Underwater robot

Abstract

The present disclosure discloses an underwater robot including a housing and six thrusters attached to the housing and independently controlled, four of the thrusters being located within four spaces divided by a first vertical central plane and a second vertical central plane, with the thrust direction being between the horizontal and vertical directions, and the other two thrusters being located on opposite sides of the first vertical central plane, wherein the first vertical central plane extends in the fore-and-aft direction of the housing and is perpendicular to the horizontal plane, and the second vertical central plane passes through the longitudinal midpoint of the housing and is perpendicular to the first vertical central plane and the horizontal plane.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority from a Chinese patent application filed on January 16, 2023, bearing application number 202320111654.6, the entire contents of which are incorporated herein by reference.

[0002] This application relates to the technical field of robotics, and in particular to underwater robots. [Background technology]

[0003] With the development of science and technology, the science and technology related to underwater robots has also developed accordingly, and many underwater robots can hover and move forward and backward at any angle underwater, but most of the conventional underwater robots that can hover and move forward and backward at any angle are controlled by a single motor, which means that at least eight motors are required to achieve this, so the manufacturing cost of this type of underwater robot is relatively high. Summary of the Invention [Problem to be solved by the invention]

[0004] The main object of the present application is to provide an underwater robot that has the ability to achieve movement functions such as hovering and rotation at any angle, reducing the number of motors used in the underwater robot and thereby reducing manufacturing costs. [Means for solving the problem]

[0005] In order to achieve the above object, the underwater robot proposed in this application comprises: The housing and six thrusters attached to the housing and independently controlled, four of the thrusters being located within four spaces divided by a first vertical center plane and a second vertical center plane, with a thrust direction between the horizontal and vertical directions, and the other two of the thrusters being located on opposite sides of the first vertical center plane; The first vertical center plane extends in the front-to-rear direction of the housing and is perpendicular to the horizontal plane, and the second vertical center plane passes through the longitudinal midpoint of the housing and is perpendicular to the first vertical center plane and the horizontal plane.

[0006] In one embodiment, the thruster and the housing are removably connected.

[0007] In one embodiment, the housing has six grooves that fit the thrusters, and the thrusters are mounted in the grooves in a one-to-one correspondence and can be mounted in the grooves at multiple angles.

[0008] In one embodiment, the underwater robot has multiple operating modes, including a hovering mode, a pitching rotational motion mode, a rolling rotational motion mode, a yawing rotational motion mode, and a linear motion mode, and the six thrusters operate regardless of which operating mode the underwater robot is in.

[0009] In one embodiment, when the underwater robot is in the pitching rotational motion mode, the direction of the resultant force acting on the housing by the thrusters located on one side of the second vertical central plane is opposite to the direction of the resultant force acting on the housing by the thrusters located on the other side of the second vertical central plane, and both directions of these two resultant forces are parallel to the first vertical central plane.

[0010] In one embodiment, when the underwater robot is in the rolling rotational motion mode, the direction of the resultant force acting on the housing by the thrusters located on one side of the first vertical central plane is opposite to the direction of the resultant force acting on the housing by the thrusters located on the other side of the first vertical central plane, and both directions of these two resultant forces are parallel to the second vertical central plane.

[0011] In one embodiment, when the underwater robot is in the yawing rotational motion mode, the direction of the resultant force acting on the housing by the thrusters located on one side of the first vertical central plane is opposite to the direction of the resultant force acting on the housing by the thrusters located on the other side of the first vertical central plane, and both directions of these two resultant forces are parallel to the horizontal plane.

[0012] In one embodiment, the thrusters on either side of the first vertical center plane are symmetrically positioned.

[0013] In one embodiment, the thrust directions of the thrusters in two diagonally arranged spaces among the four spaces are the same.

[0014] In one embodiment, the thrusters are capable of providing counter-propulsion through counter-rotation.

[0015] (beneficial effects) In the technical solution of the present application, the first vertical central plane, the second vertical central plane, and the horizontal plane each pass through the centerline of the corresponding housing surface. Each of the six thrusters 200 is independently controlled. That is, the thrust speed, thrust, and cooperation and linkage of each thruster 200 can be independently controlled and adjusted as needed. Two of the thrusters are oriented in the same direction as the front end of the housing and are located on opposite sides of the first vertical central plane, allowing the underwater robot to move forward and backward using these two thrusters. The thrust directions of the remaining four thrusters are between the horizontal and vertical directions, and the thrust of these four thrusters can be independently controlled. Therefore, the combined thrust direction of these four thrusters can be any direction other than the forward and backward direction. That is, these four thrusters can be used to propel the housing in any direction other than the forward and backward direction.

[0016] The underwater robot in this technical proposal is parallel to the horizontal plane when moving forward and backward, and the forward and backward directions in this technical proposal coincide with the extension direction of the casing and are perpendicular to the left and right directions.

[0017] Therefore, according to this technical solution, six thrusters can be used to realize hovering at any angle and forward and backward motions. Since one thruster corresponds to one motor, the number of motors used in the underwater robot capable of realizing hovering at any angle and forward and backward motions can be reduced, thereby reducing the related manufacturing costs. In order to more clearly explain the technical solutions of the embodiments of the present application and the prior art, the accompanying drawings required for the description of the embodiments or the prior art will be briefly described below. It is clear that the accompanying drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other accompanying drawings based on the structures shown in these accompanying drawings without creative work. [Brief explanation of the drawings]

[0018] [Figure 1]1 is a structural schematic diagram of an embodiment of an underwater robot of the present application at a certain angle. [Figure 2] FIG. 1 is a structural schematic diagram of the underwater robot of the present application in a rolling rotational motion mode. [Figure 3] FIG. 1 is a structural schematic diagram of the underwater robot of the present application in a yawing rotational motion mode. [Figure 4] FIG. 1 is a structural schematic diagram of the underwater robot of the present application in pitching rotational motion mode. DETAILED DESCRIPTION OF THE INVENTION

[0019] The realization of the object, function features and advantages of the present invention will be further explained in combination with the embodiments with reference to the accompanying drawings. The following will clearly and completely explain the technical solutions in the embodiments of the present application in combination with the drawings in the embodiments of the present application. It is clear that the described embodiments are not all of the embodiments of the present application, but only some of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments that can be obtained by those skilled in the art without any creative work fall within the scope of protection of the present application.

[0020] It should be noted that all directional indications (e.g., up, down, left, right, front, back, etc.) in the embodiments of the present application are used only to describe the relative positional relationships, movement status, etc. between each part in a specific posture (as shown in the attached drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0021] In this application, unless otherwise clearly specified or limited, the terms "connected," "fixed," etc. should be understood in a broad sense. For example, "fixed" may mean a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, internal communication between two elements, or an interactive relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application based on specific circumstances.

[0022] Furthermore, when the embodiments of the present application refer to "first," "second," etc., the terms "first," "second," etc. are used for explanatory purposes only and should not be construed as indicating or implying the relative importance of the features or as implicitly specifying the number of technical features presented. Accordingly, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. Furthermore, "and / or" in the entire text means including three parallel alternatives. For example, "A and / or B" includes alternative A, alternative B, or alternatives where both A and B are satisfied simultaneously. Furthermore, the technical solutions in each embodiment may be combined with one another, provided that such combinations are feasible by a person skilled in the art. If a combination of technical solutions is inconsistent or impractical, it should be understood that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0023] As shown in Figures 1 to 4, the present application proposes an underwater robot.

[0024] In an embodiment of the present application, the underwater robot comprises: The housing and six thrusters 200 attached to the housing 100 and independently controlled, four of the thrusters 200 being located within four spaces divided by a first vertical central plane 110 and a second vertical central plane 120, with a thrust direction between the horizontal and vertical directions, and the other two of the thrusters 200 being located on opposite sides of the first vertical central plane 110; The first vertical center plane 110 extends in the front-to-rear direction of the housing 100 and is perpendicular to the horizontal plane 130, and the second vertical center plane 120 passes through the longitudinal midpoint of the housing 100 and is perpendicular to the first vertical center plane 110 and the horizontal plane 130.

[0025] In the technical solution of the present application, the first vertical central plane 110, the second vertical central plane 120, and the horizontal plane 130 each pass through the centerline of the corresponding surface of the housing 100. Each of the six thrusters 200 is independently controlled. That is, the thrust speed, thrust, and cooperation between the thrusters 200 can be controlled and adjusted as needed. Two of the thrusters 200 are oriented in the same direction as the front end of the housing 100 and are located on opposite sides of the first vertical central plane 110, allowing the underwater robot to move forward and backward using these two thrusters 200. The thrust directions of four of the thrusters 200 are between the horizontal and vertical directions, and the thrusts of these four thrusters 200 can be controlled individually. Therefore, the resultant thrust direction of the four thrusters 200 can be any direction other than the forward and backward direction. In other words, these four thrusters 200 can propel the housing 100 in any direction other than the front-rear direction.

[0026] Therefore, according to this technical solution, hovering at any angle and forward and backward motions can be realized by six thrusters 200. Since one thruster 200 corresponds to one motor, the number of motors used in the underwater robot capable of realizing hovering at any angle and forward and backward motions can be reduced, which in turn reduces the related manufacturing costs.

[0027] Furthermore, the thruster 200 and the housing 100 are detachably connected. In this technical solution, since the thruster 200 and the housing 100 are detachably connected, the thruster 200 can exist independently from the housing 100, making it easier to repair and maintain the thruster 200. Of course, in other embodiments, the housing 100 and the thruster 200 may be integrally molded during manufacturing.

[0028] Furthermore, the housing 100 is provided with six receiving grooves 300 that fit the thrusters 200. The thrusters 200 are mounted in the receiving grooves 300 in a one-to-one correspondence and can be mounted in the receiving grooves 300 at a variety of angles. In this embodiment, the thrusters 200 and the housing 100 may have various relative positional relationships. Note that the closer the thrusters 200 are to the vertical direction of the housing 100, the greater the force that the thrusters 200 exert on the housing 100 in the vertical direction. Similarly, the closer the thrusters 200 are to the horizontal direction of the housing 100, the greater the force that the thrusters 200 exert on the housing 100 in the horizontal direction. This allows the user to adjust the appropriate positional relationship between the thrusters 200 and the housing 100 according to actual environmental needs.

[0029] Furthermore, the underwater robot has multiple operating modes, including hovering mode, pitching rotational motion mode, rolling rotational motion mode, yawing rotational motion mode, and linear motion mode, and the six thrusters 200 operate regardless of the operating mode of the underwater robot. In this embodiment, the underwater robot has multiple operating modes: hovering mode allows the underwater robot to hover at any position underwater; pitching rotational motion mode, rolling rotational motion mode, and yawing rotational motion mode allow the underwater robot to rotate in any vertical or horizontal direction; and linear motion mode allows the underwater robot to move forward or backward in any direction. Note that, although the six thrusters 200 operate regardless of the operating mode of the underwater robot, the direction and magnitude of the resultant thrust force during operation differ.

[0030] Furthermore, when the underwater robot is in the pitching rotational motion mode, the direction of the resultant force acting on the housing 100 by the thrusters 200 located on one side of the second vertical central plane 120 is opposite to the direction of the resultant force acting on the housing 100 by the thrusters 200 located on the other side of the second vertical central plane 120, and both directions of these two resultant forces are parallel to the first vertical central plane 110. In this embodiment, since the directions of the two resultant forces on both sides of the second vertical central plane 120 and parallel to the first vertical central plane 110 are opposite, the underwater robot can rotate, i.e., pitch, around the axis where the horizontal plane 130 and the second vertical central plane 120 intersect.

[0031] Furthermore, when the underwater robot is in the rolling rotational motion mode, the direction of the resultant force acting on the housing 100 by the thrusters 200 located on one side of the first vertical central plane 110 is opposite to the direction of the resultant force acting on the housing 100 by the thrusters 200 located on the other side of the first vertical central plane 110, and both directions of these two resultant forces are parallel to the second vertical central plane 120. In this embodiment, since the directions of the two resultant forces on both sides of the first vertical central plane 110 and parallel to the second vertical central plane 120 are opposite, the underwater robot can rotate, i.e., perform a rolling rotation, around the axis where the horizontal plane 130 and the first vertical central plane 110 intersect.

[0032] Furthermore, when the underwater robot is in the yawing rotational motion mode, the direction of the resultant force acting on the housing 100 by the thrusters 200 located on one side of the first vertical central plane 110 is opposite to the direction of the resultant force acting on the housing 100 by the thrusters 200 located on the other side of the first vertical central plane 110, and the directions of these two resultant forces are both parallel to the horizontal plane 130. In this embodiment, since the directions of the two resultant forces parallel to the horizontal plane 130 are opposite, the underwater robot can rotate, i.e., yawing, around the axis where the first vertical central plane 110 and the second vertical central plane 120 intersect.

[0033] Furthermore, the thrusters 200 are installed symmetrically on both sides of the first vertical central plane 110. In this embodiment, since the thrusters 200 are installed symmetrically on both sides of the first vertical central plane 110, the weight distribution of the thrusters 200 on the housing 100 is relatively even, which in turn ensures the balance of the housing 100 itself and makes it easier to control the underwater robot.

[0034] Furthermore, the thrust directions of the thrusters 200 in two diagonally arranged spaces among the four spaces are the same. In this embodiment, of the four thrusters 200 in the four spaces formed by the first vertical central plane 110 and the second vertical central plane 120, the thrust directions of the diagonally arranged thrusters 200 are the same. Note that, because the thrusters 200 on both sides of the first vertical central plane 110 are installed symmetrically, the thrust directions of the thrusters 200 on both sides of the first vertical central plane 110 face each other. Furthermore, because the thrust directions of the diagonally arranged thrusters 200 are the same, the thrusters 200 on the same side of the first vertical central plane 110 are also installed facing each other. This makes the distribution of the resultant force direction of the thrusters 200 more rational and efficient, which is more advantageous for controlling the underwater robot.

[0035] Furthermore, the thruster 200 can achieve reverse propulsion by reverse rotation. In this embodiment, the thruster 200 can rotate both forward and reverse, but the direction of thrust is reversed when the thruster 200 rotates forward and reverse, so the direction of propulsion is also reversed. Providing a reverse rotation function increases the number of route options available for controlling the underwater robot, making it easier to control the underwater robot.

[0036] The above is merely a preferred embodiment of the present application, and does not limit the scope of the patent of the present application. Based on the inventive concept of the present application, any equivalent structural transformation made by utilizing the contents of the specification and accompanying drawings of the present application, or any direct or indirect application to other related technical fields, is also within the scope of protection of the patent of the present application. [Explanation of symbols]

[0037] 100 cabinets 110 First vertical center plane 120 Second vertical center plane 130 horizontal plane 200 thrusters 300 Storage Groove

Claims

1. The housing and six thrusters attached to the housing and independently controlled, four of the thrusters being located within four spaces defined by a first vertical central plane and a second vertical central plane, with a thrust direction between a horizontal direction and a vertical direction, and the other two thrusters being located on opposite sides of the first vertical central plane; the first vertical center plane extends in the front-rear direction of the housing and is perpendicular to a horizontal plane, the second vertical center plane passes through a midpoint of the housing in the longitudinal direction and is perpendicular to the first vertical center plane and the horizontal plane, The underwater robot has a plurality of operation modes, which are a hovering mode, a pitching rotational motion mode, a rolling rotational motion mode, a yawing rotational motion mode, and a linear motion mode, and the six thrusters are in an operational state regardless of which operation mode the underwater robot is in. Underwater robot.

2. The thruster and the housing are detachably connected The underwater robot according to claim 1 .

3. The housing is provided with six accommodation grooves that fit the thrusters, and the thrusters are mounted in the accommodation grooves in one-to-one correspondence and can be mounted in the accommodation grooves at a plurality of angles. The underwater robot according to claim 2 .

4. When the underwater robot is in the pitching rotational motion mode, the direction of the resultant force acting on the housing by the thrusters located on one side of the second vertical central plane is opposite to the direction of the resultant force acting on the housing by the thrusters located on the other side of the second vertical central plane, and both directions of these two resultant forces are parallel to the first vertical central plane. The underwater robot according to claim 1 .

5. When the underwater robot is in the rolling rotational motion mode, the direction of the resultant force acting on the housing by the thrusters located on one side of the first vertical central plane is opposite to the direction of the resultant force acting on the housing by the thrusters located on the other side of the first vertical central plane, and both directions of these two resultant forces are parallel to the second vertical central plane. The underwater robot according to claim 1 .

6. When the underwater robot is in the yawing rotational motion mode, the direction of the resultant force acting on the housing by the thrusters located on one side of the first vertical central plane is opposite to the direction of the resultant force acting on the housing by the thrusters located on the other side of the first vertical central plane, and both directions of these two resultant forces are parallel to the horizontal plane. The underwater robot according to claim 1 .

7. The thrusters on either side of the first vertical center plane are symmetrically arranged. The underwater robot according to claim 1 .

8. The thrust directions of the thrusters in two diagonally arranged spaces among the four spaces are the same. The underwater robot according to claim 7.

9. The thrusters can achieve reverse thrust through counter-rotation. The underwater robot according to claim 1 .

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