Battery for underwater unmanned vehicle and method for adjusting gravity center thereof

Abstract

The application discloses a kind of batteries for underwater unmanned vehicle and its gravity center adjusting method, it is related to battery gravity center adjusting technical field, method includes: obtaining the real-time attitude data of underwater unmanned vehicle, real-time attitude data includes heeling angle, pitch angle and acceleration information;According to the gravity center offset of battery calculated from real-time attitude data, and according to the first gravity center adjusting instruction and second gravity center adjusting instruction generated by gravity center offset;Wherein, the first gravity center adjusting instruction includes the target moving direction and moving distance of first counterweight, and the target moving direction and moving distance of second counterweight are included in second gravity center adjusting instruction;According to the first gravity center adjusting instruction and second gravity center adjusting instruction, the working state of first adjusting motor and second adjusting motor is controlled correspondingly, and the heeling and pitch balance of battery is realized by the collaborative movement of first counterweight and second counterweight.The application solves the problem that the gravity center of the battery for underwater unmanned vehicle in the prior art is difficult to adjust.

Description

Technical Field

[0001] This invention relates to the field of battery center of gravity adjustment technology, and in particular to a battery for underwater drones and a method for adjusting the center of gravity thereon. Background Technology

[0002] As an important piece of equipment for marine exploration, observation, and operations, the performance of underwater unmanned aerial vehicles (UAVs) is highly dependent on the reliability and stability of their energy systems. The battery system, as the core power source and major weight component of underwater UAVs, directly affects the attitude stability, maneuverability, and energy efficiency of the entire aircraft through its design and layout.

[0003] In existing technologies, underwater drones typically use high-energy-density lithium-ion battery packs as their power source. These battery packs are usually composed of multiple cells connected in series and parallel and encapsulated in a rigid, watertight battery compartment. However, because the battery pack is usually designed as a non-adjustable monolithic module, there is an unavoidable offset between the assembled battery pack's center of gravity and the drone's theoretically designed center of gravity. Underwater drones rely on thrusters and control surfaces to maintain precise hovering, depth holding, and directional navigation. A center of gravity that deviates from its designed position will generate additional roll or pitch moments, forcing the control system to continuously output compensating thrust to maintain balance.

[0004] It is evident that existing underwater drone batteries suffer from the problem of difficulty in adjusting the center of gravity. Summary of the Invention

[0005] The purpose of this invention is to provide a battery for underwater drones and a method for adjusting its center of gravity, which solves the problem of difficulty in adjusting the center of gravity of batteries for underwater drones in the prior art.

[0006] To achieve this objective, the present invention adopts the following technical solution: According to a first aspect, the present invention provides a method for adjusting the center of gravity of a battery for an underwater unmanned aerial vehicle, comprising: Step S1: Obtain real-time attitude data of the underwater drone, including roll angle, pitch angle and acceleration information; Step S2: Calculate the center of gravity offset of the battery based on the real-time attitude data, and generate a first center of gravity adjustment command and a second center of gravity adjustment command based on the center of gravity offset; wherein, the first center of gravity adjustment command includes the target moving direction and moving distance of the first counterweight, and the second center of gravity adjustment command includes the target moving direction and moving distance of the second counterweight. Step S3: According to the first center of gravity adjustment command and the second center of gravity adjustment command, control the working state of the first adjustment motor and the second adjustment motor respectively, and achieve the lateral and longitudinal balance of the battery by the diagonal coordinated movement of the first counterweight and the second counterweight.

[0007] Optionally, in step S3, the first adjusting motor drives the first adjusting screw to rotate, so that the first adjusting screw moves the first counterweight to the first target position; the second adjusting motor drives the second adjusting screw to rotate, so that the second adjusting screw moves the second counterweight to the second target position.

[0008] Optionally, step S2 includes: Step S21: Calculate the theoretical displacement vector of the counterweight block required to counteract the current center of gravity shift based on the lateral and longitudinal tilt angles. Step S22: Decompose the theoretical displacement vector into a first displacement component corresponding to the axial direction of the first adjusting screw and a second displacement component corresponding to the axial direction of the second adjusting screw. Step S23: Generate the first center of gravity adjustment command and the second center of gravity adjustment command based on the sign and magnitude of the first displacement component and the second displacement component.

[0009] Optionally, in step S3, controlling the operating state of the first regulating motor and the second regulating motor specifically involves: Based on the movement distance in the first center of gravity adjustment command, calculate the first target number of rotation steps required for the first adjustment motor; based on the movement distance in the second center of gravity adjustment command, calculate the second target number of rotation steps required for the second adjustment motor. A closed-loop control method is adopted to drive the first adjustment motor and the second adjustment motor to rotate by the first target step number and the second target step number respectively, and to verify in real time whether the first counterweight and the second counterweight have moved to the first target position and the second target position respectively through encoder feedback; When the first counterweight moves to the first target position, the first adjusting motor is de-energized; when the second counterweight moves to the second target position, the second adjusting motor is de-energized.

[0010] Optionally, after step S3, the method further includes: Step S4: After a preset time interval, acquire the real-time attitude data of the underwater drone again; if the absolute value of the roll angle or pitch angle increases and exceeds the first threshold, it is determined that the single adjustment has failed, triggering the redundant adjustment strategy, recalculating and executing the center of gravity adjustment command.

[0011] According to a second aspect, the present invention provides a battery for an underwater drone, employing the center of gravity adjustment method for an underwater drone battery as described in the first aspect, comprising a first aluminum plate, a second aluminum plate, a cell assembly, and a center of gravity adjustment assembly, wherein the cell assembly is disposed between the first aluminum plate and the second aluminum plate arranged in parallel. The center of gravity adjustment assembly includes a first adjusting screw and a second adjusting screw arranged in parallel. The first adjusting screw and the second adjusting screw are rotatably connected to both sides of the battery cell assembly. A first counterweight is sleeved on the first adjusting screw, and a second counterweight is sleeved on the second adjusting screw, which is diagonally arranged with respect to the first counterweight. A first adjusting motor is mounted on the first aluminum plate, and a second adjusting motor is mounted on the second aluminum plate, which is diagonally arranged with respect to the first adjusting motor. The first adjusting motor drives the first adjusting screw to rotate, so that the first counterweight moves in a direction closer to or away from the first aluminum plate; the second adjusting motor drives the second adjusting screw to rotate, so that the second counterweight moves in a direction closer to or away from the second aluminum plate.

[0012] Optionally, the battery cell assembly is provided with locking screws that are distributed in layers with the first adjusting screw and the second adjusting screw. One end of the locking screw is threadedly connected to a first locking nut that abuts against the first aluminum plate, and the other end of the locking screw is threadedly connected to a second locking nut that abuts against the second aluminum plate. A control board is mounted on the side of the second aluminum plate near the battery cell assembly. The control board is connected to the center of gravity adjustment assembly and the battery cell assembly via signals.

[0013] Optionally, the height of the first adjusting screw in the vertical direction is equal to and lower than the height of the locking screw in the vertical direction. A first epoxy plate is provided between the battery cell assembly and the first aluminum plate, a second epoxy plate is provided between the battery cell assembly and the second aluminum plate, and a third epoxy plate is provided between the control board and the second aluminum plate.

[0014] Optionally, the cell assembly includes a first support and a second support arranged in parallel, a first nickel sheet is installed in the first support, a second nickel sheet is installed in the second support, and a plurality of battery cells arranged in the same direction and layered are connected between the first nickel sheet and the second nickel sheet. The locking screw is fitted with a first aluminum tube and a second aluminum tube respectively located between the first bracket and the second bracket. The first bracket, the first aluminum tube, the second aluminum tube and the second bracket are sequentially pressed together. The locking screw is also fitted with a third aluminum tube that abuts against the second epoxy board and the third epoxy board respectively.

[0015] Optionally, the number of battery cells in each layer increases progressively downwards along the vertical direction, with the number of battery cells in adjacent layers differing by one. Multiple battery cell assemblies are connected in series. A first insulating pad that abuts against the first nickel sheet is installed in the first bracket, and a second insulating pad that abuts against the second nickel sheet is installed in the second bracket.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. By acquiring the attitude data of underwater drones in real time, it is possible to dynamically monitor the actual attitude changes of the drone in the underwater environment, thereby adjusting the center of gravity of the battery in a timely manner and significantly improving the attitude stability of the drone.

[0017] 2. By calculating the battery's center of gravity offset and generating corresponding adjustment commands, the battery's center of gravity adjustment process becomes more precise, effectively avoiding navigation instability caused by center of gravity offset, and improving the navigation performance and safety of underwater drones.

[0018] 3. By utilizing the coordinated movement of the first and second counterweights, the battery's lateral and longitudinal tilt balance can be achieved, optimizing the battery's layout and weight distribution, reducing the compensation thrust required by the control system, improving energy efficiency, and extending the underwater drone's endurance. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0021] Figure 1 A three-dimensional structural diagram of a battery for an underwater drone provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the exploded structure of a battery for an underwater drone provided in an embodiment of the present invention; Figure 3 A three-dimensional structural diagram of a cell assembly in a battery for an underwater drone provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the exploded structure of a cell assembly in a battery for an underwater drone, provided as an embodiment of the present invention. Figure 5 This is a flowchart illustrating a method for adjusting the center of gravity of a battery for an underwater drone, as provided in an embodiment of the present invention.

[0022] Illustration: 10. First aluminum plate; 20. Second aluminum plate; 30. Battery cell assembly; 31. First bracket; 32. Second bracket; 33. First nickel sheet; 34. Second nickel sheet; 35. Battery cell; 36. First insulating pad; 37. Second insulating pad; 40. Center of gravity adjustment assembly; 41. First adjusting screw; 42. Second adjusting screw; 43. First counterweight; 44. Second counterweight; 45. First adjusting motor; 46. Second adjusting motor; 51. Locking screw; 52. First locking nut; 53. Second locking nut; 60. Control board; 71. First epoxy board; 72. Second epoxy board; 73. Third epoxy board; 81. First aluminum tube; 82. Second aluminum tube; 83. Third aluminum tube. Detailed Implementation

[0023] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] This invention provides a battery for underwater drones, such as... Figures 1 to 4 As shown, it includes a first aluminum plate 10, a second aluminum plate 20, a battery cell assembly 30, and a center of gravity adjustment assembly 40. The battery cell assembly 30 is disposed between the first aluminum plate 10 and the second aluminum plate 20, which are arranged in parallel. The center of gravity adjustment assembly 40 includes a first adjusting screw 41 and a second adjusting screw 42 arranged in parallel. The first adjusting screw 41 and the second adjusting screw 42 are rotatably connected to both sides of the battery cell assembly 30. The first adjusting screw 41 is sleeved with a first counterweight 43, and the second adjusting screw 42 is sleeved with a second counterweight 44 arranged diagonally opposite to the first counterweight 43. A first adjusting motor 45 is installed on the first aluminum plate 10, and a second adjusting motor 46 is installed on the second aluminum plate 20, arranged diagonally opposite to the first adjusting motor 45. The first adjusting motor 45 is used to drive the first adjusting screw 41 to rotate, so that the first counterweight 43 moves in a direction closer to or away from the first aluminum plate 10; the second adjusting motor 46 is used to drive the second adjusting screw 42 to rotate, so that the second counterweight 44 moves in a direction closer to or away from the second aluminum plate 20.

[0026] It should be noted that the first adjusting motor 45 drives the first adjusting screw 41 to rotate, causing the first counterweight 43 to move closer to or further away from the first aluminum plate 10; the second adjusting motor 46 drives the second adjusting screw 42 to rotate, causing the second counterweight 44 to move closer to or further away from the second aluminum plate 20. This ensures that the movement of the counterweights effectively adjusts the battery's center of gravity, improving the underwater drone's navigation stability in complex environments. By arranging the first counterweight 43 and the second counterweight 44 diagonally, the principle of symmetry is utilized to achieve rapid movement and adjustment of the center of gravity, providing a good balance effect for compensation behaviors under different attitudes, and enhancing the underwater drone's maneuverability and flexibility.

[0027] like Figures 1 to 4 As shown, the battery cell assembly 30 is provided with locking screws 51 that are distributed in a layered manner with the first adjusting screw 41 and the second adjusting screw 42. One end of the locking screw 51 is threadedly connected to a first locking nut 52 that abuts against the first aluminum plate 10, and the other end of the locking screw 51 is threadedly connected to a second locking nut 53 that abuts against the second aluminum plate 20. A control board 60 is installed on the side of the second aluminum plate 20 near the battery cell assembly 30. The control board 60 is connected to the center of gravity adjustment assembly 40 and the battery cell assembly 30 via signals.

[0028] In practice, the battery cell assembly 30 is tightly connected to the first aluminum plate 10 and the second aluminum plate 20 via the locking screw 51, effectively preventing displacement of the battery cell assembly 30 due to vibration or fluctuation during use, thus improving the stability and safety of the overall structure. The control board 60 is connected to the center of gravity adjustment assembly 40 and the battery cell assembly 30 respectively, ensuring efficient communication and control of the system, improving the system's response speed, and enabling real-time monitoring and control, which helps to further enhance the navigation stability of the underwater drone.

[0029] like Figures 1 to 4 As shown, the height of the first adjusting screw 41 in the vertical direction is equal to the height of the second adjusting screw 42 in the vertical direction and is lower than the height of the locking screw 51 in the vertical direction. A first epoxy plate 71 is provided between the battery cell assembly 30 and the first aluminum plate 10, a second epoxy plate 72 is provided between the battery cell assembly 30 and the second aluminum plate 20, and a third epoxy plate 73 is provided between the control board 60 and the second aluminum plate 20.

[0030] In practical implementation, by setting up a first epoxy plate 71, a second epoxy plate 72, and a third epoxy plate 73, the insulation performance of the battery system can be effectively improved, reducing the risk of current leakage in the cell assembly 30 during operation, thereby enhancing the safety and reliability of the underwater drone. The epoxy plate has excellent vibration resistance and damping properties, effectively isolating the direct contact between the cell assembly 30 and the aluminum plate, reducing the impact of mechanical vibration on the cell assembly 30, and enhancing the overall battery system's anti-interference capability in complex underwater environments. The epoxy plate helps improve the thermal management of the cell assembly 30, providing a certain degree of thermal insulation protection to prevent overheating, thereby improving the lifespan and operating efficiency of the cell assembly 30. This is particularly important in high-pressure underwater environments, effectively reducing the risk of failure due to equipment overheating.

[0031] like Figures 1 to 4 As shown, the battery cell assembly 30 includes a first support 31 and a second support 32 arranged in parallel. A first nickel sheet 33 is installed in the first support 31 and a second nickel sheet 34 is installed in the second support 32. A plurality of battery cells 35 arranged in the same direction and layered are connected between the first nickel sheet 33 and the second nickel sheet 34. The locking screw 51 is fitted with a first aluminum tube 81 and a second aluminum tube 82 located between the first bracket 31 and the second bracket 32 ​​respectively. The first bracket 31, the first aluminum tube 81, the second aluminum tube 82 and the second bracket 32 ​​are pressed together in sequence. The locking screw 51 is also fitted with a third aluminum tube 83 that abuts against the second epoxy plate 72 and the third epoxy plate 73 respectively.

[0032] In practical implementation, the first bracket 31 and the second bracket 32 ​​in the cell assembly 30 are connected by aluminum tubes and pressed against the locking screw 51, which improves the overall stability of the structure and ensures the stable position of the battery cell 35 during use, avoiding displacement caused by vibration or external force. The first aluminum tube 81 and the second aluminum tube 82 bear the locking pressure of the cell assembly 30, preventing excessive pressure on the battery cell 35 and ensuring the electrical safety of the battery cell 35. The multiple battery cells 35 are distributed in a unidirectional, layered manner, which helps to improve the energy density and heat dissipation performance of the battery pack, allowing the battery to maintain good temperature management even at high power output, thereby extending its service life.

[0033] like Figure 3 and Figure 4 As shown, the number of battery cells 35 increases layer by layer along the vertical direction downwards, and the number of battery cells 35 in two adjacent layers differs by one. Multiple cell assemblies 30 are connected in series. A first insulating pad 36 that abuts against the first nickel sheet 33 is installed in the first bracket 31, and a second insulating pad 37 that abuts against the second nickel sheet 34 is installed in the second bracket 32.

[0034] In practical implementation, the design of progressively increasing the number of battery cells 35 layer by layer along the vertical direction fully utilizes vertical space and improves the energy density of the battery assembly. The design of a difference of one cell between adjacent layers of battery cells 35 helps reduce the overall volume, making the battery assembly more compact and enhancing the spatial layout flexibility of the underwater drone. The progressive arrangement of the number of battery cells 35 in each layer helps improve the overall voltage and capacity of the battery assembly 30, ensuring stable power supply even at high power output. This structural design helps meet the high power demands of underwater drones. By placing a first insulating pad 36 and a second insulating pad 37 within the first bracket 31 and the second bracket 32, effective isolation is formed between the battery cells 35 and the first bracket 31 and the second bracket 32, respectively, thereby reducing current loss. These insulating pads also provide some thermal insulation, reducing heat conduction of the battery cells 35 during operation and improving overall thermal management capabilities.

[0035] This invention also provides a method for adjusting the center of gravity of a battery for an underwater drone, such as... Figure 5 As shown, it includes: Step S1: Acquire real-time attitude data of the underwater drone. The real-time attitude data includes roll angle, pitch angle and acceleration information. In this embodiment, the attitude data is measured by an inertial measurement unit that integrates an accelerometer and a gyroscope. Step S2: Calculate the center of gravity offset of the battery based on real-time attitude data, and generate a first center of gravity adjustment command and a second center of gravity adjustment command based on the center of gravity offset; wherein, the first center of gravity adjustment command includes the target moving direction and moving distance of the first counterweight 43, and the second center of gravity adjustment command includes the target moving direction and moving distance of the second counterweight 44. Step S3: According to the first center of gravity adjustment command and the second center of gravity adjustment command, control the working state of the first adjustment motor 45 and the second adjustment motor 46 accordingly, and achieve the lateral and longitudinal balance of the battery through the coordinated movement of the first counterweight 43 and the second counterweight 44.

[0036] This invention provides a method for adjusting the center of gravity of a battery for an underwater drone. By acquiring the attitude data of the underwater drone in real time, it can dynamically monitor the actual attitude changes of the drone in the underwater environment, thereby adjusting the battery's center of gravity position in a timely manner and significantly improving the drone's attitude stability. By calculating the battery's center of gravity offset and generating corresponding adjustment commands, the battery's center of gravity adjustment process is made more precise, effectively avoiding navigation instability caused by center of gravity offset, and improving the underwater drone's navigation performance and safety. Utilizing the coordinated movement of the first counterweight 43 and the second counterweight 44, the battery's lateral and longitudinal tilt balance can be achieved, optimizing the battery's layout and weight distribution, reducing the compensation thrust required by the control system, improving energy efficiency, and extending the underwater drone's endurance. Therefore, this invention solves the problem of difficulty in adjusting the center of gravity of batteries for underwater drones in the prior art.

[0037] In step S3, the first adjusting motor 45 drives the first adjusting screw 41 to rotate, so that the first adjusting screw 41 moves the first counterweight 43 to the first target position; the second adjusting motor 46 drives the second adjusting screw 42 to rotate, so that the second adjusting screw 42 moves the second counterweight 44 to the second target position.

[0038] In practice, the screw drive mechanism enables precise control of the counterweight position, allowing for more detailed and accurate adjustment of the battery's center of gravity. This helps optimize the overall stability of the underwater drone and reduces the navigation risks caused by center of gravity shift.

[0039] Step S2 specifically includes: Step S21: Calculate the theoretical displacement vector of the counterweight required to counteract the current center of gravity shift based on the lateral and longitudinal tilt angles. Step S22: Decompose the theoretical displacement vector into a first displacement component corresponding to the axial direction of the first adjusting screw 41 and a second displacement component corresponding to the axial direction of the second adjusting screw 42. Step S23: Generate a first center of gravity adjustment command and a second center of gravity adjustment command based on the sign and magnitude of the first displacement component and the second displacement component.

[0040] In specific implementation, step S21 calculates the required theoretical displacement vector directly using the tilt and pitch angles, accurately quantifying the position of the counterweight to be adjusted. This calculation method based on actual attitude ensures the scientific validity and effectiveness of the adjustment scheme under specific environmental conditions. In step S22, the theoretical displacement vector is decomposed into corresponding components of the first adjusting screw 41 and the second adjusting screw 42, establishing a direct link between center of gravity adjustment and specific mechanical implementation. This decomposition method helps simplify the formulation of control commands and improves the operability of the center of gravity adjustment action. Step S23 generates clear center of gravity adjustment commands by analyzing the sign and magnitude of the displacement components, enabling flexible adjustment of the battery's center of gravity. The intelligent generation of commands improves the underwater UAV's ability to dynamically respond to environmental changes, allowing it to better maintain attitude stability. This method decomposes position adjustment into simple displacement components, making the movement planning of the counterweight intuitive and clear, and solving the complexity in the adjustment process. By calculating and decomposing displacement to form adjustment commands, the center of gravity shift can be offset more accurately, solving the problem of underwater drones struggling to maintain balance in dynamic environments, thereby improving the stability and safety of drones in underwater operations.

[0041] In step S3, controlling the operating state of the first regulating motor 45 and the second regulating motor 46 specifically involves: Based on the movement distance in the first center of gravity adjustment command, calculate the first target number of rotation steps required for the first adjustment motor 45; based on the movement distance in the second center of gravity adjustment command, calculate the second target number of rotation steps required for the second adjustment motor 46. A closed-loop control method is adopted to drive the first adjustment motor 45 and the second adjustment motor 46 to rotate by the first target step number and the second target step number respectively, and to verify in real time whether the first counterweight 43 and the second counterweight 44 have moved to the first target position and the second target position respectively through encoder feedback; When the first counterweight 43 moves to the first target position, the first adjusting motor 45 is de-energized; when the second counterweight 44 moves to the second target position, the second adjusting motor 46 is de-energized.

[0042] In practice, the required target number of steps is calculated based on the movement distance in the center of gravity adjustment command, ensuring the rotational accuracy of the first adjustment motor 45 and the second adjustment motor 46. This allows the counterweight to move accurately to the preset target position, effectively counteracting the center of gravity shift of the underwater drone. A closed-loop control method is adopted, and real-time encoder feedback ensures real-time monitoring and adjustment of the counterweight's movement. This mechanism can promptly detect and correct any deviations, ensuring the counterweight accurately reaches the required position, significantly improving operational stability and reliability. After the counterweight moves to the target position, the automatic power-off function of the control motors reduces power consumption, minimizing equipment wear and energy waste. This automated operation not only improves system efficiency but also extends the service life of the motors and adjustment system.

[0043] Following step S3, the following is also included: Step S4: After a preset time interval, acquire the real-time attitude data of the underwater drone again; if the absolute value of the roll angle or pitch angle increases and exceeds the first threshold, it is determined that the single adjustment has failed, triggering the redundant adjustment strategy, recalculating and executing the center of gravity adjustment command.

[0044] In practice, after completing one center of gravity adjustment, attitude data is collected again at a preset time interval. This allows for objective verification of the battery's center of gravity adjustment results, timely determination of whether the counterweight movement has achieved the expected results, and thus ensures the closed-loop effectiveness of the adjustment action. When the absolute value of the roll or pitch angle increases and exceeds the first threshold, the system can quickly determine that the single adjustment has failed and trigger a redundant adjustment strategy. This allows for proactive remedial measures when the initial adjustment fails to achieve the desired effect or deviates from the expected outcome, improving the overall system's fault tolerance and reliability. After triggering the redundant adjustment strategy, the system recalculates and executes a new center of gravity adjustment command, enabling the counterweight adjustment to have a secondary correction capability. This can address errors caused by actual operating conditions such as counterweight slippage, lead screw tooth breakage, friction changes, and actuator deviations, ensuring that the underwater UAV's attitude returns to the design range.

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the center of gravity of a battery for an underwater drone, characterized in that, include: Step S1: Obtain real-time attitude data of the underwater drone, including roll angle, pitch angle and acceleration information; Step S2: Calculate the battery's center of gravity offset based on the real-time attitude data, and determine the theoretical displacement vector to counteract the current center of gravity offset based on the center of gravity offset. Decompose the theoretical displacement vector into a first displacement component of the first counterweight (43) and a second displacement component of the second counterweight (44), and generate a first center of gravity adjustment command and a second center of gravity adjustment command based on the first displacement component and the second displacement component. The first counterweight (43) and the second counterweight (44) are diagonally arranged. The first center of gravity adjustment command includes the target movement direction and movement distance of the first counterweight (43), and the second center of gravity adjustment command includes the target movement direction and movement distance of the second counterweight (44). Step S3: According to the first center of gravity adjustment command and the second center of gravity adjustment command, control the working state of the first adjustment motor (45) and the second adjustment motor (46) respectively, and realize the horizontal and vertical balance of the battery by the diagonal coordinated movement of the first counterweight (43) and the second counterweight (44).

2. The method for adjusting the center of gravity of a battery for an underwater drone according to claim 1, characterized in that, In step S3, the first adjusting motor (45) drives the first adjusting screw (41) to rotate, so that the first adjusting screw (41) moves the first counterweight (43) to the first target position; the second adjusting motor (46) drives the second adjusting screw (42) to rotate, so that the second adjusting screw (42) moves the second counterweight (44) to the second target position.

3. The method for adjusting the center of gravity of a battery for an underwater drone according to claim 2, characterized in that, Step S2 includes: Step S21: Calculate the theoretical displacement vector of the counterweight block required to counteract the current center of gravity shift based on the lateral and longitudinal tilt angles. Step S22: Decompose the theoretical displacement vector into a first displacement component corresponding to the axial direction of the first adjusting screw (41) and a second displacement component corresponding to the axial direction of the second adjusting screw (42); Step S23: Generate the first center of gravity adjustment command and the second center of gravity adjustment command based on the sign and magnitude of the first displacement component and the second displacement component.

4. The method for adjusting the center of gravity of a battery for an underwater drone according to claim 1, characterized in that, In step S3, controlling the operating state of the first regulating motor (45) and the second regulating motor (46) specifically involves: Based on the movement distance in the first center of gravity adjustment command, calculate the first target number of rotation steps required for the first adjustment motor (45); based on the movement distance in the second center of gravity adjustment command, calculate the second target number of rotation steps required for the second adjustment motor (46). Using a closed-loop control method, the first adjustment motor (45) and the second adjustment motor (46) are driven to rotate by the first target step number and the second target step number respectively, and the encoder feedback is used in real time to verify whether the first counterweight (43) and the second counterweight (44) have moved to the first target position and the second target position respectively. When the first counterweight (43) moves to the first target position, the first adjusting motor (45) is de-energized; when the second counterweight (44) moves to the second target position, the second adjusting motor (46) is de-energized.

5. The method for adjusting the center of gravity of a battery for an underwater drone according to claim 1, characterized in that, Following step S3, the method further includes: Step S4: After a preset time interval, acquire the real-time attitude data of the underwater drone again; if the absolute value of the roll angle or pitch angle increases and exceeds the first threshold, it is determined that the single adjustment has failed, triggering the redundant adjustment strategy, recalculating and executing the center of gravity adjustment command.

6. A battery for an underwater drone, employing the center-of-gravity adjustment method for an underwater drone battery as described in any one of claims 1 to 5, characterized in that, It includes a first aluminum plate (10), a second aluminum plate (20), a battery cell assembly (30), and a center of gravity adjustment assembly (40), wherein the battery cell assembly (30) is disposed between the first aluminum plate (10) and the second aluminum plate (20) which are arranged in parallel; The center of gravity adjustment assembly (40) includes a first adjustment screw (41) and a second adjustment screw (42) arranged in parallel. The first adjustment screw (41) and the second adjustment screw (42) are rotatably connected to both sides of the battery cell assembly (30). The first adjustment screw (41) is sleeved with a first counterweight (43), and the second adjustment screw (42) is sleeved with a second counterweight (44) arranged diagonally opposite to the first counterweight (43). A first adjustment motor (45) is installed on the first aluminum plate (10), and a second adjustment motor (46) is installed on the second aluminum plate (20) arranged diagonally opposite to the first adjustment motor (45). The first adjusting motor (45) is used to drive the first adjusting screw (41) to rotate so that the first counterweight (43) moves in a direction closer to or away from the first aluminum plate (10); the second adjusting motor (46) is used to drive the second adjusting screw (42) to rotate so that the second counterweight (44) moves in a direction closer to or away from the second aluminum plate (20).

7. The battery for underwater drones according to claim 6, characterized in that, The battery cell assembly (30) is provided with locking screws (51) arranged in a layered manner with the first adjusting screw (41) and the second adjusting screw (42). One end of the locking screw (51) is threadedly connected to a first locking nut (52) that abuts against the first aluminum plate (10), and the other end of the locking screw (51) is threadedly connected to a second locking nut (53) that abuts against the second aluminum plate (20). A control board (60) is installed on the side of the second aluminum plate (20) near the battery cell assembly (30), and the control board (60) is connected to the center of gravity adjustment assembly (40) and the battery cell assembly (30) respectively.

8. The battery for underwater drones according to claim 7, characterized in that, The height of the first adjusting screw (41) in the vertical direction is equal to and lower than the height of the locking screw (51) in the vertical direction. A first epoxy plate (71) is provided between the battery cell assembly (30) and the first aluminum plate (10). A second epoxy plate (72) is provided between the battery cell assembly (30) and the second aluminum plate (20). A third epoxy plate (73) is provided between the control board (60) and the second aluminum plate (20).

9. The battery for underwater drones according to claim 8, characterized in that, The battery cell assembly (30) includes a first support (31) and a second support (32) arranged in parallel. A first nickel sheet (33) is installed in the first support (31), and a second nickel sheet (34) is installed in the second support (32). A plurality of battery cells (35) arranged in the same direction and layered are connected between the first nickel sheet (33) and the second nickel sheet (34). The locking screw (51) is fitted with a first aluminum tube (81) and a second aluminum tube (82) located between the first bracket (31) and the second bracket (32), respectively. The first bracket (31), the first aluminum tube (81), the second aluminum tube (82) and the second bracket (32) are sequentially pressed together. The locking screw (51) is also fitted with a third aluminum tube (83) that abuts against the second epoxy board (72) and the third epoxy board (73), respectively.

10. The battery for underwater drones according to claim 9, characterized in that, The number of battery cells (35) increases layer by layer along the vertical direction downwards. The number of battery cells (35) in two adjacent layers differs by one. Multiple battery cell assemblies (30) are connected in series. A first insulating pad (36) that abuts against the first nickel sheet (33) is installed in the first bracket (31). A second insulating pad (37) that abuts against the second nickel sheet (34) is installed in the second bracket (32).

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