An underwater robot

Abstract

The application discloses an underwater robot. The underwater robot comprises a robot body, panoramic cameras comprising a first panoramic camera and a second panoramic camera, the first panoramic camera and the second panoramic camera being arranged on a top surface and a bottom surface of the robot body respectively, the first panoramic camera and the second panoramic camera having a partial visual angle overlap area and being used for collecting panoramic visual information around the robot body, and a propulsion system comprising at least two pairs of vector propellers and at least one pair of horizontal propellers, the propulsion system being directly assembled on the robot body, the at least two pairs of vector propellers being symmetrically arranged relative to a central axis of the robot body, and the at least one pair of horizontal propellers being symmetrically arranged relative to the central axis of the robot body. In this way, no dead angle visual coverage is achieved around the underwater robot, and the environmental adaptability of the underwater robot is improved.

Description

Technical Field

[0001] This application relates to the field of underwater robot technology, and in particular to an underwater robot. Background Technology

[0002] The underwater environment suffers from severe medium absorption and scattering effects, leading to a sharp attenuation of light and a significant decrease in image quality. This severely limits the visual perception capabilities of traditional underwater equipment under complex conditions such as low light and high turbidity, making it difficult to acquire sufficiently rich visual information. The single-light source and single-view camera configuration commonly used in existing underwater robots cannot overcome the multiple challenges arising from this, such as local shadow occlusion, specular reflection interference, and blind spots, directly restricting their operational accuracy and safety.

[0003] Therefore, breaking through the limitations of a single visual perception mode and developing underwater robots with stronger environmental adaptability and robust visual capabilities has become an urgent need to improve their autonomous operation performance in complex underwater scenarios. Utility Model Content

[0004] This application provides an underwater robot to address the problem that underwater robots are limited by visual perception, resulting in insufficient autonomous operation capabilities in complex underwater scenarios.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is to provide an underwater robot. The underwater robot includes: The robot itself; A panoramic camera system includes a first panoramic camera and a second panoramic camera. The first panoramic camera and the second panoramic camera are respectively disposed on the top and bottom surfaces of the robot body. The first panoramic camera and the second panoramic camera have partially overlapping viewing areas and are used together to collect panoramic visual information around the robot body. The propulsion system includes at least two pairs of vector thrusters and at least one pair of horizontal thrusters, the propulsion system being directly mounted to the robot body; the at least two pairs of vector thrusters are symmetrically arranged with respect to the central axis of the robot body, and the at least one pair of horizontal thrusters are symmetrically arranged with respect to the central axis of the robot body. In some embodiments, the first panoramic camera and the second panoramic camera are detachably or movably connected to the robot body, respectively.

[0006] In some embodiments, the underwater robot further includes a forward-facing camera disposed on the head of the robot body, the forward-facing camera being used to acquire visual information about the underwater robot's direction of travel.

[0007] In some embodiments, the underwater robot further includes at least one forward illuminator disposed on the head of the robot body, the forward illuminator being used to provide auxiliary lighting for the forward camera.

[0008] In some embodiments, the underwater robot further includes a first illuminator disposed on the top surface of the robot body and a second illuminator disposed on the bottom surface of the robot body, wherein the first illuminator is used to provide auxiliary lighting for the first panoramic camera and the second illuminator is used to provide auxiliary lighting for the second panoramic camera.

[0009] In some embodiments, the first panoramic camera and the second panoramic camera are symmetrically distributed, and the first illuminator and the second illuminator are also symmetrically arranged.

[0010] In some embodiments, the first illuminator includes two first sub-illuminators distributed on both sides of the first panoramic camera, and the second illuminator includes two second sub-illuminators distributed on both sides of the second panoramic camera.

[0011] In some embodiments, the number of vector thrusters is four, and the number of horizontal thrusters is two; the four vector thrusters are oriented along the four corners of the robot body and are symmetrically arranged with respect to the central axis of the robot body to provide vertical and lateral thrust; the two horizontal thrusters are symmetrically arranged on both sides of the robot body to provide forward thrust.

[0012] In some embodiments, the two vector thrusters located on the same side of the robot body are oriented differently.

[0013] In some embodiments, each of the horizontal thrusters is located between the two vector thrusters on the same side.

[0014] The beneficial effects of this application are as follows: Unlike existing technologies, this application discloses an underwater robot. By placing a first panoramic camera and a second panoramic camera on the top and bottom surfaces of the robot body respectively, a panoramic vision system is constructed on the underwater robot, achieving blind-spot-free visual coverage of the surrounding environment. This completely eliminates the blind spots of perception from a single perspective. The panoramic vision imaging mechanism can acquire sufficiently rich visual information, suppressing local shadows and specular reflection interference caused by a single light source, significantly improving the robustness and reliability of acquiring visual information in complex underwater scenes. The complete and high-quality panoramic visual information obtained provides key data support for the underwater robot's precise positioning, navigation, obstacle avoidance, and fine operation, thereby greatly improving its operational accuracy, operational safety, overall environmental adaptability, and autonomous operation capabilities in complex underwater scenes. Attached Figure Description

[0015] 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, wherein: Figure 1 This is a schematic diagram of the structure of an embodiment of the underwater robot provided in this application; Figure 2 yes Figure 1 A schematic diagram of the underwater robot from another perspective; Figure 3 This is a structural schematic diagram of another embodiment of the underwater robot provided in this application. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0017] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0018] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0019] This application provides an underwater robot 100, see reference. Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of an embodiment of the underwater robot provided in this application. Figure 2 yes Figure 1 The diagram shows the structure of the underwater robot from another perspective.

[0020] The underwater robot 100 includes a robot body 10 and a panoramic camera 20. The panoramic camera 20 includes a first panoramic camera 21 and a second panoramic camera 22. The first panoramic camera 21 and the second panoramic camera 22 are respectively disposed on the top surface 11 and the bottom surface 12 of the robot body 10. The first panoramic camera 21 and the second panoramic camera 22 have a partially overlapping viewing area and are used together to collect panoramic visual information around the robot body 10. The robot body 100 also includes a propulsion system directly mounted on the robot body 10. The propulsion system includes at least two pairs of vector thrusters 141 and at least one pair of horizontal thrusters 142. The at least two pairs of vector thrusters 141 are symmetrically arranged with respect to the central axis of the robot body 10, and the at least one pair of horizontal thrusters 142 are symmetrically arranged with respect to the central axis of the robot body 10.

[0021] The robot body 10 can be the body of an autonomous robot (AUV), a remotely operated vehicle (ROV), an unmanned underwater vehicle (USV), a towed navigation device, a diver's control console, or a deep-sea submersible, etc. The robot body 10 is typically a streamlined pressure-resistant shell structure, which houses essential functional units such as a control system, energy module, and communication module (not shown in the figure). It should be noted that the top surface 11 and the bottom surface 12 can also be understood as the upper shell and lower shell of the robot body 10, and the shape of the shell is not limited.

[0022] The robot body 10, as the main structure of the underwater robot 100, includes not only the essential functional units of the underwater robot 100, but may also include components for performing specific behaviors of the underwater robot 100; for example, it may have components related to safety search and rescue, pipeline maintenance, and energy exploration; for example, it may also be equipped with at least one of the following operational components: a robotic arm, a cutter, and a cleaner. In this embodiment, the behavioral functions and functional components of the underwater robot 100 are not specifically limited.

[0023] In this embodiment, the underwater robot 100 includes four vector thrusters 141 and two horizontal thrusters 142 disposed on the robot body 10. The four vector thrusters 141 are oriented along the four corners of the robot body 10 and are symmetrically arranged with respect to the central axis of the robot body 10, providing vertical and lateral thrust. The two horizontal thrusters 142 are symmetrically arranged on both sides of the robot body 10, providing forward thrust. Both the vector thrusters 141 and the horizontal thrusters 142 are devices that convert other forms of energy into mechanical energy, and can generate thrust by rotating blades to move the robot body 10.

[0024] Four vector thrusters 141 work together to drive the robot body 10 to move flexibly in three-dimensional space, enabling it to rise, fall, lateral, turn, and adjust its attitude; two horizontal thrusters 142 work together to provide stable forward power, ensuring that the underwater robot 100 can cruise efficiently in complex water flow environments.

[0025] Specifically, each horizontal thruster 142 is located between two vector thrusters 141 on the same side; the horizontal projection of the center point of the two horizontal thrusters 142 is located inside the area formed by the line connecting the horizontal projections of the center points of the four vector thrusters 141, so as to balance the weight distribution of each horizontal thruster 142 and each vector thruster 141 on the robot body 10 and avoid torque deviation during movement.

[0026] Furthermore, the underwater robot 100 also includes a tail fin 16 disposed at the tail of the robot body 10. The tail fin 16 is used to provide navigation stability when the underwater robot 100 is navigating underwater and to reduce the impact of water flow disturbance on the attitude of the robot body 10.

[0027] Optionally, the first panoramic camera 21 and the second panoramic camera 22 are fixedly connected, detachably connected, or movably connected to the robot body 10, respectively. That is, the first panoramic camera 21 can be directly fixedly installed on the top surface 11 of the robot body 10, or detachably installed on the top surface 11 of the robot body 10, or movably connected to the top surface 11 of the robot body 10. The second panoramic camera 22 is also directly fixedly installed on the bottom surface 12 of the robot body 10, or detachably installed on the bottom surface 12 of the robot body 10, or movably connected to the bottom surface 12 of the robot body 10. The two cameras face upward and downward respectively, which can construct a stereoscopic visual perception network covering the entire circumference of the robot, realize the observation of the environment above and below the underwater robot 100 without blind spots, and construct a three-dimensional environment model in real time with the help of image recognition algorithms.

[0028] Optionally, the first panoramic camera 21 can also be fixedly mounted on the top surface 11 of the robot body 10 via a waterproof gimbal (not shown). Correspondingly, the second panoramic camera 22 is fixedly mounted on the bottom surface 12 of the robot body 10 via another waterproof gimbal.

[0029] Specifically, the field of view of the first panoramic camera 21 extends upwards and horizontally, primarily used to collect visual information such as environmental information, water conditions, and targets located above the robot body 10. The field of view of the second panoramic camera 22 extends downwards and horizontally, primarily used to collect visual information such as underwater topography, sediment conditions, and operational targets located below the robot body 10. The fields of view of the first panoramic camera 21 and the second panoramic camera 22 partially overlap in the horizontal direction, ensuring continuous 360° panoramic coverage without blind spots, and achieving panoramic imaging of the environment surrounding the underwater robot 100.

[0030] In this embodiment, the first panoramic camera 21 and / or the second panoramic camera 22 can be any of the following types, but not limited to: fisheye lens camera, panoramic camera module composed of multiple cameras stitched together, or mirror-type panoramic imaging system. Underwater dedicated high-definition cameras with low-light enhancement and color correction capabilities can be preferred to address underwater light attenuation and color shift issues.

[0031] The panoramic camera 20 also includes an image processing unit, which can be integrated into the control system of the robot body 10. This image processing unit is signal-connected to the first panoramic camera 21 and the second panoramic camera 22 to receive and process the panoramic visual information acquired by them. Typical processing performed by this image processing unit includes, but is not limited to: image stitching, distortion correction, multi-view image fusion, and stereo vision-based 3D environment reconstruction. By fusing visual information from both top and bottom views, shadow and reflective areas under a single view can be effectively identified and compensated, generating a clearer and more complete 3D environment model.

[0032] When the underwater robot 100 performs tasks underwater, its top-mounted first panoramic camera 21 and bottom-mounted second panoramic camera 22 are simultaneously activated, continuously acquiring panoramic video streams of the surrounding environment. The acquired raw image data is transmitted in real time to the image processing unit, which processes and fuses the two video streams in real time to generate an enhanced panoramic environmental view without blind spots. This panoramic environmental view is ultimately provided to the underwater robot 100's autonomous navigation system, enabling precise positioning, attitude determination, path planning, and obstacle avoidance. Simultaneously, this panoramic environmental view can also be transmitted in real time to the surface control console via the communication module, providing the operator with an immersive first-person perspective control experience, greatly improving the efficiency and safety of complex operations (such as underwater facility inspection, scientific sampling, and rescue salvage).

[0033] Furthermore, the underwater robot 100 also includes a lighting system 40, which works in conjunction with the panoramic camera 20 to provide stable, uniform and adjustable auxiliary lighting for the panoramic camera 20 to overcome imaging difficulties caused by insufficient underwater natural light and medium scattering.

[0034] The lighting system 40 specifically includes a first illuminator 41 and a second illuminator 42.

[0035] In a preferred embodiment, the first illuminator 41 is fixedly mounted on the top surface 11 of the robot body 10 and is arranged spatially adjacent to the first panoramic camera 21. The first illuminator 41 is used to provide auxiliary lighting for the first panoramic camera 21 to ensure that the light emitted by it can effectively illuminate the horizontal circumference and the water above that the first panoramic camera 21 needs to observe.

[0036] Similarly, the second illuminator 42 is fixedly installed on the bottom surface 12 of the robot body 10 and is arranged adjacent to the second panoramic camera 22 in space. Its configuration is similar to that of the top surface. The second illuminator 42 is used to provide auxiliary lighting for the second panoramic camera 22, mainly to provide direct and effective lighting for the second panoramic camera 22 to observe the seabed topography, the target of operation below, etc.

[0037] In this embodiment, the first illuminator 41 includes two first sub-illuminators 412 distributed on both sides of the first panoramic camera 21 to provide uniform lateral supplementary lighting for the first panoramic camera 21, avoiding overexposure and surrounding shadows caused by the central light source. Similarly, the second illuminator 42 also includes two second sub-illuminators 422 symmetrically arranged on both sides of the second panoramic camera 22 to ensure balanced illumination in the bottom imaging area. Each first sub-illuminator 412 and each second sub-illuminator 422 supports independent dimming, and can dynamically adjust the output brightness according to the water transparency, operating depth, and target reflectivity, further improving image contrast and detail clarity.

[0038] Optionally, multiple first sub-illuminators 412 can be arranged in a ring array around the first panoramic camera 21 to achieve more uniform circumferential illumination coverage and reduce shadow blind spots; similarly, multiple second sub-illuminators 422 can also be arranged in a ring around the second panoramic camera 22 to enhance the illumination consistency of bottom imaging.

[0039] In this embodiment, the first panoramic camera 21 and the second panoramic camera 22 are symmetrically distributed, and the first illuminator 41 and the second illuminator 42 are also symmetrically arranged. This symmetrical structure not only improves the underwater robot 100's ability to synchronously observe the upper and lower fields of view in complex working environments, but also enhances the overall structural balance and optical response consistency of the system.

[0040] By using symmetrically arranged lighting and camera units, the underwater robot can acquire balanced visual information in real time from both the top and bottom spaces when performing inspection, search and rescue, or seabed mapping tasks, effectively avoiding differences in panoramic image quality caused by asymmetrical lighting.

[0041] The symmetrical distribution of the first panoramic camera 21 and the second panoramic camera 22 ensures that the perception range of the upper and lower fields of view is consistent. The symmetrical arrangement of the first illuminator 41 and the second illuminator 42 ensures that the light intensity, angle and range provided for these two symmetrical fields of view are also highly consistent. Thus, a stable and balanced "panoramic illumination field" is constructed around the entire underwater robot 100, which fundamentally eliminates the areas of strong and weak illumination caused by the asymmetrical arrangement of the devices. This makes the acquired panoramic visual information of uniform quality in all directions, providing a high-quality and distortion-free data foundation for subsequent image stitching, fusion and 3D reconstruction.

[0042] The symmetrical layout of the first panoramic camera 21 and the second panoramic camera 22 achieves theoretical coverage without blind spots, while the symmetrical layout of the first illuminator 41 and the second illuminator 42 can most effectively provide supplementary lighting for the symmetrical field of view, so that any panoramic camera can receive effective assistance from the symmetrical side illuminators when observing the edge of its field of view, thereby greatly suppressing the side shadows that may be generated by asymmetrical lighting and further compressing the effective perception blind zone caused by insufficient lighting.

[0043] Because the upper and lower vision-illumination units are physically symmetrical, the control system can implement completely equivalent control strategies for the first illuminator 41 and the second illuminator 42. For example, when it is necessary to enhance the overall ambient brightness, the first illuminator 41 and the second illuminator 42 can be commanded to increase their brightness synchronously and by the same amount. This symmetry simplifies the control logic, improves the predictability and stability of the system, and avoids jitter in robot posture or visual perception caused by asymmetrical response.

[0044] Meanwhile, the coordinated control of the lighting system 40 and the panoramic camera 20 supports an adaptive exposure and brightness matching algorithm, which can automatically optimize the light source output according to changes in ambient light, ensuring high-definition imaging even in turbid water or low-light conditions.

[0045] Both the first illuminator 41 and the second illuminator 42 are LED array lights. LED light sources have the advantages of low power consumption, long lifespan, fast response, and instantaneous on / off operation, making them very suitable for the energy-constrained environment and rapidly changing operational needs of the underwater robot 100.

[0046] Furthermore, both the first illuminator 41 and the second illuminator 42 are signal-connected to the control module within the robot body 10. The control module can dynamically and independently adjust the illumination brightness, on / off status, and even flicker frequency of the first illuminator 41 and the second illuminator 42 based on real-time image information (such as average image brightness, contrast, signal-to-noise ratio, etc.) fed back by the first panoramic camera 21 and the second panoramic camera 22. For example, when the underwater robot 100 is navigating in clear, well-lit upper waters, the first illuminator 41 can be turned down or turned off to save energy; when operating in murky bottom waters, the second illuminator 42 can be turned on at full power to ensure image quality.

[0047] See Figure 3 , Figure 3 This is a structural schematic diagram of another embodiment of the underwater robot provided in this application.

[0048] The underwater robot 100 also includes a forward-facing camera 30 disposed on the head of the robot body 10, which is used to acquire visual information about the direction of travel of the underwater robot 100.

[0049] The forward-facing camera 30 and the panoramic camera 20 have partially overlapping viewpoints, creating a redundant observation area in space and improving the reliability of forward-facing target detection and localization for the underwater robot 100. The high frame rate and high resolution of the forward-facing camera 30 make it more suitable for obstacle recognition, path planning, and fine-grained operations. Furthermore, it can be fused with data from the panoramic camera 20 to achieve accurate target localization and motion prediction in three-dimensional space.

[0050] The forward-facing camera 30 and the panoramic camera 20 complement each other. The high resolution and narrow field of view of the forward-facing camera 30 are suitable for long-distance target recognition and path planning, while the panoramic camera 20 provides a wide range of environmental perception. The two work together through a multi-source image fusion algorithm to achieve a stereo vision perception system that combines near and far distances and takes into account both wide angle and detail in complex underwater environments. This can significantly improve the autonomous navigation accuracy and operational safety of the underwater robot 100.

[0051] Furthermore, the underwater robot 100 also includes at least one forward illuminator 32 disposed on the head of the robot body 10. The forward illuminator 32 is used to provide auxiliary illumination for the forward camera 30 to ensure its imaging quality when observing in low light or at a distance.

[0052] The forward illuminator 32 can also employ a dimmable LED array, working in conjunction with the forward camera 30. It can adjust the light intensity and angle in real time based on image feedback, preventing overexposure or underexposure from affecting the imaging effect. In turbid waters, the underwater robot 100's control module can effectively reduce scattered light interference and improve image contrast through pulsed illumination combined with high-speed imaging.

[0053] Meanwhile, the beam angle of the forward illuminator 32 is precisely matched with the field of view of the forward camera 30, ensuring that the illumination area covers the shooting range to the maximum extent, enhancing the texture recognition capability of distant targets, and providing reliable visual support for fine operations.

[0054] In this embodiment, two forward illuminators 32 are symmetrically arranged on both sides of the forward camera 30 to form a uniform illumination distribution, effectively eliminating unilateral shadows and improving imaging contrast and target recognition accuracy.

[0055] Unlike existing technologies, this application discloses an underwater robot. By placing a first panoramic camera and a second panoramic camera on the top and bottom surfaces of the robot body respectively, a panoramic vision system is constructed on the underwater robot, achieving blind-spot-free visual coverage of the robot's surrounding environment. This completely eliminates the blind spots of perception from a single perspective. The panoramic vision imaging mechanism can acquire sufficiently rich visual information, suppressing local shadows and specular reflection interference caused by a single light source, significantly improving the robustness and reliability of acquiring visual information in complex underwater scenes. The complete and high-quality panoramic visual information obtained provides key data support for the underwater robot's precise positioning, navigation, obstacle avoidance, and fine operation, thereby greatly improving its operational accuracy, operational safety, overall environmental adaptability, and autonomous operation capabilities in complex underwater scenes.

[0056] The above descriptions are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the description and drawings of this application, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

Claims

1. An underwater robot, characterized in that, The underwater robot includes: The robot itself; A panoramic camera system includes a first panoramic camera and a second panoramic camera. The first panoramic camera and the second panoramic camera are respectively disposed on the top and bottom surfaces of the robot body. The first panoramic camera and the second panoramic camera have partially overlapping viewing areas and are used together to collect panoramic visual information around the robot body. The propulsion system includes at least two pairs of vector thrusters and at least one pair of horizontal thrusters, the propulsion system being directly mounted on the robot body; the at least two pairs of vector thrusters are symmetrically arranged with respect to the central axis of the robot body, and the at least one pair of horizontal thrusters are symmetrically arranged with respect to the central axis of the robot body.

2. The underwater robot according to claim 1, characterized in that, The first panoramic camera and the second panoramic camera are respectively fixedly connected to the robot body, detachably connected, or movably connected.

3. The underwater robot according to claim 1, characterized in that, The underwater robot also includes a forward-facing camera mounted on the head of the robot body, which is used to acquire visual information about the underwater robot's direction of travel.

4. The underwater robot according to claim 3, characterized in that, The underwater robot also includes at least one forward illuminator disposed on the head of the robot body, the forward illuminator being used to provide auxiliary lighting for the forward camera.

5. The underwater robot according to claim 1, characterized in that, The underwater robot also includes a first illuminator disposed on the top surface of the robot body and a second illuminator disposed on the bottom surface of the robot body. The first illuminator is used to provide auxiliary lighting for the first panoramic camera, and the second illuminator is used to provide auxiliary lighting for the second panoramic camera.

6. The underwater robot according to claim 5, characterized in that, The first panoramic camera and the second panoramic camera are symmetrically distributed, and the first illuminator and the second illuminator are also symmetrically arranged.

7. The underwater robot according to claim 5, characterized in that, The first illuminator includes two first sub-illuminators distributed on both sides of the first panoramic camera, and the second illuminator includes two second sub-illuminators distributed on both sides of the second panoramic camera.

8. The underwater robot according to claim 1, characterized in that, The number of vector thrusters is four, and the number of horizontal thrusters is two; the four vector thrusters are oriented along the four corners of the robot body and are symmetrically arranged with respect to the central axis of the robot body to provide vertical and lateral thrust; the two horizontal thrusters are symmetrically arranged on both sides of the robot body to provide forward thrust.

9. The underwater robot according to claim 8, characterized in that, The two vector thrusters located on the same side of the robot body have different orientations.

10. The underwater robot according to claim 9, characterized in that, Each of the horizontal thrusters is located between the two vector thrusters on the same side.

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