Dual-propulsion underwater intelligent robot

Abstract

The utility model discloses a kind of double propulsion underwater intelligent robots.Belongs to underwater intelligent robot technical field, robot adopts disc symmetry structure, is driven by internal gravity adjustment motor to move with double propeller, and six degrees of freedom motion is realized in cooperation, solve the problem of existing multi-propeller UUV large size, high energy consumption.Innovative point lies in that gravity center adjustment is combined with propulsion control, only two propellers are used to realize high degree of freedom motion, and through layered control architecture and vision fusion design, the intelligence and reliability of system are improved, suitable for detection and operation in underwater narrow area.

Description

Technical Field

[0001] This utility model relates to the field of underwater intelligent robot technology, specifically to a dual-propulsion underwater intelligent robot. Background Technology

[0002] Unmanned underwater vehicles (UUVs) have been widely used in marine science, engineering, and security fields, and their autonomous and flexible characteristics allow them to replace humans in performing dangerous tasks. However, existing portable high-degree-of-freedom underwater robots typically rely on multiple thrusters (e.g., 4-8) to achieve six degrees of freedom of motion. This results in bulky equipment, increased weight, significantly higher energy consumption, and reduced endurance, making it difficult to balance high degrees of freedom with long endurance. In addition, multi-thruster systems are structurally complex, have cumbersome wiring, high maintenance costs, and are difficult to deploy in confined spaces (such as urban sewers and industrial pipelines), severely limiting their application scenarios.

[0003] In existing technologies, some solutions achieve motion control by increasing the number of thrusters or using complex gimbal structures, but none of these solutions resolve the technical contradiction of "multiple thrusters - high energy consumption - large size". For example, traditional six-degree-of-freedom UUVs require thrusters to be arranged in the front-back, left-right, and up-down directions, along with attitude adjustment devices, leading to an exponential increase in system complexity. The spatial layout and dynamic coordination issues of multiple thrusters are even more pronounced in miniaturized designs. Therefore, how to maintain high degrees of freedom of motion while reducing the number of thrusters has become a pressing technical challenge in this field. Utility Model Content

[0004] This invention aims to provide a dual-propulsion underwater intelligent robot based on an internally rotatable counterweight driving the cabin's attitude change, solving the problems of poor portability and insufficient endurance caused by the reliance on multiple thrusters in existing micro UUVs. Through innovative mechanical structure and control logic, it achieves six degrees of freedom of motion using only two external thrusters in conjunction with an internal gravity adjustment system, improving the device's adaptability in confined spaces and its ability to be quickly deployed by a single person.

[0005] To solve the above-mentioned technical problems, the technical solution provided by this utility model is as follows:

[0006] The dual-propulsion underwater intelligent robot consists of a disc-shaped symmetrical cabin with a thruster on each side to provide thrust.

[0007] A gravity adjustment motor and a load-bearing bearing are installed at the center of the cabin. The gravity adjustment motor drives the counterweight to move along a preset trajectory inside the cabin to dynamically adjust the position of the cabin's center of gravity.

[0008] A camera is installed at the center of the front part of the cabin, and a robotic arm extends from the bottom, with a gripper integrated at the end of the robotic arm.

[0009] The cabin integrates a high-performance edge computing board, a microcontroller, an IMU (Inertial Measurement Unit), and a battery module for power supply. The high-performance edge computing board is communicatively connected to the microcontroller, and the IMU is used to sense the cabin's attitude and motion information.

[0010] The robot adjusts the relative position of its center of gravity and the fixed center of buoyancy by using a gravity adjustment motor to create a torque difference between gravity and buoyancy. Combined with the thrust of the two side thrusters, it achieves six degrees of freedom underwater motion.

[0011] Preferably, the buoyancy center of the cabin is located at the geometric center, the counterweight is composed of a battery module and a weight block, and the gravity adjustment motor drives the counterweight to rotate around the axis formed by the gravity adjustment motor (11) and the load-bearing bearing (12).

[0012] Preferably, the thrusters work in coordination with the cabin attitude adjustment through differential control: when the cabin pitch angle is adjusted to angle θ (0°<θ<90°), the thrusters on both sides exert thrust in the same direction to achieve oblique translation; when θ=90°, the thrusters exert thrust to achieve vertical movement; when the thrusters exert thrust in the opposite direction, they drive the cabin to rotate in place around the vertical axis.

[0013] Preferably, the camera is fixedly installed in the cabin, and the cabin rotates in place to replace the traditional gimbal, thereby achieving omnidirectional visual perception.

[0014] Preferably, the cabin is equipped with a fixed bracket for connecting a high-performance edge computing board and a microcontroller. Both sides of the cabin have through holes for connecting to external wiring harnesses, and the through holes are sealed with O-rings to achieve a watertight seal.

[0015] Preferably, the movement space of the cabin is equivalent to an enveloping sphere.

[0016] Preferably, both sides of the cabin are pressure-resistant components, and the pressure-resistant components have external fixing holes.

[0017] Preferably, the six degrees of freedom motion includes horizontal motion, oblique angle translation motion, vertical motion, yaw motion, rotational motion around an axis, and roll motion.

[0018] Preferably, the six degrees of freedom motion is to decompose in-place rotation, attitude adjustment and translation propulsion into basic action units, and realize the six degrees of freedom motion through the combination of "attitude-position" sequence. The pitch angle and roll angle are adjusted by the trajectory motion of the counterweight, the yaw angle is controlled by the differential speed of the thruster, and the translation motion is realized by switching the thruster thrust direction.

[0019] With the above structure, this utility model has the following advantages:

[0020] This invention utilizes a designed internal rotating counterweight structure to achieve underwater attitude self-stabilization, precise adjustment, and six-degree-of-freedom motion with only two thrusters, effectively simplifying the attitude control system while reducing energy consumption and equipment complexity. The entire unit adopts a symmetrical disc design, resulting in a compact and rationally arranged structure. This not only reduces system size and improves deployment flexibility but also provides excellent hydrodynamic performance. Combined with symmetrically arranged thrusters and a center-of-gravity adjustment mechanism, it can flexibly perform in-situ rotation, attitude adjustment, and multi-directional movement, constructing a six-degree-of-freedom underwater motion control mode. This satisfies the flexibility required for operations in complex waters while ensuring clear control logic and efficient execution.

[0021] Furthermore, this system integrates the vision system with the overall rotation control, replacing the traditional multi-degree-of-freedom gimbal structure with a fixed camera and platform rotation. This reduces the system's mechanical complexity and failure rate, significantly improving the stability of visual observation and the overall system integration. Internal functional modules, through standardized interfaces and a highly coupled integrated layout, effectively improve wiring efficiency and system maintainability. The hierarchical control architecture of the upper and lower computers fully combines the advantages of a high-performance AI computing platform and a real-time control unit, enabling the platform to maintain high dynamic response capabilities while possessing strong intelligent perception and task decision-making capabilities, laying a solid foundation for the widespread application of micro underwater robots in various scenarios.

[0022] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of this utility model;

[0025] Figure 2 This is an exploded view of this utility model;

[0026] Figure 3 This is a schematic diagram of the gravity regulating motor of this utility model;

[0027] Figure 4 This is a structural schematic diagram of the fixed bracket of this utility model;

[0028] Figure 5 This is a schematic diagram of the horizontal movement of this utility model;

[0029] Figure 6 This is a schematic diagram of the oblique angle translation motion of this utility model;

[0030] Figure 7 This is a schematic diagram of the vertical movement of this utility model;

[0031] Figure 8 This is a schematic diagram of the yaw motion of this utility model;

[0032] Figure 9 This is a schematic diagram of the rotational motion of this utility model around an axis;

[0033] Figure 10 This is a schematic diagram of the rolling motion of this utility model.

[0034] As shown in the figure: 1. Robotic arm; 2. Threading hole; 3. Lighting lamp; 4. Thruster; 5. Pressure chamber component; 6. Fixing hole; 7. Battery module; 8. IMU inertial measurement unit; 9. Camera; 10. Chamber; 11. Gravity adjustment motor; 12. Load-bearing bearing; 13. High-performance edge computing board; 14. Microcontroller; 15. Fixing bracket. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0036] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0037] The present invention will now be described in further detail in conjunction with the full text.

[0038] Combined with appendix Figures 1-10 As shown, the dual-propulsion underwater intelligent robot includes a disc-shaped symmetrical cabin 10, with a thruster 4 on each of the left and right sides to provide thrust.

[0039] A gravity adjustment motor 11 and a load-bearing bearing 12 are set at the center of the cabin 10. The gravity adjustment motor 11 drives the counterweight to move along a preset trajectory inside the cabin to dynamically adjust the center of gravity position of the cabin 10. Specifically, the gravity adjustment motor 11 and the load-bearing bearing 12 are respectively fixedly connected to the two pressure-resistant chamber components 5 through flanges and are located inside the cabin 10. The output end of the gravity adjustment motor 11 is connected to the IMU inertial measurement unit 8 and the counterweight, and the counterweight is connected to the inside of the load-bearing bearing 12.

[0040] A camera 9 is installed at the center of the front of the cabin 10, and a robotic arm 1 extends from the bottom. A gripper is integrated at the end of the robotic arm 1.

[0041] The cabin 10 integrates a high-performance edge computing board 13, a microcontroller 14, an IMU inertial measurement unit 8, and a battery module 7 for power supply. The high-performance edge computing board 13 is communicatively connected to the microcontroller 14, and the IMU inertial measurement unit 8 is used to sense the attitude and motion information of the cabin 10.

[0042] The robot adjusts the relative position of its center of gravity and the fixed center of buoyancy by using the gravity adjustment motor 11 to create a torque difference between gravity and buoyancy. Combined with the thrust of the two side thrusters 4, it achieves six degrees of freedom underwater motion.

[0043] The center of buoyancy of the cabin 10 is located at the geometric center. The counterweight is composed of battery module 7. The gravity adjustment motor 11 drives the counterweight to move along the track. The radius of the circular track is 1 / 3 to 1 / 2 of the radius of the cabin 10. The weight of the counterweight accounts for 20%-30% of the total weight of the machine.

[0044] The thrusters 4 work in coordination with the attitude adjustment of the cabin 10 through differential control: when the pitch angle of the cabin 10 is adjusted to angle θ, the thrusters 4 on both sides exert thrust in the same direction to achieve oblique translation; when θ = 90°, the thrusters 4 exert thrust to achieve vertical movement; when the thrusters 4 exert thrust in the opposite direction, they drive the cabin 10 to rotate in place around the vertical axis.

[0045] Camera 9 is fixedly installed on the cabin 10. The cabin 10 rotates in place to replace the traditional gimbal, achieving omnidirectional visual perception. The rotation speed of the cabin 10 is 5-15° / s.

[0046] The cabin 10 is equipped with a fixed bracket 1 for connecting the high-performance edge computing board 13 and the microcontroller 14. Both sides of the cabin 10 have wire holes 2 for connecting to external wiring harnesses, and the wire holes 2 are sealed with O-rings to achieve watertight sealing.

[0047] The movement space of the cabin 10 is equivalent to an enveloping sphere.

[0048] Both sides of the cabin 10 are pressure-resistant chamber components 5. External fixing holes 6 are opened on the pressure-resistant chamber components 5. Two thrusters 4 are fixedly connected to the outside of the pressure-resistant chamber components 5 respectively. Lighting lamps 3 are installed on the outside of the pressure-resistant chamber components 5.

[0049] Six degrees of freedom motion includes horizontal motion, oblique angle translation motion, vertical motion, yaw motion, rotational motion around an axis, and roll motion.

[0050] The six-degree-of-freedom motion decomposes stationary rotation, attitude adjustment, and translational propulsion into basic motion units. The six-degree-of-freedom motion is achieved through the combination of "attitude-position" sequences. The pitch and roll angles are adjusted by the trajectory motion of the counterweight, the yaw angle is controlled by the differential speed of the thruster 4, and the translational motion is achieved by switching the thrust direction of the thruster 4.

[0051] Overall structure of the robot:

[0052] The underwater robot adopts a disc-shaped main structure with four thrusters symmetrically arranged on both sides. Each thruster has a rated thrust of 5N and a rotational speed range of 0-3000rpm. A 1080P high-definition camera (9) with a 120° field of view is mounted at the front center. The bottom robotic arm (1) is retractable (maximum extension length 10cm), and the end effector gripper has an adjustable gripping force of 1-5N. A gravity adjustment motor (model N20, torque 0.5N·m) at the center of the cabin drives a battery counterweight (weighing 300g) to move along a circular track with a radius of 5cm inside the cabin via a load-bearing bearing.

[0053] Internal layout as Figure 2 and Figure 3 As shown: The high-performance edge computing board is located in the upper part of the cabin, responsible for image recognition and task planning; the lower-level control board is located in the middle, connecting the IMU inertial measurement unit and the thruster drive circuit. The battery module is located at the bottom, supplying power to each unit through a power distribution board. The entire system is sealed with O-rings (made of nitrile rubber), providing waterproofing to a depth of 50m.

[0054] Visual fusion control process:

[0055] The camera is fixed to the front of the cabin. When omnidirectional observation is required, the lower-level computer controls the differential speed of the thrusters to rotate the cabin in place, and the camera collects 360° images as the cabin rotates. The edge computing board stitches the image sequence to build a panoramic environmental map, with a control cycle of 100ms and image latency ≤150ms.

[0056] Overall structural design: It adopts a disc-shaped symmetrical structure, with a thruster integrated on each of the left and right sides, a camera installed at the front center, and a robotic arm extending from the bottom (with a gripper at the end). The gravity adjustment motor and load-bearing bearing are located at the center of the cabin, and the interior integrates a high-performance edge computing board (upper-level control), a lower-level control board, an IMU inertial measurement unit, and a battery module. Watertightness is achieved through O-ring sealing.

[0057] Attitude self-stabilization mechanism: A disc structure is used to fix the center of buoyancy at the geometric center. A gravity-adjusting motor drives the battery counterweight to move along a trajectory within the cabin, dynamically adjusting the position of the center of gravity. The relative displacement between the center of buoyancy and the center of gravity generates a restoring torque, guiding the cabin to automatically restore a balanced pitch attitude. The symmetrical structure ensures that the center of gravity coincides with the midpoint of the line connecting the thrusters, allowing the cabin to rotate in place around the vertical axis when the thrusters reverse, eliminating the need for additional attitude control devices.

[0058] Hierarchical control architecture: The upper-level controller adopts an AI edge computing platform, responsible for intelligent decision-making, deep learning, and scene perception; the lower-level controller is a microcontroller equipped with a real-time operating system, focusing on sensor data parsing and motor control. The upper and lower-level controllers collaborate through standardized interfaces to achieve parallel processing of computationally intensive tasks and real-time control.

[0059] Propulsion and rotation control principle: The internal counterweight rotation adjusts the cabin pitch angle. When the thrusters tilt to a specific angle with the cabin, the thrusters on both sides can achieve oblique translation (such as vertical movement at 90°) by thrusting in the same direction. The thrusters in opposite directions drive roll rotation. By combining the differential speed of the thrusters and the counterweight adjustment, the heading angle can be adjusted, the forward and backward translation can be achieved and the lateral translation can be achieved, thus constructing a six-degree-of-freedom motion control system.

[0060] Multi-degree-of-freedom motion logic: Rotation, attitude adjustment, and translation propulsion are decomposed into basic motion units, and six degrees of freedom control is achieved through the combination of "attitude-position" sequences. Attitude control relies on the counterweight to adjust the pitch / roll angle, and the thruster differential speed to adjust the yaw angle; displacement control is based on the current attitude and achieves three-dimensional spatial movement by switching the thruster thrust direction. Each degree of freedom motion can be executed independently or in combination.

[0061] Equivalent spherical motion modeling: The motion sweep path of the disk structure approximates a sphere, simplifying the motion space into an envelope sphere, which facilitates 3D path planning and obstacle avoidance algorithm design, and is suitable for motion simulation in confined spaces.

[0062] Modular internal layout: The system is divided into actuators (thrusters, gravity adjustment motors), sensors (IMU, cameras, depth sensors), computing units (edge ​​computing boards, lower-level machines) and power supply units. Each module is connected through standardized interfaces, improving wiring efficiency and maintainability.

[0063] Visual fusion control: The camera is fixed to the cabin and uses the cabin's rotation characteristics to replace the traditional gimbal. The viewpoint is rotated by the shell to achieve omnidirectional visual coverage, reducing mechanical complexity and power consumption, and improving the stability of underwater observation.

[0064] This utility model has the following advantages:

[0065] 1. Simplified structure and reduced energy consumption: It uses only two thrusters in conjunction with an internal counterweight system to achieve six degrees of freedom of motion, which reduces the number of power components by more than 50% compared with the traditional multi-thruster scheme. The equipment volume is reduced by 40%, the weight is reduced by 35%, the energy consumption is reduced by about 30%, and the range is increased by 50%.

[0066] 2. High degree of freedom of motion capability: Through the coordination of the center of gravity-center of buoyancy torque difference and the thruster, it can achieve precise six degrees of freedom of motion, including pitch, roll, yaw, forward and backward, left and right, and up and down. The motion accuracy can reach ±1.5° (angle control) and ±2cm (displacement control).

[0067] 3. Adaptability to confined spaces: The compact disc-shaped design (diameter ≤ 20cm) and the equivalent spherical motion space model allow it to move flexibly within pipes with a diameter ≥ 30cm, making it suitable for complex environments such as urban sewers and industrial pipelines.

[0068] 4. Vision and Control Integration Innovation: The omnidirectional perception solution, which combines a fixed camera with a rotating cabin, reduces the failure rate by 60% and power consumption by 40% compared to the traditional gimbal structure, while improving the stability and continuity of visual data.

[0069] 5. Intelligent decision-making and real-time control: The hierarchical control architecture enables parallel processing of AI algorithms (such as target recognition and path planning) and underlying motion control, with a task response time of ≤50ms, meeting the requirements of real-time operation.

[0070] The working principle of this utility model:

[0071] Step 1, Overall Robot Structure. This UUV adopts a disc-shaped symmetrical structure, integrating a camera, robotic arm, and propulsion system, featuring a compact layout and multi-functional collaborative capabilities.

[0072] Specifically, the robot's overall structure: This underwater robot adopts a disc-shaped main structure design, symmetrical from left to right, with a thruster on each side for underwater attitude and direction control. A camera is mounted at the front center for image acquisition or navigation. A robotic arm extends from the bottom, with a gripper integrated at the end for underwater manipulation or target grasping. A gravity-adjusting motor and load-bearing bearing are located at the center to drive the rotation of the hull. Internally, it houses a high-performance edge computing board and a lower-level control board, responsible for high-level task processing and low-level control, respectively, with power distribution via a power distribution board. The system is equipped with an IMU (Inertial Measurement Unit) for attitude and motion sensing; the battery module is located at the bottom as the primary power source. All electronic units are mounted on a fixed bracket and connected to the outside via wiring holes. The overall structure is watertight using O-rings for sealing.

[0073] Step 2, attitude self-stabilization design, through symmetrical design and internal counterweight adjustment, achieves self-stabilized pitch recovery and in-situ rotation control without the need for additional devices.

[0074] Specifically, to achieve attitude self-stabilization and rapid control response, the entire aircraft adopts a disc-shaped symmetrical structure, ensuring that the center of buoyancy remains at the geometric center of the UUV (e.g., ...). Figure 5 (As shown). An internal gravity-adjusting motor drives a battery-powered counterweight to move along a set trajectory within the cabin, precisely adjusting the center of gravity. During adjustment, the center of buoyancy remains constant. Due to the interaction of buoyancy and gravity, a stable restoring torque is generated, guiding the UUV to naturally return to a balanced pitch attitude. Simultaneously, this symmetrical design ensures that the center of gravity coincides with the midpoint of the thrust line, allowing for "in-situ rotation" around its vertical axis when the thrusters reverse direction. This eliminates the need for additional attitude control devices, improving structural compactness and underwater operational flexibility.

[0075] Step 3: Design a hierarchical control architecture, with high and low level controllers working together to achieve an efficient hierarchical control system for intelligent decision-making and real-time execution.

[0076] Specifically, a high-performance edge computing board is used as the upper-level controller for intelligent decision-making, while the lower-level controller is responsible for real-time execution and sensor response. The control system adopts a hierarchical control architecture to achieve coordinated optimization of intelligent decision-making and real-time control. The upper-level controller uses an embedded edge computing platform with AI capabilities, supporting edge computing, deep learning, reinforcement learning, and intelligent perception tasks in complex scenes. The lower-level controller uses a microcontroller with a real-time operating system, focusing on high-frequency response tasks such as sensor data parsing, motor control command issuance, and attitude adjustment. Through this architectural division, computationally intensive tasks and rapid real-time control do not interfere with each other, achieving efficient and stable system operation.

[0077] Step 4: The function and rotation control principle of the thruster. By combining the thruster thrust with the cabin attitude adjustment, motion control of multi-angle translation and multi-axis attitude rotation can be achieved.

[0078] Specifically, the internal counterweight rotation drives the pitch change of the cabin, achieving low-speed, high-stability attitude adjustment. When the cabin (thrusters) is adjusted to a specific angle, oblique angle translational motion can be achieved through the unidirectional thrust of the two thrusters (e.g., Figure 6 As shown), at an angle of 90°, the UUV can achieve vertical movement (e.g., Figure 7 (As shown); the reverse thrust of the thrusters can achieve lateral roll rotation around the horizontal axis. Continuing to combine this with the same-direction thrust of the motors, horizontal translation in the forward and backward directions can be achieved; the reverse thrust of the thrusters can directly drive yaw rotation. If a 90° yaw rotation is first generated using the thrusters, and then the same-direction thrust is applied, the UUV can achieve lateral translation in the initial reference coordinate system, realizing complete six-degree-of-freedom control.

[0079] Step 5: Multi-degree-of-freedom motion control logic. This combines basic actions into attitude-position sequences to construct a flexible six-degree-of-freedom underwater motion control logic.

[0080] Specifically, based on its disk-symmetric structure and ability to rotate in place, the UUV can achieve precise control in six degrees of freedom through the coordinated action of its thrusters and internal counterweights. Its core control logic lies in combining basic actions such as rotation in place, attitude adjustment, and translational propulsion into a continuously controllable sequence of attitude-position changes. Specifically, attitude control relies on the internal counterweights to adjust the pitch and roll angles, while utilizing thruster differentials to adjust the yaw angle; displacement control, based on the current attitude configuration, achieves yaw motion (e.g., yaw) through the thrusters' thrust in the same or opposite directions. Figure 8 As shown), rotational motion around an axis (such as...) Figure 9 (as shown) and rolling motion (as shown) Figure 10 (As shown). The control actions between each degree of freedom are separable and combinable. The controller can dynamically reassemble the command sequence according to the task requirements, thereby completing stable and reliable three-dimensional path planning and attitude response in complex underwater environments. This logic design not only supports complete six-degree-of-freedom motion control, but also provides a feasible foundation for the subsequent construction of an equivalent spherical motion model and multi-task system layout.

[0081] Step 6: Set up an equivalent spherical motion space. The structure is approximately spherical, and the motion space can be simplified to an enveloping sphere, which facilitates 3D path planning and obstacle avoidance modeling.

[0082] Specifically, due to its near-spherical structure, the space required for motion can be considered as an equivalent enclosing sphere, satisfying the six-degree-of-freedom motion requirements. Since the UUV has an overall disk-shaped structure, its sweep path during rotation or attitude adjustment can be approximated as a sphere. Based on this geometric characteristic, motion space calculations can be simplified; the UUV can be considered to require only an operating space large enough to accommodate this maximum circumscribed sphere to perform six-degree-of-freedom motion in any direction. This simplified modeling has significant engineering implications in complex task spaces, especially suitable for motion planning and obstacle avoidance simulation in confined environments.

[0083] Step 7: Modular internal structure layout. The system is divided into modular components to achieve highly integrated and independent operation of execution, perception, computing, and power supply.

[0084] Specifically, the internal system is divided into actuators, sensors, computing units, and power supply units, achieving a functionally independent yet highly integrated system architecture. The actuator section includes two external thrusters and one internal gravity-adjusting motor. The external thrusters provide thrust support in all directions, requiring sufficient thrust and rapid response; the internal gravity-adjusting motor needs to output sufficient torque within the confined space to drive the internal counterweight to rotate. The sensor section includes an inertial measurement unit (IMU), a depth sensor, and a fixed camera. The IMU is mounted at the center of the housing to acquire precise attitude data; the camera is also rigidly connected to the housing. Leveraging the UUV's in-situ rotation capability, it enables gimbal-free omnidirectional observation, greatly simplifying structural and algorithmic complexity and improving mission adaptability.

[0085] Step 8: Camera and rotation fusion control, using cabin rotation to replace the gimbal, to achieve low power consumption and high reliability omnidirectional visual perception capabilities.

[0086] Specifically, the camera is fixed to the UUV hull, utilizing the hull's rotational characteristics to replace a traditional gimbal and achieve omnidirectional observation capabilities. By leveraging the hull's ability to rotate in place, the UUV can achieve omnidirectional visual coverage without the need for a traditional three-axis gimbal system. The camera is fixed to the UUV hull, and the rotation of the viewing angle is driven by the shell, giving it all-around observation capabilities. This is particularly suitable for operating environments with limited space and high requirements for underwater interference resistance. This design significantly reduces mechanical complexity and power consumption while improving reliability, representing an innovative approach to the deep integration of a stationary rotating platform with visual tasks.

[0087] The present invention and its embodiments have been described above. This description is not restrictive, and the embodiments shown throughout the text are only one of the embodiments of the present invention. The actual structure is not limited to this. In conclusion, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the inventive spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. A dual-propulsion underwater intelligent robot, characterized in that, It includes a disc-shaped symmetrical cabin (10), with a thruster (4) on each of the left and right sides to provide thrust; A gravity adjustment motor (11) and a load-bearing bearing (12) are provided at the center of the cabin (10). The gravity adjustment motor (11) drives a counterweight consisting of a battery and a weight to move around the axis formed by the gravity adjustment motor (11) and the load-bearing bearing (12) inside the cabin, so as to dynamically adjust the center of gravity position of the cabin (10). A camera (9) is installed at the center of the front part of the cabin (10), and a robotic arm (1) is extended from the bottom. The end of the robotic arm (1) is integrated with a clamping gripper. The cabin (10) integrates a high-performance edge computing board (13), a microcontroller (14), an IMU inertial measurement unit (8), and a battery module (7) for power supply. The high-performance edge computing board (13) is communicatively connected to the microcontroller (14), and the IMU inertial measurement unit (8) is used to sense the attitude and motion information of the cabin (10). The robot adjusts the relative position of its center of gravity and fixed center of buoyancy by using a gravity adjustment motor (11) to create a torque difference between gravity and buoyancy. Combined with the thrust of the two side thrusters (4), it achieves underwater six-degree-of-freedom motion.

2. The dual-propulsion underwater intelligent robot according to claim 1, characterized in that: The center of buoyancy of the cabin (10) is located at the geometric center. The counterweight is composed of a battery module (7). The gravity adjustment motor (11) drives the counterweight to rotate around the axis formed by the gravity adjustment motor (11) and the load-bearing bearing (12).

3. The dual-propulsion underwater intelligent robot according to claim 1, characterized in that: The thrusters (4) work in coordination with the attitude adjustment of the cabin (10) through differential control: when the pitch angle of the cabin (10) is adjusted to angle θ (0°<θ<90°), the thrusters (4) on both sides exert thrust in the same direction to achieve oblique translation; when θ=90°, the thrusters (4) exert thrust to achieve vertical movement; when the thrusters (4) exert thrust in the opposite direction, they drive the cabin (10) to rotate in place around the vertical axis.

4. The dual-propulsion underwater intelligent robot according to claim 1, characterized in that: The camera (9) is fixedly installed on the cabin (10), and the cabin (10) rotates in place to replace the traditional gimbal, thereby achieving omnidirectional visual perception.

5. The dual-propulsion underwater intelligent robot according to claim 1, characterized in that: The cabin (10) is equipped with a fixed bracket (15) for connecting a high-performance edge computing board (13) and a microcontroller (14). Both sides of the cabin (10) have wire holes (2) for connecting to external wiring harnesses, and the wire holes (2) are sealed with O-rings to achieve watertight sealing.

6. The dual-propulsion underwater intelligent robot according to claim 1, characterized in that: The movement space of the cabin (10) is equivalent to an envelope sphere.

7. The dual-propulsion underwater intelligent robot according to claim 1, characterized in that: Both sides of the cabin (10) are pressure-resistant cabin components (5), and external fixing holes (6) are opened on the pressure-resistant cabin components (5). The two thrusters (4) are respectively fixedly connected to the outside of the pressure-resistant cabin components (5), and lighting lamps (3) are installed on the outside of the pressure-resistant cabin components (5).

8. The dual-propulsion underwater intelligent robot according to claim 1, characterized in that: The six degrees of freedom motion includes horizontal motion, oblique angle translation motion, vertical motion, yaw motion, rotational motion around the axis, and roll motion.

9. The dual-propulsion underwater intelligent robot according to claim 8, characterized in that: The six degrees of freedom motion is to decompose the stationary rotation, attitude adjustment and translation propulsion into basic action units, and realize the six degrees of freedom motion through the combination of "attitude-position" sequence. The pitch angle and roll angle are adjusted by the trajectory motion of the counterweight, the heading angle is controlled by the differential speed of the thruster (4), and the translation motion is realized by switching the thrust direction of the thruster (4).

Images