Self-driven underwater robot obstacle avoidance device

Abstract

The utility model provides a self-driven underwater robot obstacle avoidance device. The device is installed on an underwater robot and comprises an underwater collision detector and a collision signal processor, and the underwater collision detector comprises tentacles, a limiter, a fisheye bearing, a bearing seat, a flange, a spring, a lantern ring, a contact electrode, an orientation electrode, a reference electrode, a shell and a water inlet; the collision signal processor comprises a whisker controller, an upper computer, an underwater collision detector and a steering engine; the whisker controller controls the whisker to swing by controlling the steering engine, the whisker controller communicates with the underwater robot main controller, and a related instruction is transmitted to the underwater robot main controller according to a collision signal to control the robot to move, so that obstacle avoidance is realized; and the upper computer displays the collision signal and the angle of the whisker. According to the device, collision detection is achieved through an off-current signal generated by contact of the contact electrode and the orientation electrode, the detector is communicated with seawater and does not need to be powered on, and the defects that traditional electronic detection needs water sealing and hydrostatic pressure resistance are overcome.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, and in particular, to an obstacle avoidance device for a self-driven underwater robot. Background Art

[0002] The flexibility and autonomy of unmanned underwater vehicles (UUVs) are superior to other underwater navigation devices, making them an important tool for exploring the seabed environment and developing seabed resources. Dynamic perception of the seabed environment and obstacle detection have become the key to the seabed movement and operation of underwater robots. In recent years, researchers have extensively studied the detection methods of underwater obstacles and developed many detection methods for underwater obstacles. Among them:

[0003] The most widely used is to use sonar technology for underwater environment detection. However, sonar signals are easily affected by the underwater marine environment, such as reflection, scattering, and multi-path propagation. These factors may lead to signal distortion, false targets, or distance measurement errors;

[0004] Or use lidar for underwater environment detection. However, when the laser beam propagates in water, refraction and scattering will occur, and the detection effect for targets in transparent objects or turbid waters is poor;

[0005] Or use a vision system for underwater environment detection. However, the light conditions in the underwater environment are poor, and particulate matter and suspended matter in the water will affect the performance of the vision sensor. In addition, the detection of transparent objects or low-contrast targets by the vision system may be somewhat challenging.

[0006] Or an obstacle detection method based on piezoelectric sensors, but it is sensitive to humidity, and its performance may be affected in a high-humidity environment.

[0007] In addition, the obstacle avoidance method based on pressure sensors is also relatively commonly used. However, it requires external power supply to achieve the obstacle avoidance function. Long-term contact may also cause mechanical wear of the sensor or damage the sensor, and the performance of the pressure sensor is easily affected by environmental factors such as temperature changes, humidity, and vibration, thereby affecting the reliability of the obstacle avoidance system.

[0008] In addition, all of the above methods require waterproof treatment of the equipment used and need to consider the influence of hydrostatic pressure on the equipment. Therefore, an obstacle detection device for a self-driven underwater robot with low cost, stable performance, more durability, and capable of accurately sensing obstacle contact is needed. Summary of the Utility Model

[0009] According to the above-mentioned technical problems, a self-driven underwater robot obstacle avoidance device is provided. The utility model can solve the problem of collision with obstacles when visual detection of obstacles fails underwater under the conditions of low cost, without considering the waterproofing of the device, and without considering the hydrostatic pressure.

[0010] The technical means adopted by the utility model are as follows:

[0011] A self-driven underwater robot obstacle avoidance device is installed on an underwater robot and includes an underwater collision detector and a collision signal processor, wherein:

[0012] The underwater collision detector includes tentacles, a limiter, a fish-eye bearing, a bearing seat, a flange, a spring, a collar, a contact electrode, an azimuth electrode, a reference electrode, a housing, and a water inlet; wherein:

[0013] The fish-eye bearing, the collar, and the contact electrode are fixed on the tentacles. The limiter and the bearing seat are tightly fixed to the fish-eye bearing. The front side of the flange is connected to the rear side of the bearing seat. The spring connects the flange and the collar. The azimuth electrode and the reference electrode are respectively fixed on the inner side surface and the bottom surface of the housing. The housing is connected to the flange. The water inlet is arranged on the side surface of the housing;

[0014] The collision signal processor includes a tentacle controller, an underwater collision detector, a servo motor, and a host computer; wherein:

[0015] The tentacle controller communicates with the main controller of the underwater robot. The tentacle controller processes the signals generated by the host computer and the underwater collision detector and transmits the instructions to the main control system of the underwater robot. The tentacle controller controls the movement of the underwater collision detector, and the main controller of the underwater robot controls the movement of the robot. The underwater collision detector is used to detect the tentacle collision signal and amplify the collision signal. The host computer is used to display the collision state of the underwater robot and the state of the tentacles, and feedback the state of the underwater robot according to the displayed state information and issue instructions for the actions of the underwater robot and the tentacles. The main controller of the underwater robot drives the underwater robot to avoid obstacles according to the instructions.

[0016] Further, in the underwater collision detector:

[0017] The tentacles are used to rotate when colliding with an obstacle, so that the contact electrode contacts the azimuth electrode to generate a voltage signal;

[0018] The limiter, the fish-eye bearing, and the bearing seat form a bearing assembly. The fish-eye bearing is used to fix the tentacles to make the tentacles rotate around the fish-eye bearing. The limiter and the bearing seat are used to fix the fish-eye bearing and do not rotate with the tentacles;

[0019] The flange, spring, and collar form a spring seat. The spring is used to provide a pre-tightening force to prevent the whisker from rotating due to the impact of water flow; the flange and collar are used to fix the spring.

[0020] The contact electrode, azimuth electrode, and reference electrode form an electrode unit. The contact electrode is wrapped around the bottom end of the whisker and is used to contact the azimuth electrode when the whisker rotates; the azimuth electrode is used to contact the contact electrode to generate a voltage signal; the reference electrode is used to provide a reference potential.

[0021] Further, the whisker controller includes a main control board and a signal processing circuit integrated on the main control board; wherein:

[0022] The main control board is used to receive all the sensing data of the underwater collision detector and transmit the processed data to the host computer via the signal processing circuit; at the same time, it analyzes the motion control instructions sent by the host computer and transmits them to the main controller of the underwater robot. The main controller of the underwater robot controls the motion of the underwater robot according to the instructions to complete specific obstacle avoidance actions of the underwater robot.

[0023] The signal processing circuit is used to receive the analog and digital data generated by the underwater collision detector, transmit the sensing data to the main control board, and after being processed by the main control board, transmit it to the host computer. At the same time, it is used to transmit the motion control instructions generated by the main control board to the main controller of the underwater robot and also transmit the motion control instructions generated by the main control board to the underwater collision detector.

[0024] Further, the underwater collision detector includes a whisker assembly and a sensor assembly, which are used to sense collisions in real time and generate collision signals. The generated signals are transmitted to the main control board via the signal processing circuit.

[0025] Further, the servo includes two two-degree-of-freedom servos, which are used to receive the motion control instructions generated by the main control board transmitted by the signal processing circuit and control the movement of the left and right whiskers in the horizontal and vertical directions according to the instructions.

[0026] Further, the host computer includes a robot vision interface and a whisker collision detection interface, wherein:

[0027] The robot vision interface includes a camera for observing the situation in front of the underwater robot and a vision interface for receiving and displaying visual information.

[0028] The whisker collision detection interface is used to detect the position where the whisker collides, display the voltage value at the moment of collision in real time, and the whisker that has collided; it includes buttons for controlling the whisker to move to a fixed angle, buttons for controlling the rotation angle of the whisker in real time, buttons for controlling the underwater robot to float and dive, and buttons for controlling the underwater robot to move forward, backward, left, and right.

[0029] Compared with the prior art, the present utility model has the following advantages:

[0030] 1. A collision avoidance device for a self - driven underwater robot provided by the present utility model adopts a contact - type collision avoidance method, which can more accurately sense the occurrence of a collision and give the position where the collision occurs. At the same time, it has a lower cost and a wider range of applicable scenarios.

[0031] 2. A collision avoidance device for a self - driven underwater robot provided by the present utility model solves the problem of collision with obstacles when visual detection of obstacles fails underwater under the conditions of lower cost, without considering device waterproofing, and without considering hydrostatic pressure.

[0032] Based on the above reasons, the present utility model can be widely promoted in the fields of underwater robots and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a collision avoidance device diagram of the underwater robot of the present utility model;

[0035] Figure 2 It is a circuit connection diagram of the electrodes of the underwater robot of the present utility model;

[0036] Figure 3 It is a control system diagram of the underwater robot of the present utility model;

[0037] Figure 4 It is a collision avoidance flow chart of the underwater robot of the present utility model.

[0038] In the figure: 1. Whisker; 2. Limiter; 3. Fish - eye bearing; 4. Bearing seat; 5. Flange; 6. Spring; 7. Collar; 8. Contact electrode; 9. Azimuth electrode; 10. Reference electrode; 11. Outer shell; 12. Water inlet; 13. Main controller of the underwater robot; 14. Whisker controller; 14 - 1. Main control board; 14 - 2. Signal processing circuit; 15. Underwater collision detector; 16. Host computer; 16 - 1. Robot vision interface; 16 - 2. Whisker collision detection interface; 17. Servo. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine with the embodiments to detail the present utility model.

[0040] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are only a part rather than all of the embodiments of the present utility model. The description of at least one exemplary embodiment below is actually only illustrative and in no way restricts the present utility model and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0041] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present utility model. As used herein, unless otherwise clearly specified by the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0042] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0043] In the description of the present utility model, it should be understood that the orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. usually indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present utility model and simplifying the description. Without contrary description, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present utility model. The orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0044] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure for the device. For example, if the device in the attached drawing is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations will be made for the spatial relative descriptions used here.

[0045] In addition, it should be noted that the use of terms such as "first", "second" etc. to define components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of the present utility model.

[0046] The present utility model provides an obstacle avoidance device for a self - driving underwater robot, which is installed on the underwater robot and includes: an underwater collision detector and a collision signal processor, where:

[0047] As Figure 1 shown, the underwater collision detector includes a whisker 1, a stopper 2, a fish - eye bearing 3, a bearing seat 4, a flange 5, a spring 6, a collar 7, a contact electrode 8, an azimuth electrode 9, a reference electrode 10, a housing 11 and a water inlet 12; where:

[0048] The fish - eye bearing 3, the collar 7 and the contact electrode 8 are fixed on the whisker 1. The stopper 2 and the bearing seat 4 are tightly fixed to the fish - eye bearing 3. The front side of the flange 5 is connected to the rear side of the bearing seat 4. The spring 6 connects the flange 5 and the collar 7. The azimuth electrode 9 and the reference electrode 10 are respectively fixed on the inner side surface and the bottom surface of the housing 11. The housing 11 is connected to the flange 5. The water inlet 12 is arranged on the side surface of the housing 11;

[0049] As Figure 2 shown, the collision signal processor includes a whisker controller 14, an underwater collision detector 15, a host computer 16 and a servo 17; where:

[0050] The whisker controller 14 communicates with the underwater robot main controller 13. The whisker controller 14 processes the signals generated by the host computer 16 and the underwater collision detector 15, and transmits the instructions to the underwater robot main controller 13; the whisker controller 14 controls the movement of the underwater collision detector 15, and the underwater robot main controller 13 controls the movement of the robot; the underwater collision detector 15 is used to detect the whisker collision signal and amplify the collision signal; the host computer 16 is used to display the collision state of the underwater robot and the state of the whisker 1, and according to the displayed state information, feedback the state of the underwater robot and issue instructions for the actions of the underwater robot and the whisker 1; the underwater robot main controller 13 drives the underwater robot to avoid obstacles according to the instructions.

[0051] During specific implementation, as a preferred implementation manner of the present invention, continue to refer to Figure 1 , in the underwater collision detector:

[0052] The whisker 1 is used to rotate when colliding with an obstacle, so that the contact electrode 8 contacts the azimuth electrode 9, generating a voltage signal; the limiter 2, the spherical bearing 3 and the bearing seat 4 form a bearing assembly, and the spherical bearing 3 is used to fix the whisker 1, so that the whisker 1 rotates around the spherical bearing 3; the limiter 2 and the bearing seat 4 are used to fix the spherical bearing 3 and do not rotate with the whisker 1; the flange 5, the spring 6 and the collar 7 form a spring seat, and the spring 6 is used to provide a pre-tightening force to prevent the whisker 1 from rotating due to water flow impact; the flange 5 and the collar 7 are used to fix the spring; the contact electrode 8, the azimuth electrode 9 and the reference electrode 10 form an electrode unit, the contact electrode 8 is wrapped around the bottom end of the whisker 1 and is used to contact the azimuth electrode 9 when the whisker 1 rotates; the azimuth electrode 9 is used to contact the contact electrode 8 to generate a voltage signal; the reference electrode 10 is used to provide a reference potential.

[0053] During specific implementation, as a preferred implementation manner of the present invention, continue to refer to Figure 2 , the whisker controller 14 includes a main control board 14-1 and a signal processing circuit 14-2; among them:

[0054] The main control board 14-1 is arranged inside the cabin of the underwater robot, and is used to receive all the sensing data of the underwater collision detector 15-1, and transmit the processed data to the host computer 16 via the signal processing circuit 14-2; at the same time, parse the motion control instructions sent by the host computer 16 and transmit them to the underwater robot main controller 13, and the underwater robot main controller 13 controls the movement of the underwater robot according to the instructions to complete specific obstacle avoidance actions of the underwater robot;

[0055] The signal processing circuit 14-2 is arranged inside the cabin of the underwater robot and is used to receive the analog and digital data generated by the underwater collision detector 15, transmit the sensing data to the main control board 14-1, and after being processed by the main control board 14-1, transmit it to the host computer 16. At the same time, it is used to transmit the motion control instructions generated by the main control board 14-1 to the main controller 13 of the underwater robot, and also transmit the motion control instructions generated by the main control board 14-1 to the underwater collision detector 15.

[0056] During specific implementation, as a preferred implementation manner of the present utility model, continue to refer to Figure 2 , the underwater collision detector 15 is installed on the aluminum alloy frame of the robot and includes a whisker assembly and a sensor assembly, which are used to sense collisions in real time and generate collision signals, and the generated signals are transmitted to the main control board 14-1 through the signal processing circuit 14-2;

[0057] During specific implementation, as a preferred implementation manner of the present utility model, continue to refer to Figure 2 , the steering gear 17 is installed on the aluminum alloy frame of the robot and includes two two-degree-of-freedom steering gears 13, which are used to receive the motion control instructions generated by the main control board 14-1 transmitted through the signal processing circuit 14-2, and control the movement of the left and right whiskers 1 in the horizontal and vertical directions according to the instructions.

[0058] During specific implementation, as a preferred implementation manner of the present utility model, continue to refer to Figure 2 , the host computer 16 includes a robot vision interface 16-1 and a whisker collision detection interface 16-2, where: the robot vision interface 16-1 includes a camera for observing the situation in front of the underwater robot and a vision interface for receiving and displaying visual information; the whisker collision detection interface 16-2 is used to detect the position where the whisker collides, display the voltage value at the moment of collision in real time, and the whisker that has collided; it includes buttons for controlling the movement of the whisker 1 to a fixed angle, buttons for controlling the rotation angle of the whisker 1 in real time, buttons for controlling the floating and diving of the underwater robot, and buttons for controlling the forward, backward, left, and right movement of the underwater robot.

[0059] When the utility model is specifically implemented, as a preferred implementation manner of the present utility model, as Figure 3 shown, the azimuth electrode 9 is fixed on the inner surface of the outer shell 11 and is connected to the signal processing circuit 14-2; the reference electrode 10 is fixed on the inner surface of the bottom of the outer shell 11 and is connected to the signal processing circuit 14-2; the steering gear 13 is fixed on the outer surface of the bottom of the outer shell 11 and is connected to the main control board 14-1; the signal processing module 14-2 is connected to the main control board 14-1.

[0060] As Figure 4 shown, the embodiment of the present utility model also provides a self-driving underwater robot obstacle avoidance method implemented based on the self-driving underwater robot obstacle avoidance system, including:

[0061] S1. When the vision system of the underwater robot fails, the tactile detection function is activated. The left and right tentacles 1 of the underwater robot perform contact scanning along the body of the underwater robot at a fixed angle and direction.

[0062] S2. When the tentacle 1 touches an obstacle, the contact electrode 8 at the bottom of the tentacle 1 contacts the sensor assembly in the underwater collision detector 15, generating a contact signal. The contact signal is transmitted to the tentacle controller 14 through the underwater collision detector 15.

[0063] S3. The tentacle controller 14 transmits the information of the touched object to the host computer 16 and displays it through the tentacle collision detection interface 16-2.

[0064] S4. The host computer 16 transmits a signal to the tentacle controller 14, and the tentacle controller 14 drives the robot to avoid obstacles through the main controller 13 of the underwater robot.

[0065] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-propelled underwater robot obstacle avoidance device, characterized in that: Installed on an underwater robot, including: an underwater collision detector and a collision signal processor, wherein: An underwater collision detector comprises a tentacles (1), a stopper (2), a fisheye bearing (3), a bearing seat (4), a flange (5), a spring (6), a collar (7), a contact electrode (8), an orientation electrode (9), a reference electrode (10), a housing (11) and a water inlet (12); wherein: The fisheye bearing (3), the collar (7) and the contact electrode (8) are fixed on the tentacle (1); the stopper (2), the bearing seat (4) and the fisheye bearing (3) are tightly fixed; the front side of the flange (5) is connected to the rear side of the bearing seat (4); the spring (6) connects the flange (5) and the collar (7); the orientation electrode (9) and the reference electrode (10) are respectively fixed to the inner side and the bottom surface of the housing (11); the housing (11) is connected to the flange (5); and the water inlet (12) is arranged on the side surface of the housing (11); The collision signal processor comprises a tentacle controller (14), an underwater collision detector (15), a host computer (16), and a steering engine (17); wherein: The tentacle controller (14) communicates with the underwater robot main controller (13); the tentacle controller (14) processes signals generated by the host computer (16) and the underwater collision detector (15), and transmits instructions to the underwater robot main controller (13); the tentacle controller (14) controls the movement of the underwater collision detector, and the underwater robot main controller (13) controls the movement of the robot; the underwater collision detector (15) is used to detect the tentacle collision signal and amplify the collision signal; the host computer (16) is used to display the collision state of the underwater robot and the state of the tentacle (1), and according to the displayed state information, feedback the state of the underwater robot and issue instructions for the underwater robot and the tentacle (1) to move.

2. The obstacle avoidance device of a self-propelled underwater robot according to claim 1, characterized in that: In the underwater collision detector: The tentacle (1) is used to collide with an obstacle and rotate, so that the contact electrode (8) and the orientation electrode (9) come into contact and generate a voltage signal; The stopper (2), the fisheye bearing (3) and the bearing seat (4) form a bearing assembly; the fisheye bearing (3) is used to fix the tentacle (1) so that the tentacle (1) rotates around the fisheye bearing 3; the stopper (2) and the bearing seat (4) are used to fix the fisheye bearing (3) and do not rotate with the tentacle (1); The flange (5), the spring (6) and the collar (7) form a spring seat, the spring (6) is used to provide a preload force to prevent the tentacle (1) from rotating due to the impact of water flow; the flange (5) and the collar (7) are used to fix the spring (6); The contact electrode (8), the azimuth electrode (9) and the reference electrode (10) form an electrode unit. The contact electrode 8 is wrapped around the bottom end of the tentacle (1) and is used to contact the azimuth electrode (9) when the tentacle (1) rotates; the azimuth electrode (9) is used to contact the contact electrode (8) to generate a voltage signal; and the reference electrode (10) is used to provide a reference potential.

3. The obstacle avoidance device for a self-propelled underwater robot according to claim 1, characterized in that: The tentacle controller (14) comprises a main control board (14-1) and a signal processing circuit (14-2) integrated on the main control board (14-1); wherein: The main control board (14-1) is used to receive all sensor data of the underwater collision detector (15), and transmit the processed data to the host computer (16) via the signal processing circuit (14-2); at the same time, the motion control instruction sent by the host computer (16) is analyzed and transmitted to the underwater robot main controller (13), and the underwater robot main controller (13) controls the movement of the underwater robot according to the instruction to complete the specific obstacle avoidance action of the underwater robot; The signal processing circuit (14-2) is used to receive analog and digital data generated by the underwater collision detector (15), and transmit the sensing data to the main control board (14-1), and transmit the processing of the main control board (14-1) to the host computer (16), and is also used to transmit the motion control instructions generated by the main control board (14-1) to the underwater robot main controller (13), and transmit the motion control instructions generated by the main control board (14-1) to the underwater collision detector (15).

4. The obstacle avoidance device for a self-propelled underwater robot according to claim 1, characterized in that: The underwater collision detector (15) comprises a tentacle component and a sensor component, and is used to sense the collision in real time and generate a collision signal, and the generated signal is transmitted to the main control board (14-1) via a signal processing circuit (14-2).

5. The obstacle avoidance device for a self-propelled underwater robot according to claim 1, characterized in that: The servo (17) comprises two servos with two degrees of freedom, which are used to receive motion control instructions generated by the main control board (14-1) and transmitted by the signal processing circuit (14-2), and control the movement of the left and right tentacles (1) in the horizontal and vertical directions according to the instructions.

6. The obstacle avoidance device for a self-propelled underwater robot according to claim 1, characterized in that: The host computer (16) includes a robot visual interface (16-1) and a tentacle collision detection interface (16-2), wherein: The robot visual interface (16-1) includes a camera for observing the situation in front of the underwater robot, and a visual interface for receiving and displaying visual information; The tentacle collision detection interface (16-2) is used to detect the position where the tentacles collide, and to display the voltage value at the time of collision and the collided tentacles in real time; it includes a button for controlling the movement of the tentacles (1) to a fixed angle, a button for controlling the rotation angle of the tentacles (1) in real time, a button for controlling the underwater robot to float up and dive, and a button for controlling the underwater robot to move forward, backward, left and right.

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