Omnibearing steering vector propulsion device

Abstract

The utility model discloses an omni-directional steering vector propulsion device. The omni-directional steering vector propelling device comprises a steering engine fixing base used for being connected with a submersible vehicle body to be propelled; the direction control steering engine assembly is coupled to the steering engine fixing base and comprises a plurality of direction control steering engines; the steering engine connecting frame assembly comprises a plurality of steering engine connecting frames, and the corresponding steering engine connecting frames in the plurality of steering engine connecting frames and the corresponding direction control steering engines in the plurality of direction control steering engines are alternately arranged in sequence; the propellers are coupled to the end, away from the steering engine fixing base, of the steering engine connecting frame and suitable for at least partially outputting force used for propelling the submersible vehicle body in the working state. In this way, sensitive sailing of the omni-directional steering vector propelling device is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater equipment's technical field especially relates to a kind of all-around steering vector propulsion device. BACKGROUND

[0002] With the development of science and technology, propulsion device is applied to life, and as part of underwater autonomous robot (AUV), the propulsion mode commonly used by underwater autonomous robot is traditional propeller propulsion, generally single propeller or multiple propulsion configuration, the change of its heading is controlled by X rudder, cross rudder, or controlled by the auxiliary propeller of the two sides of submersible, but the current propulsion device and control mode are not suitable for complex terrain navigation, the structure is complex, too many parts, poor propulsion efficiency, and processing and assembly are complex, steering effect needs to be improved, and full-direction steering cannot be efficiently realized. SUMMARY

[0003] The utility model aims at overcoming the insufficient of prior art, provide a kind of all-around steering vector propulsion device.Due to the utility model discloses the following technical scheme: rudder fixed base, for connecting the main body of submersible to be propelled;Direction control rudder assembly, coupled to the rudder fixed base and including multiple direction control rudders;Rudder connecting frame assembly, including multiple rudder connecting frames, corresponding rudder connecting frame in multiple rudder connecting frames and corresponding direction control rudder in multiple direction control rudders are arranged alternately in sequence;And multiple propellers, coupled to the rudder connecting frame away from one end of the rudder fixed base and adapted to at least partially output force for propelling the main body of submersible in working state.

[0004] In some embodiments, the rudder connecting frame assembly includes multiple first U-shaped rudder connecting frames and multiple second U-shaped rudder connecting frames, and the size of the first U-shaped rudder connecting frame is greater than the size of the second U-shaped rudder connecting frame.

[0005] In some embodiments, the direction control rudder assembly includes: a first direction control rudder, the non-rotating shaft end of which is coupled to the bottom edge of a first sub-connection frame in multiple first U-shaped rudder connecting frames, and the rotating shaft end of which is coupled to the rudder fixed base;A second direction control rudder, the non-rotating shaft end of which is coupled to the side edge of the first sub-connection frame, and the rotating shaft end of which is coupled to the side edge of a fourth sub-connection frame in multiple second U-shaped rudder connecting frames;A third direction control rudder, the non-rotating shaft end of which is coupled to the side edge of a second sub-connection frame in multiple first U-shaped rudder connecting frames, and the rotating shaft end of which is coupled to the side edge of a fifth sub-connection frame in multiple second U-shaped rudder connecting frames, wherein the bottom edge of the second sub-connection frame and the bottom edge of the fourth sub-connection frame are fixed.

[0006] In some embodiments, a bottom side of the third sub-connection frame of the plurality of first U-shaped steering engine connections is fixed to the second sub-connection frame, and a side of the third sub-connection frame is coupled to the thruster.

[0007] In some embodiments, a side of the third sub-connection frame is coupled to the thruster via a thruster fixing block.

[0008] In some embodiments, the steering engine fixing base is provided with a groove that receives the first direction control steering engine.

[0009] In some embodiments, the underwater vehicle body comprises an underwater autonomous robot body.

[0010] In some embodiments, respective steering engine connection frames of the plurality of steering engine connection frames and respective direction control steering engines of the plurality of direction control steering engines are arranged alternately in sequence and are rotated via control of the respective direction control steering engines.

[0011] In the embodiment of the utility model, steering engine fixing base is used for connecting underwater vehicle body to be propelled, thruster is arranged on one side of steering engine fixing base, the thruster is used for outputting propelling force in working state, steering engine assembly is arranged between steering engine fixing base and thruster, the steering engine assembly comprises a plurality of steering engines, the plurality of steering engines are arranged in sequence and form a plurality of azimuth rotating control modules, each rotating control module controls corresponding direction control and makes omnibearing steering adjustment to thruster, realizes that steering engine fixing base and underwater vehicle body navigate under the driving of steering engine assembly and thruster, realizes 360 degree omnibearing power steering of steering engine fixing base and underwater vehicle body based on the omnibearing steering adjustment of thruster, guarantees the sensitive navigation of omnibearing steering vector propelling device, and then helps underwater vehicle to adapt to complex underwater or seabed topography. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced as follows, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0013] Figure 1 It is part of the omnibearing steering vector propelling device in the embodiment of the utility model,

[0014] Figure 2 It is the side view data diagram of the hull of the underwater vehicle body in the embodiment of the utility model,

[0015] Figure 3is a flowchart of the control method of the omnibearing steering vector propulsion device in the embodiment of the utility model;

[0016] Figure 4 is a flowchart of S11 in the control method of the omnibearing steering vector propulsion device in the embodiment of the utility model;

[0017] Figure 5 is a flowchart of S12 in the control method of the omnibearing steering vector propulsion device in the embodiment of the utility model;

[0018] Figure 6 is a flowchart of S13 in the control method of the omnibearing steering vector propulsion device in the embodiment of the utility model;

[0019] Figure 7 is a flowchart of S14 in the control method of the omnibearing steering vector propulsion device in the embodiment of the utility model;

[0020] Figure 8 is a flowchart of S15 in the control method of the omnibearing steering vector propulsion device in the embodiment of the utility model;

[0021] Figure 9 is a flowchart of S16 in the control method of the omnibearing steering vector propulsion device in the embodiment of the utility model. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0023] Please refer to Figure 1 An omnibearing steering vector propulsion device comprises a rudder machine fixed base 1, a direction control rudder machine assembly, a rudder machine connecting frame assembly and a plurality of propellers, wherein the rudder machine fixed base 1 is used for connecting an AUV submarine main body to be propelled. The direction control rudder machine assembly is coupled to the rudder machine fixed base 1 and comprises a plurality of direction control rudder machines. The rudder machine connecting frame assembly comprises a plurality of rudder machine connecting frames, and corresponding rudder machine connecting frames in the plurality of rudder machine connecting frames and corresponding direction control rudder machines in the plurality of direction control rudder machines are arranged alternately in sequence and rotate via the control of the corresponding direction control rudder machines in the plurality of direction control rudder machines. The plurality of propellers 4 are coupled to the rudder machine connecting frames away from one end of the rudder machine fixed base 1 and are adapted to output at least partially a force for propelling the submarine main body in a working state.

[0024] With reference to the drawings Figure 1 In one embodiment, the rudder connecting frame assembly comprises a plurality of first U-shaped rudder connecting frames 2 and a plurality of second U-shaped rudder connecting frames 6, the size of the first U-shaped rudder connecting frames 2 is larger than the size of the second U-shaped rudder connecting frames 6. In other embodiments, the size of the first U-shaped rudder connecting frames 2 can also be equal to the size of the second U-shaped rudder connecting frames 6.

[0025] With reference to the drawings Figure 1 The direction control rudder assembly comprises a first direction control rudder 8, a second direction control rudder 7 and a third direction control rudder 3. The first direction control rudder 8 is coupled to the bottom edge of a first sub-connection frame 21 in the plurality of first U-shaped rudder connecting frames 2 at the shaft end and coupled to the rudder fixed base 1 at the non-shaft end. The non-shaft end of the second direction control rudder 7 is coupled to the side edge of the first sub-connection frame 21, and the shaft end is coupled to the side edge of a fourth sub-connection frame 61 in the plurality of second U-shaped rudder connecting frames 6. The non-shaft end of the third direction control rudder 3 is coupled to the side edge of a second sub-connection frame 22 in the plurality of first U-shaped rudder connecting frames 2, and the shaft end is coupled to the side edge of a fifth sub-connection frame 62 in the plurality of second U-shaped rudder connecting frames 6. The bottom edge of the second sub-connection frame 22 and the bottom edge of the fourth sub-connection frame 61 are fixed. Further, the bottom edge of a third sub-connection frame 23 in the plurality of first U-shaped rudder connecting frames 2 is fixed with the second sub-connection frame 22, and the side edge of the third sub-connection frame 23 is coupled to the thruster 4 via the thruster fixed block 5.

[0026] In a specific implementation, more specifically, for the first direction control rudder 8, the second direction control rudder 7 and the third direction control rudder 3, the plane where the rudder shaft is located is considered as the top surface, and the opposite plane is considered as the bottom surface. The direction from the bottom surface to the top surface along the shaft axis is considered as the positive direction of the rudder z-axis. In addition, two coordinate axes are defined as follows: the y-axis is parallel to the long edge of the rudder bottom surface, and the x-axis is parallel to the short edge of the bottom surface. The three axes form a right-handed system in space, and the direction from the near shaft to the far shaft is the positive direction of the y-axis.

[0027] In a specific embodiment, a recess can be formed in the middle of the rudder fixed base 1, and the first direction control rudder 8 is fixed in the recess. The bottom surface of the first direction control rudder 8 is placed in close contact with the inner bottom of the recess. The shaft of the first direction control rudder 8 is fixed with the bottom edge of the first sub-connection frame 21 in the first U-shaped rudder connecting frame 2. This rudder 30 can control the rotation in the axial direction, thereby realizing one degree of freedom control.

[0028] Further, the non-rotation shaft end of the second direction control steering engine 7 is fixed in the middle of the two side edges of the first sub connecting frame 21, so as to keep the positive direction of the y axis of the second direction control steering engine 7 consistent with the positive direction of the z axis. The bottom of the two second sub connecting frames 22 and the fifth sub connecting frame 61 is fixed, so as to keep the side edges of the two second sub connecting frames 22 and the fifth sub connecting frame 61 parallel. One side is clamped to the rotation shaft end of the second direction control steering engine 7, and the other side is clamped to the non-rotation shaft end of the third direction control steering engine 3. The third direction control steering engine 3 and the second direction control steering engine 7 correspond to the same positive direction of the x axis and the y axis, respectively, so as to form a swing steering engine group with the second direction control steering engine 7, and control the second degree of freedom. Thus, the control of the first direction control steering engine 8, the second direction control steering engine 7 and the third direction control steering engine 3 can realize two-degree-of-freedom rotation, and lay the foundation for vector propulsion.

[0029] Further, the fifth sub connecting frame 62 of the two second U-shaped steering engine connecting frames 6 is clamped to the rotation shaft end of the third direction control steering engine 3, and the other end is supported by the two propeller fixing blocks 5, so as to support the propeller 4. The axial direction of the propeller 4 is kept consistent with the positive direction of the y axis of the second direction control steering engine 7 and the third direction control steering engine 3, so as to form a typical example embodiment of the structure of the omnidirectional steering vector propulsion device. In another embodiment, the steering engine fixed base 1 can be connected with the underwater vehicle body.

[0030] The utility model discloses a kind of omnidirectional steering vector propulsion devices using bionic concept, compared with traditional propulsion device has better steering performance;Compared with the device using bionic concept, the utility model has higher propulsion efficiency.The utility model can be achieved sensitive, efficient propulsion underwater vehicle in practical application process, so as to help underwater vehicle adapt to complex seabed topography.

[0031] In another embodiment, referring to Figure 2 The utility model comprehensively considers various performances of underwater autonomous robot in design, and specific contents are as follows:

[0032] (1) length, width and height of underwater autonomous robot

[0033] The longitudinal length of the main part of underwater autonomous robot (underwater vehicle body, also can be called "hull") is 1m (1000mm), and the lateral width and height are both 0.1m (100mm).

[0034] (2) total volume and total mass of underwater autonomous robot

[0035] The underwater vehicle body is simplified as "cone+truncated cone+column+cone".

[0036] Combined with the volume formula of cone, truncated cone and column,

[0037] It is easy to calculate that the total volume of the main body of the submersible is about 5.5698*10-3m3.

[0038] Considering that it can freely float and dive, assuming a uniform density of 0.9g / cm3,

[0039] The total mass of the main body of the submersible can be calculated to be about 5.01282kg.

[0040] (3) Draft when floating on the water surface

[0041] After assembly, the underwater autonomous robot will be adjusted to float on the water surface in a static state, with about half of it exposed to the water surface, i.e. the draft is about 5cm, by adding counterweights or adding buoyancy blocks, etc.

[0042] (4) Center of gravity position

[0043] The main body of the submersible is rotationally symmetric along the longitudinal axis, so only the position of the center of gravity in the longitudinal direction needs to be considered, which is expressed in terms of the distance from the bow of the boat,

[0044] Center of gravity of cone(y is the distance from the bottom surface), Center of gravity of circular truncated cone(y is the distance from the lower base),

[0045] The center of gravity of the cylinder is at the geometric midpoint, and the weighted sum of the positions of the centers of gravity of each part in the entire geometric body is obtained, and the overall center of gravity is about 478.0993mm from the bow of the boat.

[0046] (5) Inherent stability, heading stability, heading change ability, braking ability, etc.:

[0047] The underwater autonomous robot deviates from the original course and heading under small perturbations, and after the perturbation is removed, it is difficult to return to the original motion state without control, and finally enters non-constant rotational motion, so it does not have inherent stability; The underwater autonomous robot is equipped with a remote control device and can easily return to the original heading or even the original course, so it has heading stability and position stability; The underwater autonomous robot can quickly respond to the instructions from the control device and enter the turning motion, so it has good initial turning ability; The propeller of the underwater autonomous robot can rotate forward and backward, and can stop the underwater autonomous robot in the water in time, so it has emergency braking ability.

[0048]

[0049] The underwater autonomous robot simulates the swing of a real fish tail, which helps to improve the concealment of the underwater autonomous robot and reduce the interference to marine organisms during operation, but is optimized on the basis of fish tail swing propulsion, and is replaced by a propeller to increase the propulsion efficiency and meet different speed requirements. Through pool testing, the propulsion device can effectively reduce the turning radius of the underwater autonomous robot. A simple fish tail can only realize left and right direction turning, and the up and down directions also need to be solved, so the structure is further optimized to vector propulsion in the utility model, which can realize multi-direction turning including vertical upward and vertical downward. The omnidirectional turning makes the submarine not limited to single up and down and left and right turning, and can change in any direction, which is beneficial to the flexible driving of the submarine in various complex terrains. The multi-mode propulsion system allows the submarine body to travel in multiple states, such as high speed or low speed, or forward or backward.

[0050] In the embodiment of the utility model, the rotation control module of multiple directions is formed, each rotation control module controls the corresponding direction control, and the propeller is adjusted in all directions to realize the rudder fixed base and the submarine body driven by the rudder assembly and the propeller to navigate, based on the omnidirectional adjustment of the propeller, the rudder fixed base and the 360 degree omnidirectional power steering of the submarine body are realized, the sensitive navigation of the omnidirectional steering vector propulsion device is ensured, and the submarine is further helped to adapt to complex underwater or seabed terrain.

[0051] Please refer to Figures 3 to 9 A control method of an omnidirectional steering vector propulsion device is applied to the control scene of the omnidirectional steering vector propulsion device.

[0052] Step S11: collect the navigation track of the submarine body;

[0053] Step S12: collect multiple environment parameters based on the environment detection of the navigation track of the submarine body;

[0054] Step S13: collect multiple environment parameters based on the environment detection of the navigation track of the submarine body;

[0055] Step S14: construct a tail propulsion part according to the submarine body, the propeller and the rudder assembly, and define multiple orientation adjustment nodes according to the tail propulsion part, the navigation environment schematic diagram and the water flow velocity;

[0056] Step S15: define a steering space according to each orientation adjustment node and the corresponding environment characteristics, and dynamically adjust the orientation parameters of the rudder assembly according to the multiple interactions of the steering space and the tail propulsion part;

[0057] Step S16: Real-time monitoring of the orientation adjustment of the rudder assembly, constructing an attitude system according to the attitude of the rudder assembly, the attitude of the underwater vehicle body and the attitude of the propeller, defining the propelling parameter of the propeller based on the attitude system, the orientation parameter of the rudder assembly and the water flow speed, and dynamically controlling the propelling parameter of the propeller.

[0058] In the example embodiment of the utility model, through the method in the example embodiment of the utility model, the navigation track of the underwater vehicle body is collected; a plurality of environmental parameters are collected based on the environmental detection of the navigation track of the underwater vehicle body; a navigation environment schematic diagram is constructed based on the navigation track of the underwater vehicle body and the corresponding environmental parameters; a tail propelling part is constructed according to the underwater vehicle body, the propeller and the rudder assembly, a plurality of orientation adjustment nodes are defined according to the tail propelling part, the navigation environment schematic diagram and the water flow speed, the overall consideration of the tail propelling part, the navigation environment schematic diagram and the water flow speed is compatible, the multidimensional control of the tail propelling part, the navigation environment schematic diagram and the water flow speed is realized, and the accuracy of the plurality of orientation adjustment nodes is ensured.

[0059] Further, a turning space is defined according to each orientation adjustment node and corresponding environmental feature, the orientation parameter of the rudder assembly is dynamically adjusted according to the turning space and the multiple interactions of the tail propelling part; the orientation adjustment of the rudder assembly is monitored in real time, an attitude system is constructed according to the attitude of the rudder assembly, the attitude of the underwater vehicle body and the attitude of the propeller, the propelling parameter of the propeller is defined based on the attitude system, the orientation parameter of the rudder assembly and the water flow speed, and the propelling parameter of the propeller is dynamically controlled, the overall consideration of the attitude system, the orientation parameter of the rudder assembly and the water flow speed is compatible, the multiple interactions of the attitude system, the orientation parameter of the rudder assembly and the water flow speed are realized, the accurate control of the propelling parameter of the propeller is ensured, and the dynamic adjustment of the propeller is ensured.

[0060] Reference Figure 4 In step S11, the navigation track of the underwater vehicle body is collected;

[0061] In the specific implementation process of the utility model, the specific steps can be:

[0062] S111: Collecting the position where the underwater vehicle body is located;

[0063] S112: Defining a plurality of trajectories based on the position where the underwater vehicle body is located and a preset target position;

[0064] S113: Constructing a primary trajectory screening mechanism according to the plurality of trajectories, the form of the underwater vehicle body and the propelling power of the omnidirectional turning vector propelling device;

[0065] S114: Associating the primary trajectory screening mechanism and the plurality of trajectories;

[0066] S115: defining a preliminary trajectory set according to the preliminary trajectory screening mechanism and the preliminary screening of the plurality of trajectories;

[0067] S116: defining a corresponding matching degree according to the preliminary trajectory set and the trajectory recorded by the underwater vehicle body;

[0068] S117: defining the optimal trajectory based on the matching degree, the service life of the matching degree, and the water flow velocity, and defining the optimal trajectory as the navigation trajectory of the underwater vehicle body, so as to collect the navigation trajectory of the underwater vehicle body.

[0069] At this time, the position of the underwater vehicle body is collected, the position of the underwater vehicle body is introduced, the position of the underwater vehicle body is controlled, so that the plurality of trajectories is defined based on the position of the underwater vehicle body and the preset target position, the overall consideration of the position of the underwater vehicle body and the preset target position is compatible, and the position of the underwater vehicle body and the preset target position is controlled in multiple dimensions, so as to ensure the comprehensiveness of the plurality of trajectories.

[0070] Further, the preliminary trajectory screening mechanism is constructed according to the plurality of trajectories, the shape of the underwater vehicle body, and the propulsion power of the omnidirectional steering vector propulsion device, the plurality of trajectories, the shape of the underwater vehicle body, and the propulsion power of the omnidirectional steering vector propulsion device are considered as a whole, and the accuracy of the preliminary trajectory screening mechanism is ensured.

[0071] Meanwhile, the preliminary trajectory screening mechanism is associated with the plurality of trajectories, the preliminary trajectory set is defined according to the preliminary screening of the preliminary trajectory screening mechanism and the plurality of trajectories, the preliminary trajectory set is introduced, so that the corresponding matching degree is defined according to the preliminary trajectory set and the trajectory recorded by the underwater vehicle body, and the optimal trajectory is defined based on the matching degree, the service life of the matching degree, and the water flow velocity, and the optimal trajectory is defined as the navigation trajectory of the underwater vehicle body, so as to collect the navigation trajectory of the underwater vehicle body, realize the multi-stage screening of the trajectory, and gradually accurately control in the multi-stage screening, so as to ensure the accuracy of the navigation trajectory of the underwater vehicle body.

[0072] Reference Figure 5 In step S12, a plurality of environmental parameters are collected based on the environmental detection of the navigation trajectory of the underwater vehicle body.

[0073] In the specific implementation process of the utility model, the specific steps can be:

[0074] S121: freezing the navigation trajectory of the underwater vehicle body;

[0075] S122: regionally detecting the navigation trajectory of the underwater vehicle body;

[0076] S123: defining the region covered by the navigation trajectory of the underwater vehicle body based on the regional detection of the navigation trajectory of the underwater vehicle body;

[0077] S124: triggering corresponding environment detection according to the area covered by the navigation track of the submarine body;

[0078] S125: collecting a plurality of environment parameters based on the environment detection of the navigation track of the submarine body.

[0079] In the embodiment of the present application, the navigation track of the submarine body is fixed, the navigation track of the submarine body is introduced, the navigation track of the submarine body is regionally detected, and the area covered by the navigation track of the submarine body is defined based on the regional detection of the navigation track of the submarine body, so as to realize the regional detection of the navigation track of the submarine body, fully consider the navigation track of the submarine body, and ensure the accuracy of the area covered by the navigation track of the submarine body.

[0080] Therefore, corresponding environment detection is triggered according to the area covered by the navigation track of the submarine body, and a plurality of environment parameters are collected based on the environment detection of the navigation track of the submarine body, so as to realize the environment detection of the navigation track of the submarine body, fully consider a plurality of positions in the navigation track of the submarine body, so as to control the environment along the navigation track of the submarine body, ensure the accuracy of the plurality of environment parameters, and overall control the plurality of environment parameters and corresponding positions.

[0081] Reference Figure 6 In step S13, a plurality of environment parameters are collected based on the environment detection of the navigation track of the submarine body.

[0082] In the specific implementation process of the present application, the specific steps can be:

[0083] S131: fixing a plurality of environment parameters;

[0084] S132: matching the navigation track of the submarine body and the corresponding environment parameters, and forming an environment combination of each navigation position;

[0085] S133: defining corresponding environment features based on the environment combination of each navigation position;

[0086] S134: sorting each navigation position and multiple interactions of each environment feature;

[0087] S135: forming a corresponding environment dynamic space according to the multiple interactions of each environment feature;

[0088] S136: constructing a navigation environment schematic diagram according to a plurality of environment dynamic spaces and the navigation track of the submarine body.

[0089] In the embodiment of the present application, multiple environmental parameters are defined, multiple environmental parameters are introduced, and multiple environmental parameters are overall controlled, so as to match the navigation track of the underwater vehicle body and the corresponding environmental parameters, and form the environmental combination of each navigation position, realize the environmental control of each navigation position, and ensure the accuracy of the environmental combination of each navigation position.

[0090] Therefore, the corresponding environmental characteristics are defined based on the environmental combination of each navigation position; each navigation position is sorted, and multiple interactions of each environmental characteristic are ensured.

[0091] Further, the corresponding environmental dynamic space is formed according to the multiple interactions of each environmental characteristic; the navigation environment diagram is constructed according to the multiple environmental dynamic spaces and the navigation track of the underwater vehicle body, multiple environmental dynamic spaces and the navigation track of the underwater vehicle body are introduced, the overall consideration of multiple environmental dynamic spaces and the navigation track of the underwater vehicle body is realized, the multidimensional control of multiple environmental dynamic spaces and the navigation track of the underwater vehicle body is realized, and the accuracy of the navigation environment diagram is ensured.

[0092] Reference Figure 7 In S14, the tail propulsion part is constructed according to the underwater vehicle body, the propeller and the rudder assembly, and multiple orientation adjustment nodes are defined according to the tail propulsion part, the navigation environment diagram and the water flow speed.

[0093] In the specific implementation process of the present application, the specific steps can be:

[0094] S141: associate the navigation environment diagram and the omnidirectional steering vector propulsion device;

[0095] S142: define the underwater vehicle body, the propeller and the rudder assembly based on the traversal of the omnidirectional steering vector propulsion device;

[0096] S143: define a multidimensional parameter system based on the multiple interactions of the underwater vehicle body, the propeller and the rudder assembly;

[0097] S144: construct the tail propulsion part based on the multidimensional parameter system, the underwater vehicle body, the propeller and the rudder assembly;

[0098] S145: associate the tail propulsion part, the navigation environment diagram and the water flow speed;

[0099] S146: define multiple orientation adjustment nodes according to the tail propulsion part, the navigation environment diagram and the water flow speed.

[0100] In the embodiment of the present application, the navigation track of the submarine body is collected; a plurality of environmental parameters are collected based on the environmental detection of the navigation track of the submarine body; a navigation environment sketch is constructed based on the navigation track of the submarine body and the corresponding environmental parameters; a tail propulsion part is constructed according to the submarine body, the propeller and the rudder assembly, and a plurality of orientation adjustment nodes are defined according to the tail propulsion part, the navigation environment sketch and the water flow speed, which is compatible with the overall consideration of the tail propulsion part, the navigation environment sketch and the water flow speed, realizes the multidimensional control of the tail propulsion part, the navigation environment sketch and the water flow speed, and guarantees the accuracy of the plurality of orientation adjustment nodes.

[0101] At this time, the navigation environment sketch and the omnidirectional steering vector propulsion device are associated; the submarine body, the propeller and the rudder assembly are defined based on the traversal of the omnidirectional steering vector propulsion device, which realizes the traversal of the omnidirectional steering vector propulsion device, leads to the submarine body, the propeller and the rudder assembly, and makes overall consideration of the submarine body, the propeller and the rudder assembly.

[0102] Further, a multidimensional parameter system is defined based on the multiple interactions of the submarine body, the propeller and the rudder assembly, which realizes the multiple interactions of the submarine body, the propeller and the rudder assembly, guarantees the multidimensional control of the multidimensional parameter system, and improves the accuracy of the multidimensional parameter system.

[0103] Therefore, the tail propulsion part is constructed based on the multidimensional parameter system, the submarine body, the propeller and the rudder assembly; the tail propulsion part, the navigation environment sketch and the water flow speed are associated; and a plurality of orientation adjustment nodes are defined according to the tail propulsion part, the navigation environment sketch and the water flow speed, which is compatible with the overall consideration of the tail propulsion part, the navigation environment sketch and the water flow speed, realizes the multidimensional control of the tail propulsion part, the navigation environment sketch and the water flow speed, and guarantees the accuracy of the plurality of orientation adjustment nodes.

[0104] Reference Figure 8 In S15, a steering space is defined according to each orientation adjustment node and the corresponding environmental feature, and the orientation parameter of the rudder assembly is dynamically adjusted according to the multiple interactions of the steering space and the tail propulsion part;

[0105] In the specific implementation process of the present application, the specific steps can be:

[0106] S151: freeze each orientation adjustment node;

[0107] S152: associate each orientation adjustment node and the corresponding environmental feature;

[0108] S153: define a plurality of space parameters according to each orientation adjustment node and the corresponding environmental feature, and define a steering space according to the multidimensional control of the plurality of space parameters;

[0109] S154: associate the turning space and the tail propulsion part;

[0110] S155: multiple interactions are performed on the turning space and the tail propulsion part;

[0111] S156: dynamically adjust the orientation parameter of the rudder assembly based on the multiple interactions of the turning space and the tail propulsion part.

[0112] In the embodiments of the present application, each orientation adjustment node is fixed and controlled, and each orientation adjustment node is associated with the corresponding environmental features. A plurality of space parameters are defined according to each orientation adjustment node and the corresponding environmental features, and a turning space is defined according to the multidimensional control of the plurality of space parameters, thereby achieving multidimensional control of the plurality of space parameters and ensuring the accuracy of the turning space.

[0113] Therefore, the turning space and the tail propulsion part are associated, multiple interactions are performed on the turning space and the tail propulsion part, and the orientation parameter of the rudder assembly is dynamically adjusted based on the multiple interactions of the turning space and the tail propulsion part, thereby achieving multiple interactions of the turning space and the tail propulsion part and ensuring the adjustment accuracy of the orientation parameter of the rudder assembly.

[0114] Reference Figure 9 In S16, the orientation adjustment of the rudder assembly is monitored in real time, a posture system is constructed according to the posture of the rudder assembly, the posture of the underwater vehicle body and the posture of the propeller, the propulsion parameter of the propeller is defined based on the posture system, the orientation parameter of the rudder assembly and the water flow speed, and the propulsion parameter of the propeller is dynamically controlled;

[0115] In the specific implementation process of the present application, the specific steps can be:

[0116] S161: trigger the orientation adjustment of the rudder assembly according to the orientation parameter of the rudder assembly, and monitor the orientation adjustment of the rudder assembly in real time;

[0117] S162: during the orientation adjustment of the rudder assembly, the posture of the rudder assembly, the posture of the underwater vehicle body and the posture of the propeller are collected;

[0118] S163: associate the posture of the rudder assembly, the posture of the underwater vehicle body, the posture of the propeller and the water depth position; construct a posture system according to the posture of the rudder assembly, the posture of the underwater vehicle body, the posture of the propeller and the water depth position;

[0119] S164: associate the posture system, the orientation parameter of the rudder assembly and the water flow speed;

[0120] S165: define a first propulsion parameter according to the orientation parameter of the rudder assembly and the attitude system, and define a second propulsion parameter according to the water flow speed and the attitude system;

[0121] S166: define the propulsion parameter of the propeller based on the first propulsion parameter and the second propulsion parameter, and dynamically control the propulsion parameter of the propeller.

[0122] In the specific implementation process of the utility model, the steering space is defined according to each orientation adjustment node and the corresponding environmental characteristics, the orientation parameter of the rudder assembly is dynamically adjusted according to the steering space and the multiple interactions of the tail propulsion part, the orientation adjustment of the rudder assembly is monitored in real time, the attitude system is constructed according to the attitude of the rudder assembly, the attitude of the underwater vehicle main body and the attitude of the propeller, the propulsion parameter of the propeller is defined based on the attitude system, the orientation parameter of the rudder assembly and the water flow speed, and the propulsion parameter of the propeller is dynamically controlled, the overall consideration of the attitude system, the orientation parameter of the rudder assembly and the water flow speed is compatible, the multiple interactions of the attitude system, the orientation parameter of the rudder assembly and the water flow speed are realized, the accurate control of the propulsion parameter of the propeller is ensured, and the dynamic adjustment of the propeller is ensured.

[0123] At this time, the orientation adjustment of the rudder assembly is triggered according to the orientation parameter of the rudder assembly, and the orientation adjustment of the rudder assembly is monitored in real time; in the process of the orientation adjustment of the rudder assembly, the attitude of the rudder assembly, the attitude of the underwater vehicle main body and the attitude of the propeller are collected, the attitude of the rudder assembly, the attitude of the underwater vehicle main body and the attitude of the propeller are introduced, and the attitude of the rudder assembly, the attitude of the underwater vehicle main body and the attitude of the propeller are controlled.

[0124] Therefore, the attitude of the rudder assembly, the attitude of the underwater vehicle main body, the attitude of the propeller and the water depth position are associated; the attitude system is constructed according to the attitude of the rudder assembly, the attitude of the underwater vehicle main body, the attitude of the propeller and the water depth position, the overall consideration of the attitude of the rudder assembly, the attitude of the underwater vehicle main body, the attitude of the propeller and the water depth position is compatible, the multidimensional control of the attitude of the rudder assembly, the attitude of the underwater vehicle main body, the attitude of the propeller and the water depth position is realized, and the accuracy of the attitude system is ensured.

[0125] Further, the attitude system, the orientation parameter of the rudder assembly and the water flow speed are associated; a first propulsion parameter is defined according to the attitude system and the orientation parameter of the rudder assembly, and a second propulsion parameter is defined according to the attitude system and the water flow speed; the propulsion parameter of the propeller is defined based on the first propulsion parameter and the second propulsion parameter, and the propulsion parameter of the propeller is dynamically controlled, the overall consideration of the attitude system, the orientation parameter of the rudder assembly and the water flow speed is compatible, the multiple interactions of the attitude system, the orientation parameter of the rudder assembly and the water flow speed are realized, the accurate control of the propulsion parameter of the propeller is ensured, and the dynamic adjustment of the propeller is ensured.

[0126] In the embodiment of the utility model, through the method in the embodiment of the utility model, the navigation track of the submarine main body is collected, a plurality of environmental parameters are collected based on the environmental detection of the navigation track of the submarine main body, the navigation environment schematic diagram is constructed based on the navigation track of the submarine main body and the corresponding environmental parameters, the tail propulsion part is constructed according to the submarine main body, the propeller and the steering engine assembly, a plurality of orientation adjustment nodes are defined according to the tail propulsion part, the navigation environment schematic diagram and the water flow velocity, the overall consideration of the tail propulsion part, the navigation environment schematic diagram and the water flow velocity is compatible, the multidimensional control of the tail propulsion part, the navigation environment schematic diagram and the water flow velocity is realized, and the accuracy of the plurality of orientation adjustment nodes is guaranteed.

[0127] Further, the steering space is defined according to each orientation adjustment node and corresponding environmental feature, the orientation parameter of the steering engine assembly is dynamically adjusted according to the multiple interaction of the steering space and the tail propulsion part, the orientation adjustment of the steering engine assembly is monitored in real time, the attitude system is constructed according to the attitude of the steering engine assembly, the attitude of the submarine main body and the attitude of the propeller, the propelling parameter of the propeller is defined based on the attitude system, the orientation parameter of the steering engine assembly and the water flow velocity, and the propelling parameter of the propeller is dynamically controlled, the overall consideration of the attitude system, the orientation parameter of the steering engine assembly and the water flow velocity is compatible, the multiple interaction of the attitude system, the orientation parameter of the steering engine assembly and the water flow velocity is realized, the accurate control of the propelling parameter of the propeller is guaranteed, and the dynamic adjustment of the propeller is guaranteed.

[0128] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a navigation hard disk, etc.) or a network, and includes a plurality of instructions to make a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) execute the method according to the embodiments of the present disclosure.

[0129] Those skilled in the art can understand that all or part of the steps of the various methods of the above embodiments can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium, which can include a read only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. Moreover, the storage medium has computer program instructions stored therein, and when the computer program instructions are executed by a computer, the computer executes the method according to the above.

[0130] In addition, the omnibearing steering vector propulsion device and the control method thereof provided by the embodiments of the utility model are described in detail, the principle and implementation mode of the utility model are described by using specific examples in this paper, and the description of the above embodiments is only used for helping to understand the method and the core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the utility model, the specific implementation mode and the application range will be changed, and according to the above, the content of the specification should not be understood as the limitation of the utility model.

Claims

1. A omni-directional steering vector propulsion device, characterized in that, Comprising: a rudder fixed base (1) for connecting a main body of an underwater vehicle to be propelled; a direction control rudder assembly coupled to the rudder fixed base (1) and comprising a plurality of direction control rudders; a rudder connecting frame assembly comprising a plurality of rudder connecting frames, a respective rudder connecting frame of the plurality of rudder connecting frames being arranged alternately with a respective direction control rudder of the plurality of direction control rudders; and a plurality of thrusters (4) coupled to the rudder connecting frames distal to the rudder fixed base (1) and adapted to output at least partially a force for propelling the main body of the underwater vehicle in a working state.

2. The omnidirectional steering vector propulsion apparatus of claim 1, wherein, The rudder connecting frame assembly comprises a plurality of first U-shaped rudder connecting frames (2) and a plurality of second U-shaped rudder connecting frames (6), the first U-shaped rudder connecting frames (2) being larger in size than the second U-shaped rudder connecting frames (6).

3. The omnidirectional steering vector propulsion apparatus of claim 2, wherein, The direction control rudder assembly comprises: a first direction control rudder (8) coupled at a non-rotating shaft end to a bottom edge of a first sub-connecting frame (21) of the plurality of first U-shaped rudder connecting frames (2) and at a rotating shaft end to the rudder fixed base (1); a second direction control rudder (7) coupled at a non-rotating shaft end to a side edge of the first sub-connecting frame (21) and at a rotating shaft end to a side edge of a fourth sub-connecting frame (61) of the plurality of second U-shaped rudder connecting frames (6); a third direction control rudder (3) coupled at a non-rotating shaft end to a side edge of a second sub-connecting frame (22) of the plurality of first U-shaped rudder connecting frames (2) and at a rotating shaft end to a side edge of a fifth sub-connecting frame (62) of the plurality of second U-shaped rudder connecting frames (6), wherein a bottom edge of the second sub-connecting frame (22) and a bottom edge of the fourth sub-connecting frame (61) are fixed.

4. The omnidirectional steering vector propulsion apparatus of claim 3, wherein, wherein a bottom edge of a third sub-connecting frame (23) of the plurality of first U-shaped rudder connecting frames (2) is fixed with the second sub-connecting frame (22) and a side edge of the third sub-connecting frame (23) is coupled to the thruster (4).

5. The omnidirectional steering vector propulsion apparatus of claim 4, wherein, The side edge of the third sub-connecting frame (23) is coupled to the thruster (4) via a thruster fixing block (5).

6. The omnidirectional turning vector propulsion apparatus of claim 3, wherein, The rudder fixed base (1) is provided with a recess receiving the first direction control rudder (8).

7. The omnidirectional turning vector propulsion apparatus of claim 1, wherein, The main body of the underwater vehicle comprises an underwater autonomous robot main body.

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