized normal vector n of the extended plane of chassis 10 relative to the seabed is n2.

[0076]

[0077] Define the normalized seabed surface normal vector as: n1(0,0,1); It is the Y component of the normalized extension plane of chassis 10 relative to the seabed surface. The corresponding "sine of the angle between the projection of the normal vector onto the YZ plane and the Z-axis" is as follows: ,but:

[0078] It is the Z-component of the normalized extension plane of chassis 10 relative to the seabed surface. This corresponds to the "cosine of the angle between the normal vector and the Z-axis", that is... ,but

[0079] Seabed topography attitude angles, including seabed topography roll angle It can be measured by the vehicle's roll angle and It can be calculated that: ; Similarly, .

[0080] In this embodiment, multiple seabed bonding mechanisms 4 measure the roll angle of the seabed topography around the working vehicle in real time. and seabed topography dip angle This method makes seabed topography measurement applicable to different seabed topographic environments. It continuously measures the topographic attitude angle of the deep-sea vehicle in real time using the same benchmark. When the seabed topography is flat or sloping, the first attitude sensor 46 is used for direct measurement. When the seabed topography is a complex irregular seabed such as an uneven or stepped seabed that is larger than the size of the sliding plate 45, the extension length of the telescopic rod 42 of the seabed bonding mechanism 4 is combined with the vehicle roll angle measured by the second attitude sensor on the vehicle body 1. and vehicle body pitch angle The reverse calculation yields the seabed topography roll angle. and seabed topography dip angle This ensures that the vehicle can measure the seabed topography attitude angle in real time during its movement, accurately distinguish between the terrain and the vehicle's attitude, and ensure a precise grasp of the seabed topography around the vehicle, so that the vehicle is in a safe operating state.

[0081] In one exemplary embodiment, the method of controlling the extension and retraction of the piston rod of the hydraulic cylinder 41 to bring the lower surface of the slide plate 45 into contact with the seabed includes the following steps: The pressure in the rodless chamber of hydraulic cylinder 41 is detected, and the pressure in the rodless chamber when the lower surface of slide plate 45 contacts the seabed is set to p1.

[0082] Where s is the cross-sectional area of ​​the oil chamber of the hydraulic cylinder 41, A is the area of ​​the lower surface of the slide plate 45 in contact with the seabed, and p2 is the ground pressure when the lower surface of the slide plate 45 is in contact with the seabed.

[0083] Specifically, the hydraulic cylinder 41 is equipped with a pressure sensor 48 for detecting the pressure inside the rodless chamber.

[0084] When the vehicle body 1 moves forward, or when the vehicle body 1 needs to be leveled, the piston rod of the hydraulic cylinder 41 extends, causing the sliding plate 45 to contact the seabed. Continue to inject oil into the rodless cavity, while monitoring the pressure in the rodless cavity. Control the ground pressure ratio between the sliding plate 45 and the seabed at a certain value (e.g., 10 kPa). This ensures that the sliding plate 45 is firmly in contact with the seabed without crushing the seabed surface. Preferably, 5 kPa ≤ p2 ≤ 10 kPa is preferred.

[0085] For example, the cross-sectional diameter of the rodless chamber of hydraulic cylinder 41 is 0.035 meters, and s is 0.00096 meters. 2 When the area of ​​the lower surface of the slide plate 45 in contact with the seabed is approximately 0.08 square meters, if the grounding specific pressure is controlled at 10 kPa, the grounding reaction force will cause the pressure in the rodless chamber to increase to 0.83 MPa. That is, when p1 is 0.83 MPa, the piston rod of the hydraulic cylinder 41 stops moving, and at this time, the lower surface of the slide plate 45 is in contact with the seabed. The cross-sectional area of ​​the rodless chamber of the hydraulic cylinder 41 is much smaller than the area of ​​the lower surface of the slide plate 45 in contact with the seabed. When the grounding specific pressure changes, it can sensitively reflect the change in the pressure p1 in the rodless chamber. The change value of the pressure sensor 48 is greater than its measurement accuracy, ensuring the validity of the collected data and facilitating the control of the extension and retraction of the piston rod of the hydraulic cylinder 41.

[0086] In one exemplary embodiment, after the vehicle is deployed on the seabed, before the vehicle moves, a terrain carrying capacity assessment is first performed. The terrain carrying capacity assessment steps include: In flat terrain areas, all the sliding plates 45 of the seabed bonding mechanism 4 are brought into contact with the seabed. During the contact process between the lower surface of the sliding plate 45 and the seabed... If the rate of change of the elongation length of the telescopic rod 42 is ΔL / Δt=0 during the process of the pressure in the rodless chamber of the hydraulic cylinder 41 increasing to p1, then the seabed topography is hard bedrock. If, during the process of increasing the pressure in the rodless chamber of the hydraulic cylinder 41 to p1, the rate of change of the elongation length of the telescopic rod 42 is 0.001 mm / s ≤ ΔL / Δt ≤ 0.1 mm / s, then the seabed topography is semi-hard soil. If the rate of change of the elongation length of the telescopic rod 42 is ΔL / Δt ≥ 0.1 mm / s during the process of the pressure in the rodless chamber of the hydraulic cylinder 41 increasing to p1, then the seabed topography is soft sediment.

[0087] In existing technologies, deep-sea acoustic sensors (such as altimeters) are typically used to identify the seabed topographic bearing capacity. However, these sensors are prone to failure due to water turbidity. In this embodiment, the seabed topographic measurement method uses a seabed bonding mechanism 4 to determine the topographic bearing capacity. The method relies solely on changes in mechanical (length) parameters to provide a basis for determining whether a vehicle can pass over the terrain. This prevents tracks from sinking into soft terrain, provides a basis for vehicle path planning and suspension adjustment control, significantly reduces the risk of vehicle overturning in complex seabed topography, ensures the safety and efficiency of deep-sea operations, and simultaneously meets the attitude stability requirements of different operating vehicles such as mining trucks and mobile drilling rigs.

[0088] In one exemplary embodiment, this application provides a method for adjusting the attitude of an underwater vehicle, which applies the seabed topography measurement method for underwater vehicles described in any of the above embodiments.

[0089] In this embodiment, the vehicle's running gear 3 has four locations. Each running gear 3 is connected to the vehicle body 1 via a suspension 2. The connection point between the running gear 3 and the suspension 2 is the suspension point P. The distance between the front and rear suspensions 2 is 2 × lb The distance between the two suspensions on the left and right is 2× lw ; When the seabed topography roll angle and seabed topography dip angle When all values ​​are zero and vehicle body 1 is in a horizontal position: The coordinates of the left front suspension point P in the vehicle coordinate system are: ; The coordinates of the right front suspension point P in the vehicle coordinate system are: ; The coordinates of the left rear suspension point P in the vehicle coordinate system are: ; The coordinates of the right rear suspension point P in the vehicle coordinate system are: ; The attitude adjustment method includes the following steps: During vehicle movement, the roll angle of the seabed topography at the vehicle's current location on the seabed is measured. and seabed topography dip angle The measurement, along with the roll angle based on the seabed topography. and seabed topography dip angle Adjust the extension / retraction of suspension 2 to bring the vehicle chassis 10 to a level position, wherein: The Z-axis coordinate of the left front suspension point P is:

[0090] The Z-axis coordinate of the right front suspension point P is:

[0091] The Z-axis coordinate of the left rear suspension point P is:

[0092] The Z-axis coordinate of the right rear suspension point P is: .

[0093] Adjusting the extension / retraction of suspension 2 means changing the Z-axis coordinate of suspension point P. Increasing the Z-axis coordinate value indicates suspension retraction, while decreasing the Z-axis coordinate value indicates suspension extension.

[0094] Specifically, the traveling mechanism 3 is a track, and the suspension point P connecting the suspension 2 and the traveling mechanism 3 is hinged to the moving end of the lower end of the suspension 2 via a hinge shaft, such as... Figure 13As shown, the lower end of suspension 2 extends vertically relative to the extension plane of chassis 10, causing suspension point P to move closer to and away from vehicle body 1. The traveling direction of the traveling mechanism 3 is perpendicular to the axis of the hinge shaft, and the traveling surface of the traveling mechanism 3 is parallel to the axis of the hinge shaft. The traveling mechanism 3 can adapt to the slope of the terrain in the traveling direction and swing around the axis of the hinge shaft. When the vehicle is in a horizontal state, the distance between each suspension point P and the XY plane of the vehicle coordinate system is equal, which is H. When the vehicle travels on the seabed with a slope, in order to ensure the horizontality of the vehicle body 1, the four suspensions 2 extend and retract at different lengths, that is, the Z-axis coordinate of each suspension point P changes, thereby adjusting the attitude of the vehicle body 1.

[0095] In this embodiment, as Figure 1 As shown, based on the dimensional relationship between the four suspensions 2, the origin of the vehicle coordinate system is defined as the center of the rectangle enclosed by the four suspensions 2. A suitable H value is set to ensure that the extension and retraction margins of the suspensions 2 during vehicle movement can adapt to changes in seabed topography.

[0096] Based on seabed topography and roll angle and seabed topography dip angle The derivation of the method for calculating the Z-axis coordinate of the suspension point P is as follows: First, when the vehicle is traveling on a non-level seabed, if suspension 2 is not adjusted, the vehicle body 1 will rotate (e.g., Figure 13 (Figure b) To counteract the roll and pitch of the vehicle body 1 caused by the terrain, the suspension point P needs to be rotated so that the vehicle body 1 is at a roll angle relative to the seabed terrain. and seabed topography dip angle Horizontal state (e.g.) Figure 13 (Figure c), where the rotational transformation matrix is ​​as follows: Rotation around the X-axis (roll) ) matrix for:

[0097] Rotation about the Y-axis (tilt) ) matrix for:

[0098] Combined coordinate transformation matrix

[0099]

[0100] Then, for any suspension point Its new coordinates after rotation are For the leveling control of vehicle body 1, the XY axis coordinates of suspension point P remain approximately unchanged, while the extension and retraction compensation of suspension point P in the Z direction only affects the Z-direction coordinates. Therefore, we only need to consider the Z-direction coordinates. That's it. Based on the coordinate transformation matrix. Calculate the Z-axis coordinates of the suspension point P after the rotation. The formula for calculating the Z-axis coordinate of each suspension point P is:

[0101] When the vehicle body 1 is in a horizontal position, the coordinates of the left front suspension point P in the vehicle coordinate system are: The coordinates of the right front suspension point P in the vehicle coordinate system are: The coordinates of the left rear suspension point P in the vehicle coordinate system are: The coordinates of the right rear suspension point P in the vehicle coordinate system are: and the collected terrain attitude angles Substituting the Z-axis coordinates of suspension point P into the formula, calculate the Z-direction coordinates of each track suspension point P: The Z-axis coordinate of the left front suspension point P is:

[0102] The Z-axis coordinate of the right front suspension point P is:

[0103] The Z-axis coordinate of the left rear suspension point P is:

[0104] The Z-axis coordinate of the right rear suspension point P is: .

[0105] The underwater vehicle attitude adjustment method in this embodiment is based on the seabed topography roll angle. and seabed topography dip angle The vehicle suspension 2 is adjusted based on the seabed terrain to keep the vehicle chassis 10 level with respect to the seabed topography. This directly correlates the attitude of the vehicle body 1 with the seabed topography, distinguishing between the roll and pitch of the vehicle body 1 caused by uneven suspension 2 extension and contraction, and by the seabed topography itself. Furthermore, at any moment during vehicle operation, as long as the roll angle of the seabed topography is within a certain range... and seabed topography dip angle All values ​​are zero, and the Z-axis coordinate of suspension point P is H, ensuring that suspension 2 always has sufficient adjustment margin; due to the seabed topography, the roll angle... and seabed topography dip angle with vehicle roll angle and vehicle body pitch angle Directly synchronized with the direction, based on the roll angle of the seabed topography. and seabed topography dip angle To adjust the attitude angle relative to the seabed terrain of the vehicle body 1, it is convenient to adjust each suspension 2 around the vehicle body separately, so that the vehicle body 1 is leveled.

[0106] The underwater vehicle attitude adjustment method in this embodiment accurately distinguishes between the terrain and the vehicle attitude by decoupling the measurement of the seabed topography from the vehicle body attitude. Whether the vehicle body 1 is facing a slope directly, sideways, or obliquely, it can accurately adjust the attitude of the vehicle body 1. When a certain walking mechanism 3 of the vehicle has a large bottom area and cannot fully conform to the seabed topography, the vehicle body attitude angle cannot reflect the seabed topography. Multiple seabed conforming mechanisms 4 are used to measure the current seabed topography, more accurately reflecting the seabed slope angle at the vehicle's location, using the seabed topography roll angle as the reference. and seabed topography dip angle Adjustment of suspension 2 is performed based on the reference to avoid instability of the vehicle body posture during the next movement caused by incorrect adjustment of suspension 2.

[0107] For deep-sea vehicles with active suspension adjustment capabilities, existing technologies only allow attitude sensors on the vehicle body (1) to report changes in vehicle attitude after suspension action, but cannot track the slope information of the terrain itself in real time, resulting in a lack of environmental reference during secondary adjustments. This device, through a dynamic reference calibration mechanism, continuously and independently samples the seabed terrain attitude angles (seabed terrain roll / seabed terrain pitch angles) before and after suspension system action, thereby determining the compensation amount of the vehicle's suspension (2). After each suspension action, the vehicle uses the seabed terrain attitude angles as a reference to ensure that the remaining deviation of suspension (2) always meets the requirements, avoiding blind or insufficient adjustments due to a lack of terrain data, and significantly improving the vehicle's travel efficiency and stability in complex deep-sea terrain.

[0108] The underwater vehicle attitude adjustment method of this embodiment applies the seabed topography roll angle obtained by the seabed topography measurement method for underwater vehicles described in any of the embodiments above. and seabed topography dip angle This also includes the following vehicle attitude adjustment settings: Based on the measured seabed topography roll angle and seabed topography dip angle Adjust the vehicle's heading at its current position on the seabed to adjust the roll angle. =0 and vehicle body tilt angle =0.

[0109] Due to the roll angle of the seabed topography and seabed topography dip angle with vehicle roll angle and vehicle body pitch angle The direction is directly synchronized. Through the measurement of the seabed topography, the slope of the current seabed topography and the orientation of the slope relative to vehicle 1 can be identified in real time, such as... Figure 12 As shown, adjust vehicle body 1 to face the slope, as follows. Figure 9 As shown, or the vehicle's lateral axis is directly facing the slope, such as... Figure 11 As shown, make Equal to zero, the auxiliary vehicle stops and starts the working mechanism in the optimal posture. For a mobile subsea drilling rig, in Figure 11 After leveling the vehicle body 1, the walking mechanism 3 provides optimal support for the vehicle body 1, allowing it to stop and start the working mechanism in the best possible posture, thus avoiding equipment getting stuck or overturning due to misjudgment of the terrain.

[0110] During underwater operations, the vehicle can identify the slope of the seabed in real time to help it stop in the optimal position and start its working mechanism, thereby enhancing its engineering adaptability and promoting the intelligent upgrade of deep-sea operations.

[0111] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A method for seabed topography measurement for underwater vehicles, characterized in that: Multiple underwater bonding mechanisms (4) are installed on the vehicle body (1) located underwater. The multiple underwater bonding mechanisms (4) are distributed in a planar multi-point manner relative to the extension plane of the vehicle body (1) and chassis (10). The structure of a single underwater bonding mechanism (4) includes: Hydraulic cylinder (41), the cylinder body of which is connected to the vehicle body (1); Telescopic rod (42), one end of which is connected to the piston rod end of the hydraulic cylinder (41); A swing joint (44), one end of which is connected to the other end of the telescopic rod (42); The other end of the swing joint (44) is connected to the upper surface of the slide plate (45), the lower surface of the slide plate (45) corresponds to the seabed, and the swing joint (44) movably connects the slide plate (45) to the telescopic rod (42). The first attitude sensor (46) is fixedly mounted on the slide plate (45); The method includes the following steps: During vehicle movement, hydraulic cylinder (41) drives telescopic rod (42) to move, so that the lower surface of the slide plate (45) contacts the seabed and changes its posture with the seabed topography. The first posture sensor (46) outputs the measuring point topography posture angle of the corresponding position of the seabed fitting mechanism (4), thereby obtaining the seabed topography posture angle. The seabed topography posture angle is used for the posture adjustment of the vehicle body (1).

2. The seabed topography measurement method for underwater vehicles as described in claim 1, characterized in that: The area of ​​the lower surface of the sliding plate (45) in contact with the seabed is A, 0.05m². 2 ≤A≤0.25m 2 .

3. The seabed topography measurement method for submerged vehicles as described in claim 1, characterized in that: A guide sleeve (43) is installed on the vehicle body (1), and the guide sleeve (43) slides in cooperation with the telescopic rod (42).

4. The seabed topography measurement method for underwater vehicles as described in claim 1, characterized in that: The swing joint (44) includes: The first connecting block (441) has one end hinged to the end of the telescopic rod (42), and the axis of the hinge is the first hinge axis (4410). The second connecting block (442) has one end hinged to the other end of the first connecting block (441), and the axis of the hinge is the second hinge axis (4420). The other end of the second connecting block (442) is fixedly connected to the upper surface of the slide plate (45). During the contact process between the sliding plate (45) and the seabed, the first connecting block (441) swings relative to the telescopic rod (42) about the first hinge axis (4410), and the second connecting block (442) swings relative to the first connecting block (441) about the second hinge axis (4420). The first hinge axis (4410) and the second hinge axis (4420) are perpendicular to each other. The first hinge axis (4410) is parallel to the lateral or longitudinal axis of the vehicle, and the measuring point terrain attitude angle includes the measuring point terrain roll angle. and the dip angle of the terrain at the measuring point Where i = 1, 2, 3…N, N is the number of seabed bonding mechanisms (4), and the seabed topography attitude angle includes the seabed topography roll angle. and seabed topography dip angle .

5. The seabed topography measurement method for submerged vehicles as described in claim 4, characterized in that: Methods for obtaining seabed topographic attitude angles include: when , When, i=2, 3…N-1, ， 。 6. The seabed topography measurement method for submerged vehicles as described in claim 4, characterized in that: A second attitude sensor is provided on the vehicle body (1); Establish a vehicle coordinate system. The X-axis of the vehicle coordinate system is aligned with the longitudinal axis of the vehicle body (1), the Y-axis is aligned with the transverse axis of the vehicle body (1), and the Z-axis of the vehicle coordinate system points upward along the height of the vehicle body (1). Select three seabed bonding mechanisms (4) arranged in a triangle, where: The position of the first underwater bonding mechanism (4) in the vehicle coordinate system is: The extension length of the telescopic rod (42) is -ha, where ha≤0. The second underwater bonding mechanism (4) is located in the vehicle coordinate system as follows: The extension length of the telescopic rod (42) is -hb, hb≤0. The third underwater bonding mechanism (4) is located in the vehicle coordinate system as follows: The extension length of the telescopic rod (42) is -hc, hc≤0. The coordinates of the contact points between the first seabed bonding mechanism (4), the second seabed bonding mechanism (4), and the third seabed bonding mechanism (4) and the seabed in the vehicle coordinate system are as follows: 、 、 ； when or When i = 2, 3…N-1, the second attitude sensor measures the vehicle roll angle. and vehicle body pitch angle , calculate , Let be the angle between the seabed surface in the lateral direction of the vehicle body (1) and the extended plane of the chassis (10). calculate , Let be the angle between the seabed surface in the longitudinal direction of the vehicle body (1) and the extended plane of the chassis (10), where: ， 。 7. The seabed topography measurement method for underwater vehicles as described in claim 1, characterized in that: The seabed bonding mechanism (4) is equipped with a displacement sensor for detecting the extension length of the telescopic rod (42).

8. The seabed topography measurement method for submerged vehicles as described in claim 1, characterized in that: The method for controlling the extension and retraction of the piston rod of the hydraulic cylinder (41) to bring the lower surface of the slide plate (45) into contact with the seabed includes the following steps: The pressure in the rodless chamber of the hydraulic cylinder (41) is detected, and the pressure in the rodless chamber when the lower surface of the slide plate (45) contacts the seabed is set to p1. Where s is the cross-sectional area of ​​the oil chamber of the hydraulic cylinder (41), A is the area of ​​the lower surface of the slide plate (45) in contact with the seabed, and p2 is the ground pressure when the lower surface of the slide plate (45) is in contact with the seabed.

9. The seabed topography measurement method for submerged vehicles as described in claim 8, characterized in that: After the vehicle is deployed on the seabed, before it can move, the terrain bearing capacity is first assessed. The terrain bearing capacity assessment steps include: In flat terrain areas, the sliding plates (45) of all seabed bonding mechanisms (4) are brought into contact with the seabed. During the contact process between the lower surface of the sliding plates (45) and the seabed, If the rate of change of the elongation length of the telescopic rod (42) is ΔL / Δt=0 during the process of the pressure of the rodless chamber of the detection hydraulic cylinder (41) increasing to p1, then the seabed topography is hard bedrock; If the rate of change of the elongation of the telescopic rod (42) is 0.001 mm / s ≤ ΔL / Δt ≤ 0.1 mm / s during the process of the pressure of the rodless chamber of the detection hydraulic cylinder (41) increasing to p1, then the seabed topography is semi-hard soil; If the rate of change of the elongation length of the telescopic rod (42) is ΔL / Δt ≥ 0.1 mm / s during the process of the pressure in the rodless chamber of the detection hydraulic cylinder (41) increasing to p1, then the seabed topography is soft sediment.

10. A method for adjusting the attitude of an underwater vehicle using the underwater topography measurement method as described in any one of claims 6-9, characterized in that: The vehicle has four running gears (3), each of which is connected to the vehicle body (1) via a suspension (2). The connection point between the running gear (3) and the suspension (2) is the suspension point (P). The distance between the front and rear suspensions (2) is 2× lb The distance between the two suspensions (2) on the left and right is 2× lw ; When the seabed topography roll angle and seabed topography dip angle When all values ​​are zero and the vehicle body (1) is in a horizontal state: The coordinates of the left front suspension point (P) in the vehicle coordinate system are: ; The coordinates of the right front suspension point (P) in the vehicle coordinate system are: ; The coordinates of the left rear suspension point (P) in the vehicle coordinate system are: ; The coordinates of the right rear suspension point (P) in the vehicle coordinate system are: ; The attitude adjustment method includes the following steps: During vehicle movement, the roll angle of the seabed topography at the vehicle's current location on the seabed is measured. and seabed topography dip angle The measurement, along with the roll angle based on the seabed topography. and seabed topography dip angle Adjust the extension / retraction of the suspension (2) to bring the vehicle chassis (10) into a level position, wherein: The Z-axis coordinate of the left front suspension point (P) is: The Z-axis coordinate of the right front suspension point (P) is: The Z-axis coordinate of the left rear suspension point (P) is: The Z-axis coordinate of the right rear suspension point (P) is: 。

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