Underwater motion platform

Abstract

The embodiment of the utility model discloses an underwater motion platform, which relates to the technical field of robots, and comprises three groups of propellers, each group of propellers comprises two propellers, the first group of propellers are positioned at the head end and the tail end of the same side of a body, and the second group of propellers are positioned at the tail end and the tail end of the same side of the body; the second thruster group is located on the other side symmetrical to the first thruster group relative to the body, the central axes of the two thrusters in the two thruster groups are approximately parallel to each other, and the included angles between the central axes of the two thrusters in the two thruster groups are approximately equal. Two propellers of the third group of propellers are respectively positioned on different sides of the body and are symmetrical relative to the position of the body, the included angles between the central axes of the two propellers of the third group of propellers and the vertical direction are approximately equal, and the underwater motion platform can be driven by the propellers to realize six-degree-of-freedom omni-directional motion in water. And the water resistance is high, the energy cost is saved, and the cruising ability is high.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of robots, and in particular to an underwater motion platform. Background Art

[0002] An underwater robot (ROV, Remotely Operated Vehicle) can move underwater, has a vision and perception system, and uses a manipulator or other tools in a remote control or autonomous operation mode to replace or assist humans in completing certain underwater operations. The current underwater robot is controlled or powered by a umbilical cable and powered by multiple thrusters.

[0003] In the prior art, six degrees of freedom omnidirectional motion of an underwater robot can be achieved by six thrusters. However, the technology using six thrusters needs to meet the standard Cartesian coordinate system, and the thrusters are arranged on six faces of a cuboid or cube. Therefore, the layout positions of the six thrusters are relatively close and concentrated in a group. The water jets of the thrusters are prone to cross-flow and interfere with each other. In addition, the flow-facing area in the forward direction is large, which is not conducive to resisting the flow, has a large water resistance, and seriously affects the endurance, especially during long-distance travel. Summary of the Utility Model

[0004] The embodiments of the present application provide an underwater motion platform, which can have better water resistance resistance ability when realizing six degrees of freedom omnidirectional motion, save energy costs, and increase the endurance mileage.

[0005] The embodiments of the present application provide an underwater motion platform, including:

[0006] An underwater motion platform body and three groups of thrusters installed on the body, each group of thrusters including two thrusters;

[0007] Among them, the first group of thrusters in the three groups of thrusters is located on the same side of the body and is respectively located at the head and tail ends on the same side of the body. The second group of thrusters is located on the other side symmetric to the first group of thrusters with respect to the body. The central axes of the two thrusters in the first group of thrusters are substantially parallel, and the central axes of the two thrusters in the second group of thrusters are substantially parallel;

[0008] The angle between the central axes of the two thrusters in the first group of thrusters is substantially equal to the angle between the central axes of the two thrusters in the second group of thrusters. The two thrusters in the third group of thrusters are respectively located on different sides of the body and are symmetric with respect to the body. In addition, the central axes of the two thrusters in the third group of thrusters are both substantially equal to the angle with the vertical direction.

[0009] As can be seen from the above embodiments of the present application, the underwater motion platform includes an underwater motion platform body and three sets of thrusters installed on the body. The two thrusters of the first set of thrusters are located at the head and tail ends on the same side of the body, and the central axes of the two thrusters are substantially parallel to each other. The two thrusters of the second set of thrusters are located at the head and tail ends on the other side of the body on the symmetric side of the same side, and the central axes of the two thrusters are also substantially parallel to each other. The angle between the central axes of the two thrusters of the first set of thrusters is substantially equal to the angle between the central axes of the two thrusters of the second set of thrusters. The third set of thrusters are respectively located on the symmetric sides of the body, and the central axes of the two thrusters of the third set of thrusters are both at substantially equal angles to the vertical direction. The layout of the thrusters of the underwater motion platform is reasonable, which can realize the six-degree-of-freedom omnidirectional motion of the underwater motion platform, and can avoid the cross-flow formed by the thruster water jets from interfering with each other. The frontal flow area in the forward direction is small, the water resistance is small, the energy cost can be saved, and the endurance mileage can be increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0011] Figure 1 Structural schematic diagram of an underwater motion platform provided by an embodiment of the present application;

[0012] Figure 2 Structural schematic diagram of an underwater motion platform provided by another embodiment of the present application;

[0013] Figure 3 Exploded schematic diagram of the structure of an underwater motion platform provided by an embodiment of the present application;

[0014] Figure 4 Exploded schematic diagram of the structure of an underwater motion platform provided by another embodiment of the present application;

[0015] Figure 5 Schematic wiring diagram of an underwater motion platform provided by an embodiment of the present application;

[0016] Figure 6 Another schematic wiring diagram of an underwater motion platform provided by an embodiment of the present application;

[0017] Figure 7 Standard spherical layout schematic diagram of an underwater motion platform provided by an embodiment of the present application;

[0018] Figure 8 For Figure 7 Spherical layout schematic diagram with the thruster positions changed on the basis of

[0019] Figure 9 To Figure 8 Schematic diagram of a spherical layout for adjusting the Y-axis direction of the spherical layout;

[0020] Figure 10 To Figure 9 Schematic diagram of a spherical layout with the position of the thruster changed based on

[0021] Figure 11 To Figure 10 Schematic diagram of a spherical layout for adjusting the Y-axis direction of the spherical layout;

[0022] Figure 12 To Figure 11 Schematic diagram of a spherical layout with the position of the thruster changed based on

[0023] Figure 13 To Figure 12 Schematic diagram of a spherical layout with the position of the thruster changed based on

[0024] Figure 14 To Figure 7 Schematic diagram of a spherical layout with the position of the thruster changed to the position of the intersection point of the central axes of the thrusters based on Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] In the context of the present application, the term "substantially" should be understood to mean a value very close to the word following this term. The deviation within a reasonable limit from the exact value should be acceptable. Due to reasons such as inaccurate measurement, the deviation from the measured value is inevitable. The specific range of the deviation within a reasonable limit follows industry standards and is not specifically limited in the present application.

[0027] The embodiments of the present application provide an underwater motion platform. Refer to Figure 1 , Figure 1 Schematic diagram of the structure of the underwater motion platform provided by an embodiment of the present application. The underwater motion platform includes:

[0028] The underwater motion platform body 10 and three groups of thrusters installed on the body 10, namely the first group of thrusters 20, the second group of thrusters 30, and the third group of thrusters 40;

[0029] Each set of thrusters includes two thrusters. Specifically, the first set of thrusters 20 includes a first thruster 21 and a second thruster 22, the second set of thrusters 30 includes a third thruster 31 and a fourth thruster 32, and the third set of thrusters 40 includes a fifth thruster 41 and a sixth thruster 42.

[0030] These three sets of thrusters can specifically be propeller thrusters or water jet thrusters, which can generate driving force to push the underwater moving platform through rotating blades or jetting water, etc., and can achieve the movement of the thrusters in two opposite directions of forward and backward.

[0031] Among them, the first thruster 21 and the second thruster 22 of the first set of thrusters 20 are located on the same side of the body 10, and are respectively located at the head and tail ends on the same side of the body 10.

[0032] The third thruster 31 and the fourth thruster 32 of the second set of thrusters 30 are located on the other side symmetric to the first set of thrusters 20 with respect to the body 10, and are located at the head and tail ends on that other side.

[0033] As Figure 1 shown, the third thruster 31 and the first thruster 21 are located on different sides with respect to the body 10 and are symmetric in position, and the fourth thruster 32 and the second thruster 22 are located on different sides with respect to the body 10 and are symmetric in position.

[0034] The first included angle between the central axis of the first thruster 21 and the central axis of the second thruster 22 in the first set of thrusters 20 is approximately 0 degrees, that is, the central axes of these two thrusters are approximately parallel; the second included angle between the central axis of the third thruster 31 and the central axis of the fourth thruster 32 in the second set of thrusters 30 is approximately 0 degrees, that is, the central axes of these two thrusters are also approximately parallel.

[0035] The included angle between the central axis of the first thruster 21 and the central axis of the second thruster 22 in the first set of thrusters 20 is approximately equal to the included angle between the central axis of the third thruster 31 and the central axis of the fourth thruster 32 in the second set of thrusters 30.

[0036] The fifth thruster 41 and the sixth thruster 42 of the third set of thrusters 40 are respectively located on different sides of the body 10 and are symmetric in position with respect to the body 10, and the central axes of the fifth thruster 41 and the sixth thruster 42 are both approximately equal in the included angle with the vertical direction.

[0037] The vector resultant force of these three sets of thrusters points to any direction in space, achieving the forward and backward movement in three degrees of freedom in the translation direction, and, the setting of these three sets of thrusters achieves the forward and backward movement in three degrees of freedom in the rolling direction of the underwater moving platform, thus achieving six-degree-of-freedom omnidirectional movement.

[0038] The vertical direction refers to the direction in which the underwater moving platform floats up and down in the water.

[0039] As Figure 1 shown, the included angle between the central axis of the first thruster 21 and the central axis of the second thruster 22 in the first group of thrusters 20 is the first included angle.

[0040] The included angle between the central axis of the third thruster 31 and the central axis of the second thruster 32 in the second group of thrusters 30 is the second included angle, and the first included angle is approximately equal to the second included angle.

[0041] The central axis is the central axis of the thruster motor. For example, Figure 1 the central axis 311 of the third thruster 31 and the central axis 321 of the second thruster 32 shown in

[0042] It should be noted that each group of the three groups of thrusters can also be more than two, such as four, six or more thrusters. The present application does not limit the number of thrusters.

[0043] In the embodiment of the present application, the underwater moving platform includes an underwater moving platform body and three groups of thrusters installed on the body. The two thrusters of the first group of thrusters are located at the head and tail ends on the same side of the body, and the central axes of the two thrusters are substantially parallel to each other. The two thrusters of the second group of thrusters are located at the head and tail ends on the other side of the body on the symmetric side of the same side, and the central axes of the two thrusters are also substantially parallel to each other. The included angle between the central axes of the two thrusters of the first group of thrusters is approximately equal to the included angle between the central axes of the two thrusters of the second group of thrusters. The third group of thrusters are respectively located on the symmetric sides of the body, and the central axes of the two thrusters of the third group of thrusters are both approximately equal to the included angle with the vertical direction. The thruster layout of the underwater moving platform is reasonable, and the underwater moving platform can achieve six-degree-of-freedom omnidirectional movement, and it can avoid the formation of cross-flow of the thruster water jets and interference with each other. The oncoming flow area in the forward direction is small, the water resistance is small, the energy cost can be saved, and the cruising range can be increased.

[0044] Furthermore, the distance between the central axes of the first thruster 21 and the second thruster 22 of the first group of thrusters 20 is equal to the distance between the central axes of the third thruster 31 and the fourth thruster 32 of the second group of thrusters 30.

[0045] Furthermore, the central axes of the first thruster 21 and the second thruster 22 of the first set of thrusters 20 are not parallel to the central axes of the third thruster 31 and the fourth thruster 32 of the second set of thrusters 30. That is, the vector directions of the thrust forces of the two thrusters, namely the first thruster 21 and the second thruster 22, are different from the vector directions of the thrust forces of the third thruster 31 and the fourth thruster 32. By separately controlling the operation of the first thruster 21 and the second thruster 22, and controlling the operation of the third thruster 31 and the fourth thruster 32, the underwater motion platform can be made to move in different directions.

[0046] Furthermore, referring to Figure 2 , the central axis 411 of the fifth thruster 41 and the central axis 421 of the sixth thruster 42 are both substantially parallel to this vertical direction, that is, parallel or nearly parallel to this vertical direction.

[0047] In each set of thrusters in this embodiment of the present application, the central axes between the two thrusters in each set are each substantially parallel to each other, that is, the central axes of the thrusters within each group are substantially parallel to each other.

[0048] Furthermore, the two thrusters, namely the first thruster 21 and the second thruster 22 of the first set of thrusters 20, are located on the same side of the underwater motion platform body 10.

[0049] The two thrusters, namely the third thruster 31 and the fourth thruster 32 of the second set of thrusters 20, are located on the same side of the body 10, and are located on the symmetric side of the body 10 relative to this same side, and this symmetric side and this same side are different two sides that are symmetric with respect to the body 10.

[0050] Furthermore, as Figure 3 and Figure 4 shown, the underwater motion platform further includes a housing 11, a sealed tank 12 located in the housing 11, a diving lamp group 13 fixed to the outer housing 11, a PLC (Power line Carrier Communication) interface 14, and a U-shaped mooring buckle 15. The housing 11, the sealed tank 12, the diving lamp group 13, the PLC interface 14, and the U-shaped mooring buckle 15 are all provided on the body 10.

[0051] Among them, the diving lamp 13 and the PLC interface 14 are respectively provided at the head and tail ends of the body 10, and the U-shaped mooring buckle 15 is provided at the same end as the PLC interface 14.

[0052] Specifically, the housing 11 includes a detachable upper cover 111 and a lower cover 112, and the upper cover 111 and the lower cover 112 can be locked tightly by screws.

[0053] The sealed tank 12 has a closed space isolated from the surrounding water environment and can be used to house electronic devices to be installed, etc.

[0054] The underwater lamp group 13 is arranged at one end of the body 10 and includes a first underwater lamp 131 and a second underwater lamp 132 for lighting in water. The first underwater lamp 131 and the second underwater lamp 132 can be arranged in parallel, vertically, or in other arrangements. Further, the underwater lamp group 13 can also be composed of more than two underwater lamps.

[0055] The PLC interface 14 can supply power and control commands to the underwater motion platform.

[0056] The U-shaped mooring buckle 15 can moor a cable, facilitating the dragging of the underwater motion platform through the cable.

[0057] See Figure 5 and Figure 6 , two lamp cables 133 are respectively connected to the two underwater lamps of the underwater lamp group 13, a PLC cable 141 is connected to the PLC interface 14, and each thruster is respectively connected to a connection cable 151.

[0058] Further, the underwater motion platform further includes a bracket 50. Two thrusters respectively located on both sides of the body 10 and symmetric with respect to the body 10 are fixedly installed on the body 10 through the bracket 50. Specifically, the first thruster 21 and the third thruster 31 are respectively located on both sides symmetric with respect to the body 10, the second thruster 22 and the fourth thruster 32 are respectively located on both sides symmetric with respect to the body 10, and the fifth thruster 41 and the sixth thruster 42 are respectively located on both sides symmetric with respect to the body 10. The two thrusters respectively located on both sides symmetric with respect to the body 10 are fixedly installed on the body 10 through the bracket 50 respectively. Connecting the two thrusters through the bracket 50 and fixing the two thrusters on the body 10 has a simple and compact structure, further reducing the flow area in the forward direction and the water resistance.

[0059] In the embodiments of the present application, the position layout formed after any one of the above three groups of thrusters moves along the central axis direction of the thruster belongs to the protection scope of the structure of the underwater motion platform in the present application, and the following will be described in detail.

[0060] Model the underwater motion platform, and model the underwater motion platform body and the 6 thrusters into Figure 7 the layout shown in Figure 7 which is a schematic diagram of the standard spherical layout of the 6 thrusters of the underwater motion platform capable of six-degree-of-freedom omnidirectional motion. For ease of description, the fifth thruster 41, the sixth thruster 42, the first thruster 21, the second thruster 22, the third thruster 31, and the fourth thruster 32 in the above three groups of thrusters are respectively in Figure 7They are marked as A to F. Taking the center of the underwater motion platform body as the origin O, a Cartesian coordinate system is established, and the underwater motion platform (i.e., the part excluding the 6 thrusters) is modeled as a sphere as shown in Figure 7 shown, and the 6 thrusters are located on the surface of the sphere.

[0061] Specifically, the central axes of thruster A and thruster B are both in the same or opposite direction as the coordinate Y-axis and are located on the plane formed by the horizontal latitude 61;

[0062] The central axes of thruster C and thruster D are both in the same or opposite direction as the X-axis and are located on the plane formed by the 90-degree meridian and the 270-degree meridian 62;

[0063] The central axes of thruster E and thruster F are both in the same or opposite direction as the Z-axis and are located on the plane formed by the 0-degree meridian and the 180-degree meridian 63.

[0064] Among them, the direction of the X-axis is the left translation direction of the underwater motion platform, the direction of the Y-axis is the horizontal forward direction of the underwater motion platform, and the direction of the Z-axis is the sinking direction of the underwater motion platform. This embodiment of the present application is described by taking this setting as an example.

[0065] Correspondingly, the positive directions of the XYZ axes can also be opposite to the above settings, that is, the direction of the X-axis is the right translation direction of the underwater motion platform, the direction of the Y-axis is the horizontal backward direction of the underwater motion platform, and the direction of the Z-axis is the floating direction of the underwater motion platform. The principle of setting the positive directions of the XYZ axes in this way is the same as that of the above setting of the positive directions of the XYZ axes, and will not be elaborated here.

[0066] In Figure 7 the standard spherical layout shown, by driving thruster A and thruster B, the underwater motion platform can be controlled to move horizontally back and forth along the Y-axis and rotate along the Z direction (heading rotation); by driving thruster C and thruster D, the underwater motion platform can be controlled to move horizontally left and right along the X-axis and rotate along the Y-axis (roll rotation); by driving thruster E and thruster F, the underwater motion platform can be controlled to sink and float along the Z-axis and rotate along the X-axis direction (pitch rotation), so that the six-degree-of-freedom omnidirectional motion of the underwater motion platform can be realized. The six-degree-of-freedom omnidirectional motion means that the underwater motion platform can reach any position without turning around or turning, but only by moving forward or backward at a certain angle.

[0067] See Figure 8, rotate thruster A and thruster B by 45 degrees along the Z-axis (i.e., along the horizontal latitude 61). Here, 45 degrees is just an example, and other angles can also be rotated. The Y-axis points rotate by the same angle as the midlines of thruster A and thruster B respectively. That is, drive thruster A and thruster B, and still control the underwater motion platform to move along the Y-axis direction or the -Y-axis direction. According to the principle of six-degree-of-freedom omnidirectional motion of the underwater motion platform described above, Figure 8 The spherical motion layout composed of the underwater motion platform and the 6 drivers shown can still achieve six-degree-of-freedom omnidirectional motion.

[0068] It should be noted that, corresponding to Figure 8 the most common underwater search and forward movement (when the underwater robot searches and moves forward on the bottom, it needs to use the bottom as a reference) attitude of the underwater motion platform is as Figure 1 shown. At this time, the whole of this underwater motion platform forms an angle of about 35 to 55 degrees with the bottom surface of the diving area. The resultant force of the two thrusters in the first group is close to the horizontal direction (i.e., the direction parallel to this bottom surface), and the resultant force of the two thrusters in the second group is also close to the horizontal direction. This is the optimal solution for the common underwater search and forward movement posture of this underwater motion platform, with small resistance and fast speed, taking into account both the downward dive and forward movement situations.

[0069] For easy understanding, refer to Figure 9 , and adjust the viewing angle of the spherical model in Figure 8 so that the Y-axis points are the same as the spherical Y-axis points shown in Figure 5 . Refer to Figure 10 . On the basis of Figure 9 , continue to rotate thruster C and thruster D by 30 degrees along the meridian 62, which is also close to the optimal solution, to the position shown in Figure 10 , and rotate thruster E and thruster F by -60 degrees along the meridian 63 to the position shown in Figure 10 , so that thruster C and thruster E are equal in physical height, and thruster D and thruster F are equal in physical height. According to the principle of six-degree-of-freedom omnidirectional motion of the underwater motion platform described above, Figure 10 the spherical layout formed after the positions of the 6 thrusters shown change can still achieve six-degree-of-freedom omnidirectional motion. At this time, the midline X of the thrust lines of thruster C and thruster D 1 , the midline Y of the thrust lines of thruster A and thruster B, and the midline Z of the thrust lines of thruster C and thruster D 1 form a non-standard Cartesian coordinate system.

[0070] Furthermore, rotate the entire spherical layout shown in Figure 10 by 90 degrees along the X-axis in the Cartesian standard coordinate system where the current Y-axis is located, so that the Y-axis points vertically upward, and obtain Figure 11The spherical layout shown in []. Move thrusters D and E along their respective central axes by a certain distance so that the physical vertical heights of thrusters D and F are approximately equal to the physical vertical heights of thrusters C and E, obtaining Figure 12 The spherical layout shown in []. Further, move thrusters A and B along their respective central axes to the required height, obtaining Figure 13 The spherical layout in []. Figure 13 In [], the Y-axis direction is perpendicular to the physical horizontal plane. Driving thrusters A and B can control the robot to float or sink and roll. The resultant force of thrusters A and B determines the magnitude of the resultant force for floating or sinking, while the distance between thrusters A and B determines the magnitude of the rolling moment. In actual use, the rolling moment and the water resistance of the oncoming flow surface of the underwater motion platform can be adjusted by adjusting the distance between thrusters A and B (without affecting the thrust for the robot to float or sink).

[0071] In another embodiment of the present application, the first group of thrusters 20 includes a first thruster 21 and a second thruster 22, and the second group of thrusters 30 includes a third thruster 31 and a fourth thruster 32. The central axis of the first thruster 21 is substantially parallel to the central axis of the second thruster 22, and the central axis of the third thruster 31 is substantially parallel to the central axis of the fourth thruster 32. The difference from the above embodiment is that the first thruster 21 and the second thruster 22 can also be located on different sides of the body 10, and the third thruster 31 and the fourth thruster 32 are also respectively located on different sides of the body 10. This structure of the thrusters is based on the same inventive concept as the above embodiment. When Figure 1 The installation positions of the third thruster 31 and the fourth thruster 32 in the shown embodiment are moved along their respective central axes. After moving past the intersection point of their respective central axes, it still maintains that the central axes of the two thrusters in the first group of thrusters 20 are substantially parallel to each other, and the central axes of the two thrusters in the second group of thrusters 30 are substantially parallel to each other. The two thrusters in the first group of thrusters 20 are not on the same side relative to the body, and the two thrusters in the second group of thrusters 30 are not on the same side relative to the body. This is a special layout of the thruster positions relative to the above embodiment and is also within the protection scope of the present application.

[0072] At this time, even if the two thrusters in the first group of thrusters 20 are not on the same side of the body 10, and the two thrusters in the second group of thrusters 30 are not on the same side of the body 10, the technical effects as in the above embodiment can still be achieved, that is, realizing the six-degree-of-freedom omnidirectional movement of the underwater motion platform, and avoiding the cross-flow of the thruster jets from interfering with each other. The oncoming flow area in the forward direction is small, the water resistance is small, and the energy cost can be saved and the endurance mileage can be increased.

[0073] For the specific principle, refer to Figure 14, Figure 14 Schematic diagram of changing the positions of thrusters D and F to a spherical layout at the intersection point of the central axes of these two thrusters. When the physical vertical heights of thrusters D and F are approximately the same as those of thrusters C and E, the moving trajectories of thrusters D and F along their respective central axes pass through the intersection point of their respective central axes before they move.

[0074] Specifically, in combination with Figure 11 and Figure 12 , Figure 14 it includes the process of restoring to Figure 12 , that is, thruster D moves from the position D Figure 11 shown in Figure 14 to the position D 2 , thruster F moves from the position F 1 to the position F 2 . After the movement, thruster E and thruster D (at the position D 1 ) are located on both sides of the 0-degree and 180-degree meridian plane, and the central axis of thruster E and the central axis of thruster D (at the position D 1 ) are approximately parallel. Thruster C and thruster F (at the position F 1 ) are located on both sides of the plane formed by the 0-degree and 180-degree meridian 63, and the central axis of thruster C and the central axis of thruster F (at the position F 1 ) are approximately parallel. 1

[0075] Among them, Figure 11 in the spherical layout shown, thrusters D and F have not passed through the intersection point of their central axes, Figure 12 in the spherical layout shown, thrusters D and F have passed through the intersection point of their central axes.

[0076] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0077] The above is the description of the underwater motion platform provided by the present utility model. For those skilled in the art, according to the idea of the embodiments of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present utility model.

Claims

1. An underwater sports platform, characterized in that: include: An underwater motion platform body and three sets of thrusters mounted on the body, each set of thrusters comprising two thrusters; The first group of propellers of the three groups of propellers are located on the same side of the body and are respectively located at the head and tail ends of the same side of the body, the second group of propellers are located on the other side symmetrical to the first group of propellers relative to the body, the central axes of the two propellers of the first group of propellers are roughly parallel, and the central axes of the two propellers of the second group of propellers are roughly parallel; The angle between the central axes of the two propellers of the first group of propellers is approximately equal to the angle between the central axes of the two propellers of the second group of propellers, the two propellers of the third group of propellers are respectively located on different sides of the main body and are symmetrical relative to the main body, and the central axes of the two propellers of the third group of propellers are approximately equal to the angle between the vertical direction.

2. The underwater sports platform according to claim 1, characterized in that: The distance between the central axes of the two propellers of the first group of propellers is equal to the distance between the central axes of the two propellers of the second group of propellers.

3. The underwater sports platform according to claim 1, characterized in that: The central axes of the two propellers of the first group of propellers are not parallel to the central axes of the two propellers of the second group of propellers.

4. The underwater sports platform according to claim 1, characterized in that: The central axes of the two propellers of the third group of propellers are both substantially parallel to the vertical direction.

5. The underwater sports platform according to any one of claims 1 to 4, characterized in that: The two propellers of the first group of propellers are located on the same side of the body.

6. The underwater sports platform according to claim 5, characterized in that: The two propellers of the second group of propellers are located on the same side of the body and on a symmetrical side of the body with the two propellers of the first group of propellers.

7. The underwater sports platform according to claim 1, characterized in that: The two propellers of the first group of propellers are respectively located on different sides of the body, and the two propellers of the second group of propellers are respectively located on different sides of the body. Moreover, the central axes of the two propellers of the first group of propellers are roughly parallel, and the central axes of the two propellers of the second group of propellers are roughly parallel.

8. The underwater sports platform according to claim 1, characterized in that: The underwater sports platform further comprises: a bracket; Two thrusters, which are respectively located on both sides of the main body and are symmetrical with respect to the main body, are fixedly mounted on the main body through the bracket.

9. The underwater sports platform according to claim 1, characterized in that: The underwater sports platform also includes a diving light group fixed on the outer shell of the main body.

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