Underwater vehicle with force feedback mechanical arm

Abstract

The utility model discloses an underwater vehicle with a force feedback mechanical arm. The underwater vehicle comprises an upper shell, a mainboard, a lower shell, an electronic sealed cabin, a multi-degree-of-freedom mechanical arm, a ducted propeller and a current feedback module, wherein the electronic sealed cabin is embedded in the mainboard; the ducted propellers are fixedly connected with the main board and the lower shell respectively; the current feedback module is coaxially nested with a connecting piece of the multi-degree-of-freedom mechanical arm, and the sensing module, the control module and the energy and power module are arranged in the electronic sealed cabin in a layered mode and used for collecting external data and executing movement actions; the multi-degree-of-freedom mechanical arm comprises a bottom rotating device, a joint rotating device and a tail end clamping device and is used for achieving force feedback through current detection fed back by the current feedback module. According to the underwater vehicle, flexible clamping of a target object can be achieved, the electrical performance of the tail end executing mechanism is protected, and the force feedback precision and stability are remarkably improved; and the target object can be automatically grabbed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to underwater robot technical field, concretely relates to a kind of underwater vehicle with force feedback mechanical arm. BACKGROUND

[0002] With the importance of marine resources and the in-depth study of marine science, the exploration and development activities of underwater environment are increasingly frequent. From marine resource exploration to marine ecosystem research, from seabed archaeology to maintenance of offshore infrastructure, efficient, accurate and multifunctional underwater equipment is needed.

[0003] Although the traditional underwater vehicle can navigate underwater and obtain environmental data, it faces challenges when performing tasks that require precise operation. For example, when collecting deep-sea biological samples or repairing small underwater devices, it is difficult to complete complex operations such as grabbing and fixing with the simple mechanical structure of the vehicle itself.

[0004] Most traditional underwater vehicles cannot provide operators with feedback information about operating force when performing operational tasks, making it difficult for operators to accurately determine whether the applied force is appropriate. In underwater environments, such force control is particularly important, as excessive force can damage fragile marine biological samples or delicate underwater equipment, while insufficient force can result in operational failure, such as slipping when grabbing objects.

[0005] Underwater vehicles with force feedback mechanical arms have broad application prospects. In marine biology research, force feedback mechanical arms can gently and accurately collect samples based on force feedback information, avoiding damage to samples. In marine geology research, the mechanical arm can adjust the operating force based on the hardness of different geological structures, thereby better obtaining samples or detecting data.

[0006] In the mining of seabed mineral resources, such as the collection of manganese nodules, the force feedback mechanical arm can adjust the grabbing force based on the size and texture of the nodules, improving collection efficiency and resource recovery rate. For the maintenance of submarine cables, the force feedback function ensures that the cables are not damaged by excessive force during handling. In marine environments, many areas pose high-risk, high-cost challenges for human operations, such as the exploration and development of deep-sea hydrothermal zones. INVENTION CONTENTS

[0007] To address the above problems, the utility model aims to provide an underwater vehicle with a force feedback mechanical arm, which can perform precise operations according to a pre-set program through an advanced force feedback control system without human intervention. This not only reduces personnel risk, but also enables long-term, uninterrupted operation, providing strong support for sustainable development and research of marine resources.

[0008] In order to achieve the above object, the utility model adopts the following technical scheme.

[0009] The utility model provides a kind of underwater vehicle with force feedback mechanical arm, including upper shell, mainboard, lower shell, further including electronic sealed cabin, multi-degree-of-freedom mechanical arm, ducted propeller, current feedback module;Wherein, the electronic sealed cabin is embedded in mainboard, and it is wrapped by upper shell and lower shell;Ducted propeller is fixedly connected with mainboard and lower shell respectively;Multi-degree-of-freedom mechanical arm is fixedly connected with lower shell, and current feedback module is coaxially nested with the connecting piece of multi-degree-of-freedom mechanical arm, and the inner layer of electronic sealed cabin places sensing module, control module, energy and power module, the sensing module includes cabin sensor and cabin sensor outside, and the cabin sensor includes air pressure, smoke, temperature, bus current sensor;The cabin sensor outside includes mechanical arm end clamping device detection circuit and one or more of temperature, pressure and turbidity sensor;The control module includes image processing and identification control mainboard, motion control mainboard, six-axis attitude sensor and magnetometer, and the information collected from the sensing module is fed back to host computer in real time by communication cable, realizes intelligent monitoring of cabin, cabin environment, and relies on specific algorithm to distribute the power of ducted propeller;The energy and power module includes lithium battery pack, starting circuit and voltage stabilizing circuit, for collecting external data, executing movement action for collecting external data, executing movement action;Multi-degree-of-freedom mechanical arm includes bottom rotating device, joint rotating device and end clamping device, for realizing force feedback by current detection of current feedback module feedback.

[0010] Further, the electronic sealed cabin is composed of a front window, a sealed cabin body, and a bottom lead plate, which is independently sealed as a whole.

[0011] Further, the front window is provided with a binocular camera for identifying the target object and calculating its spatial position in the multi-degree-of-freedom mechanical arm coordinate system using a spatial positioning algorithm, preparing for the multi-degree-of-freedom mechanical arm to grab, and real-time video information feedback.

[0012] Further, the multi-degree-of-freedom mechanical arm uses spatial position information to solve inverse kinematics to obtain the angle distribution of each rudder, thereby realizing automatic grabbing of the target object.

[0013] Further, the end clamping device of the multi-degree-of-freedom mechanical arm is connected with the current feedback module, and the output current is used to determine the clamping force, thereby realizing flexible clamping of the target object.

[0014] Further, the head traces of the upper shell and the lower shell are designed using the Granville linear equation to realize efficient drag reduction, and the flow guide holes are provided to further ensure the stability of the vehicle navigation.

[0015] Further, the turbo-propeller comprises two horizontal propellers, three vertical propellers and a side propeller to control the underwater vehicle to move in all degrees of freedom and complex movements of roll, pitch and yaw.

[0016] Further, the underwater vehicle with force feedback mechanical arm is powered by lithium batteries in the energy and power module, and a relay designed starting loop is used to control and protect the main loop.

[0017] Further, the joint rotating device is realized by three waterproof steering engines.

[0018] Compared with the prior art, the underwater vehicle with force feedback mechanical arm has the following beneficial effects:

[0019] The underwater vehicle with force feedback mechanical arm has a mechanical arm based on current detection to realize force feedback, and can realize flexible clamping of a target object, retain the mechanical structure or biological body structure of the object, protect the electrical performance of the end execution mechanism and prolong the service life.

[0020] Compared with the conventional force feedback mechanical arm based on piezoresistance or strain pressure sensor, the mechanical arm based on current detection to realize force feedback significantly reduces the interference of water pressure on detection clamping pressure and the difficulty of software and hardware filtering and data processing, and improves the force feedback accuracy and stability.

[0021] The underwater vehicle with force feedback mechanical arm comprises a binocular camera capable of spatial positioning, and the spatial position of the target object is accurately positioned through an algorithm. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description:

[0023] Figure 1 is the overall schematic view of the underwater vehicle with force feedback mechanical arm provided by the embodiment of the present application.

[0024] Figure 2 is the bottom view of the underwater vehicle with force feedback mechanical arm provided by the embodiment of the present application.

[0025] Figure 3 is the top view of the underwater vehicle with force feedback mechanical arm provided by the embodiment of the present application.

[0026] Figure 4It is the mechanical arm structure schematic view of the underwater vehicle with force feedback mechanical arm provided by the embodiment of the utility model.

[0027] Figure 5 It is a current sampling circuit of the mechanical arm end clamp of the underwater vehicle with force feedback mechanical arm provided by the embodiment of the utility model.

[0028] The figure mark explanation: 1. Upper casing;2. Vertical propeller;3. Mainboard;4. Horizontal propeller;5. Side propeller;6. Lower casing;7. Underwater lamp;8. Current sampling module;9. Multifunctional connecting piece;10. End clamp;11. Electronic sealed cabin front view window;12. Electronic sealed cabin main body;13. Flow guide hole;14. Electronic sealed cabin fastening device;15. Binocular camera;16. Two-dimensional holder;17. Electronic sealed cabin internal support;18. Control module;19. Waterproof steering wheel;20. First movable shaft;21. Second movable shaft;22. Rigid connecting piece;23. Rotating holder;24. Reversing device;25. Cable fixing hole. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantage of the utility model more clear, the utility model will be described in more detail below in conjunction with the drawings of the specification, but the utility model is not limited to this.

[0030] In the description of the utility model, it is necessary to explain that the orientation or position relation indicated by the terms "center", "front", "back", "left", "right", "inner", "outer" and the like is the orientation or position relation based on the orientation or position relation shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and is not indicative or suggestive of the device or element indicated must have a particular orientation, a particular orientation structure and operation, therefore it cannot be understood as the limitation to the utility model.

[0031] The utility model will be described in further detail below in conjunction with the drawings of the specification through specific embodiment.

[0032] As Figures 1-3The embodiment of the utility model provides a kind of underwater vehicle with force feedback mechanical arm, including upper shell 1, mainboard 3, lower shell 6, electronic sealed cabin, multi-degree-of-freedom mechanical arm, ducted propeller, current feedback module.In some preferred embodiments, upper shell 1, mainboard 3, lower shell 6 are all made of high-strength ABS resin 3D printing, rely on internal hex screw fastening connection, electronic sealed cabin main body 12 is embedded inside mainboard 3, is wrapped by upper shell 1 and lower shell 3;Ducted propeller is fixedly connected with mainboard 3 and lower shell 6 respectively;Multi-degree-of-freedom mechanical arm is fixedly connected with lower shell 6, and current feedback module is coaxially nested with the connecting piece of multi-degree-of-freedom mechanical arm, and the inner layer of electronic sealed cabin places sensing module, control module, energy and power module, for collecting external data, executing movement action;Multi-degree-of-freedom mechanical arm includes bottom rotating device, joint rotating device and end clamping device, for realizing force feedback by current detection of current feedback module feedback.

[0033] The electronic sealed cabin is composed of a front window 11, a sealed cabin body 12, and a bottom lead plate. The main body is cylindrical and independently sealed. It is connected to external actuators and sensing mechanisms through waterproof cables to collect external data and perform movement actions. The front window 11 is provided with a binocular camera 15 for identifying target objects and calculating their spatial positions in the multi-degree-of-freedom mechanical arm coordinate system using spatial positioning algorithms. This prepares for multi-degree-of-freedom mechanical arm grabbing and real-time video information transmission.

[0034] The front, middle, and rear ends of the underwater vehicle each have one or more vertical propellers 2 or horizontal propellers 4, which are fixedly connected to the mainboard 3. The bottom of the vehicle is placed with lateral propellers 5, which are connected to the electronic sealed cabin through the lead plate at the bottom of the electronic sealed cabin. The electronic speed regulator directly controls the propellers.

[0035] The outer shell of the underwater vehicle is designed in a streamlined manner, which can achieve high-efficiency drag reduction. Preferably, the above-mentioned streamlined design calculates the outer shell front trajectory according to the Granville linear equation. The upper and lower shells are fixed to the mainboard by screws. The head is loaded with two high-lumen underwater lights 7. The bottom is fixed to the multi-degree-of-freedom mechanical arm through a multifunctional connector 9. The joints of the mechanical arm are connected by multifunctional connectors 9 and U-shaped supports, which have high mechanical strength. The upper shell is evenly distributed with several guide holes on both sides, which have axial symmetry characteristics.

[0036] Further, the multi-degree-of-freedom mechanical arm has four degrees of freedom, which are divided into a bottom rotating device, a joint rotating device and an end clamping device. The joint rotating device is realized by three waterproof steering engines. Preferably, the multi-degree-of-freedom mechanical arm comprises the bottom rotating device, a rigid support arm 22, a current sampling module 8, an end clamp 10 and various steering engines. The rotating device adopts a rotating holder 23, which comprises a large-torque 360-degree digital steering engine and a multifunctional connecting piece 9, and can support the mechanical arm to rotate omnidirectionally in a horizontal plane. The bottom rotating holder 23 of the mechanical arm is connected with the rigid connecting piece 22 through a first movable shaft 20, the first movable shaft 20 and the second movable shaft 21 are connected through the rigid connecting piece 22, the front end clamp reversing device 24 is realized by a 360-degree rotating steering engine, is connected with the steering engine where the second movable shaft 21 is located through the multifunctional connecting piece 9, and the opening and closing of the end clamp 10 is realized by a steering engine. Therefore, the mechanical arm can realize four degrees of freedom operation through the rotating holder 23, the first movable shaft 20, the second movable shaft 21 and the reversing device 24. The roll angle of the end clamp 10 can be realized by the reversing device 24, the pitch angle of the end clamp 10 can be realized by the cooperation of the first movable shaft 20 and the second movable shaft 21, and the relative position of the end clamp 10 to the ship body can be freely adjusted in a hemispherical space with the mechanical arm as the radius.

[0037] Further, the current sampling module 8 is coaxially embedded on the rigid connecting piece 22, the chip and the peripheral circuit therebetween are encapsulated by epoxy resin, and the front side and the back side thereof are respectively reserved for wire through holes. The current of the end clamp steering engine is monitored in real time, and the detection value is returned to the control module 18 for further logical judgment. The above-mentioned end clamping device is realized by a high-power waterproof steering engine, and the holding force of the mechanical hand is detected in real time through the current detection circuit and the filtering circuit, which can effectively prevent the structure damage of the held object and the damage of the electrical performance of the steering engine.

[0038] Considering the need for real-time current monitoring, the steering engines in the utility model case are PWM steering engines, which facilitate the series connection of the current sampling circuit into the steering engine power supply circuit, and the use of M3 vulcanized rubber for signal and power line collection and water-tight treatment.

[0039] The ducted propeller comprises a waterproof motor, a fairing, a motor shell and a propeller; the propeller is fixed on the rotating shaft of the waterproof motor; the waterproof motor, the propeller and the structure are fixed in the duct.

[0040] As a further technical solution, the vehicle is controlled by six ducted propellers to move in all degrees of freedom underwater, five of which are fixed to the front, middle and rear of the main plate to control the forward and backward movement, upward and downward movement, left and right rotation of the vehicle; the bottom propeller is placed transversely perpendicular to the forward direction of the vehicle to control the left and right horizontal movement of the vehicle.

[0041] As a further technical solution, the center of gravity of the vehicle is adjusted to the center of the bottom thruster to meet the use requirements of the bottom thruster.

[0042] As a further technical solution, the electronic capsule is fixed by the electronic capsule fastening device 14 arranged on the lower shell 6 and the main plate 3, so as to ensure that the IMU module inside the electronic capsule is always parallel to the horizontal plane of the hull. The sensing module, the control module, the energy and power module are placed in layers in the electronic capsule. The through-hole bolt sealing epoxy resin method is used for sealing at the bottom wire passing hole. The water-tight connector is used for leading out the communication and charging interface.

[0043] Further, the above-mentioned sensing module includes an in-capsule sensor and an out-capsule sensor. The in-capsule sensor includes a barometer, a smoke sensor, a temperature sensor, and a bus current sensor. The out-capsule sensor includes a mechanical arm end clamp detection circuit, and one or more of a temperature sensor, a pressure sensor, and a turbidity sensor.

[0044] Further, the above-mentioned control module includes an image processing and recognition control mainboard, a motion control mainboard, a six-axis attitude sensor, and a magnetometer. The information collected from the sensing module is fed back to the upper computer in real time through the communication cable, so as to realize intelligent monitoring of the in-capsule and out-capsule environments, and to distribute the thruster power by relying on a specific algorithm.

[0045] Further, the above-mentioned energy and power module includes a lithium battery pack, a starting circuit, and a voltage stabilizing circuit. In a specific embodiment, the lithium battery pack is arranged in the lower layer of the electronic capsule internal support 17 and participates in adjusting the balance parameter of the hull as part of the counterweight. The electronic capsule has two modes of soft start and hard start. The hard start is realized by the waterproof rotary knob switch at the bottom of the electronic capsule, and the soft start is realized by sending control and release control signals from the ground station. The hard start circuit of the vehicle includes a rotary knob switch, a normally closed relay, and a voltage stabilizing module. The lithium battery pack is electrically connected with the rotary knob switch and the relay control pin. The relay stabilizing module is connected in series to filter out spikes. The main circuit is turned on and off by controlling the on-off of the relay circuit, that is, the opening and closing of the relay. The decoupling control of the starting circuit and the main circuit realizes the function of circuit protection, and can realize the effect of weak electric control of strong electric.

[0046] Further, the soft start mode corresponding to the above-mentioned hard start mode is that the control or release control instruction is sent to the vehicle through the remote control button, so as to quickly restore the original working state after short power-off and save power. In a preferred embodiment, the internal part of the electronic capsule adopts a layered modular design. The integrated processing module of the external sensing device, the power distribution and control module, the power supply module, the electronic governor, and the necessary conditioning circuit and filtering circuit are sequentially arranged in the internal part of the electronic capsule.

[0047] Furthermore, the binocular camera 15 and its two-dimensional gimbal 16 are placed inside the front window 11 of the head of the electronic sealed cabin. The camera accurately identifies the target object by relying on image processing algorithms and visual recognition technology, accurately calculates and fuzzily estimates the position and volume information of the target object by relying on spatial positioning technology, and automatically grasps the target object by relying on the main control unit in conjunction with the robotic arm.

[0048] Furthermore, the main control unit can make logical judgments on whether to grasp the robot arm by detecting the opening and closing angle of the end effector and the magnitude of the current. If the grasping fails multiple times, it will send an audible and visual prompt to the host computer, requesting the operator to manually intervene. If the grasping is successful, it will send an audible and visual prompt to the host computer that is different from the one described above, requesting the operator to manually retract the robot arm.

[0049] Furthermore, during the robotic arm's automatic grasping process, the operator can intervene with manual control at any time.

[0050] In some specific embodiments, when the target object is slightly and slowly disturbed by the water flow, the hull can automatically adjust its sailing attitude and position through the video information transmitted back by the binocular camera 15, so as to ensure that the hull and the target object are relatively stationary.

[0051] In some specific embodiments, when the target object moves relative to the hull, the two-dimensional gimbal can automatically track the target object to ensure that the target object is always within the field of view.

[0052] The specific technical details and working principle of the underwater vehicle with a force feedback robotic arm provided by this utility model are as follows:

[0053] Current detection circuit:

[0054] The current sampling module 8 is coaxially nested with the rigid connector 22. Preferably, its internal detection circuit uses a low-end current detection circuit as the basic circuit. Figure 5 As shown, the circuit for the current to be measured is formed by connecting terminal H1 and current sensing resistor R1 in series. Terminal H1 is directly connected to the load and the power supply port, and resistor R1 is directly connected to ground. Components R2, C1, and R3 together form an RCR filter circuit to filter out noise at the input of operational amplifier U1. In this embodiment, operational amplifier U1 uses the INA213 chip.

[0055] Furthermore, the positive terminal of operational amplifier U1 is connected to a 5V power supply, while the negative terminal and the reference voltage are both grounded. Simultaneously, filter capacitors C2 and C3 are connected in parallel between the positive and negative terminals to filter out high-frequency and low-frequency noise between them. Under normal operating conditions, the associated operational amplifier INA213 outputs the voltage between IN+ and IN- at 50 times the value from the OUT pin.

[0056] Further, the voltage signal output by the operational amplifier U1 is directly connected to the voltage follower composed of the operational amplifier U2.1 and its peripheral circuit, so as to reduce the output impedance, increase the input impedance, and ensure that the sampling circuit of the single-chip microcomputer can completely collect the waveform. The positive and negative electrodes of the operational amplifier U2.1 are connected in parallel with the capacitors C4 and C5 to form a filter structure similar to C2 and C3, so as to filter out high-frequency and low-frequency noises between the positive and negative electrodes.

[0057] Further, the voltage signal output by U2.1 is directly connected to the RC filter circuit composed of R4 and C6, so as to further filter out the noise, and the diode D1 is connected in parallel across the capacitor C6, so as to conduct the abnormal negative voltage signal to the ground, avoiding abnormal errors caused by over-range to the sampling single-chip microcomputer.

[0058] Further, the single-chip microcomputer obtains the voltage value amplified by 50 times at both ends of R1 through AD conversion, and in the embodiment, R1 is taken as 0.02Ω, so as to directly read the current value flowing through the load.

[0059] As preferred, limited by the feature that the current changes greatly when the steering engine is working, the single-chip microcomputer should perform mean value filtering after sampling. In the automatic clamping mode, if the current reaches the threshold value, the end clamp working state is locked to avoid further clamping damage to the clamp; in the manual clamping mode, if the current peak value continuously exceeds the set threshold value, an audible and visual alarm is sent to the upper computer and the end clamp working state is locked until the driver releases the lock.

[0060] It should be understood that the resistance values in the above description and the selection of the operational amplifier are only used to further illustrate the utility model, and are not used to limit the utility model.

[0061] Binocular camera spatial positioning:

[0062] The binocular camera 15 is fixedly connected with the two-dimensional holder 16 and is placed inside the front window 11 of the electronic sealed cabin. As preferred, the same kind of distortion-free camera is adopted, and the camera optical centers are on the same horizontal line. The flow of three-dimensional spatial positioning is as follows:

[0063] (1) As preferred, MATLAB is adopted to perform parameter setting for the two cameras, and the internal parameter matrix and the external parameter matrix are obtained, the former includes fx, fy, cx and cy of the left and right cameras, and the latter includes the rotation matrix and the translation vector of the left camera relative to the right camera. In the embodiment, the method for internal parameter setting is Zhang Youzheng calibration method.

[0064] (2) As preferred, the parameter setting result is imported into OpenCV, and the SGBM algorithm is adopted to calculate the disparity map.

[0065] (3) The distance of the target object is calculated by using the two disparity maps, and the formula is as follows:

[0066]

[0067] Wherein, f is the camera focal length, b is the distance between the two camera optical centers, d is the parallax, c xr and c xl are the column coordinates of the two camera principal points.

[0068] (4) Through the distance between the target object and the binocular camera, the spatial position information of the target object in the camera coordinate system can be obtained, and the formula is as follows:

[0069]

[0070] Wherein, x, y are the projection coordinates of the target object in a certain camera, in this embodiment, x0, y0 are both 0.

[0071] (5) Through the translation of the coordinate system, the spatial position information of the target object in the mechanical arm coordinate system can be obtained, and then the inverse kinematics solution can be used to realize the grasping of the target object.

[0072] Further, the inverse kinematics solution, that is, according to the spatial position of the target object in the mechanical arm coordinate system, the feasible solution about the rotation angle of each active shaft is obtained, so that the end clamp can reach the target object.

[0073] In this embodiment, a volume estimation algorithm is added. For vertical columnar objects, the horizontal coordinate difference of the horizontal point pair at the left and right narrowest parts in the camera coordinate system is calculated; for horizontal columnar objects, the vertical coordinate difference of the vertical point pair at the upper and lower narrowest parts in the camera coordinate system is calculated; for spherical objects, the horizontal coordinate difference of the horizontal point pair at the left and right widest parts in the camera coordinate system is calculated; if the value is significantly greater than the maximum opening and closing distance of the clamp or is not the above three objects, the ground station returns warning or prompt information, and the inverse kinematics solution process is terminated.

[0074] Further, for objects other than the above three, in order to ensure the reliability of the clamping, the master control unit sends an audible and visual prompt to the upper computer, suggesting that the driver intervene in manual control, so that the clamping work is as accurate as possible.

[0075] Image processing and target recognition:

[0076] In this embodiment, the master control unit for image processing and target recognition can be Jetson Nano, which carries a quad-core Cortex-A57 processor, 128-core Maxwell GPU and 4GB LPDDR memory, which can provide sufficient AI computing power for robot terminals and industrial vision terminals.

[0077] The image processing algorithm comprises, in sequence, mean filtering, bilateral filtering and local histogram equalization.

[0078] The target recognition algorithm adopts a YOLOv5 neural network model, and after the labeled picture containing target object information is imported into the downloaded pre-training model and trained, the target object can be recognized.

[0079] Further, the master control JetsonNano obtains the target object planar barycentric coordinate information, calculates the target object coordinate information in the mechanical arm coordinate system through the aforementioned spatial positioning algorithm, and sends the inverse kinematics solution result to the mechanical arm master control unit for execution.

[0080] Design of the appearance:

[0081] To meet the need of efficient drag reduction, the head trajectory of the vehicle adopts the Granville linear equation and the Granville double-parameter square polynomial:

[0082] y 2 =f(x)=r0R(x)+k s1 K s1 (x)+Q(x)

[0083] (0≤x≤1)

[0084] R(x)=2x(x-1) 4

[0085]

[0086] Q(x)=1-(x-1) 4 (4x+1)

[0087] In the formula, r0 represents the radius of curvature at x=0, K s1 represents the rate of change of curvature at x=1. R(x), K s1 are influence functions of r0 and k s1 , respectively, and the geometric meaning is the contribution to the y coordinate value, which is related to the fullness of the head. k s1The larger, the more slender the linear head, the more plump the back, and the more sensitive the curve to the change of r0. For the optimization of the head linear, it is known from the literature that, in order to meet the conditions of no inflection point and the like, the reasonable value range of r0 is (0, 3.2), and the reasonable value range of k s1 is (0, 24). In the embodiment, r0 = 1.2, k s1 = 8.

[0088] It should be noted that the above-described embodiments are only preferred embodiments of the present application. For those skilled in the art, without departing from the principles of the present application, the present application can be modified, improved and equivalently replaced, and these modifications, improvements and equivalent replacements are also considered to fall within the protection scope of the claims of the present application.

Claims

1. An underwater vehicle with force feedback mechanical arm, comprising an upper shell, a main board, a lower shell, characterized in that, The electronic sealed cabin is embedded in the mainboard, wrapped by the upper shell and the lower shell, and the ducted propeller is fixedly connected with the mainboard and the lower shell.

2. The underwater vehicle with force feedback manipulator arm of claim 1, wherein, The electronic sealed cabin is embedded in the mainboard, wrapped by the upper shell and the lower shell, and the ducted propeller is fixedly connected with the mainboard and the lower shell.

3. The underwater vehicle with force feedback manipulator arm of claim 2, wherein, The multi-degree-of-freedom mechanical arm is fixedly connected with the lower shell, and the current feedback module is coaxially nested with the connecting piece of the multi-degree-of-freedom mechanical arm.

4. The underwater vehicle with force feedback manipulator arm of claim 3, wherein, The electronic sealed cabin is internally layered and placed with a sensing module, a control module and an energy and power module.

5. The underwater vehicle with force feedback manipulator arm of claim 1, wherein, The sensing module comprises an in-cabin sensor and an out-cabin sensor.

6. The underwater vehicle with force feedback manipulator arm of claim 1, wherein, The in-cabin sensor comprises an air pressure sensor, a smoke sensor, a temperature sensor and a bus current sensor.

7. The underwater vehicle with force feedback manipulator arm of claim 1, wherein, The out-cabin sensor comprises a mechanical arm end clamping device detection circuit and one or more of a temperature sensor, a pressure sensor and a turbidity sensor.

8. The underwater vehicle with force feedback manipulator arm of claim 1, wherein, The control module comprises an image processing and recognition control mainboard, a motion control mainboard, a six-axis attitude sensor and a magnetometer.

9. The underwater vehicle with force feedback manipulator arm of claim 1, wherein, The information collected from the sensing module is fed back to the upper computer in real time through a communication cable, so as to realize intelligent monitoring of the in-cabin and out-cabin environments and to distribute the power of the ducted propeller by a specific algorithm.

10. The underwater vehicle with force feedback manipulator arm of claim 1, wherein, The energy and power module comprises a lithium battery pack, a starting circuit and a voltage stabilizing circuit, which are used for collecting external data and executing motion actions. The multi-degree-of-freedom mechanical arm comprises a bottom rotating device, a joint rotating device and an end clamping device. The multi-degree-of-freedom mechanical arm utilizes the spatial position information to perform inverse kinematics calculation to obtain the angle distribution of each rudder, so as to realize automatic grabbing of the target object. The end clamping device of the multi-degree-of-freedom mechanical arm is connected with the current feedback module, and the output current is used to determine the clamping force, so as to realize flexible clamping of the target object. The head traces of the upper shell and the lower shell are designed by using the Granville linear equation, so as to realize efficient drag reduction. The ducted propeller comprises two horizontal propellers, three vertical propellers and one side propeller, which are used to control the underwater vehicle to move in all degrees of freedom and complex movements of roll, pitch and yaw. The bottom of the electronic sealed cabin is provided with a waterproof knob switch. The underwater vehicle with the force feedback mechanical arm is powered by the lithium battery pack in the energy and power module, and the starting circuit is designed by using a relay to control and protect the main circuit.

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