CN104802969A - Power propulsion system for underwater robot and design method - Google Patents

Abstract

The invention discloses a power propulsion system for an underwater robot and a design method. The power propulsion system for the underwater robot comprises a first longitudinal propeller, a second longitudinal propeller, a first vertical propeller and a second vertical propeller, wherein the first vertical propeller and the second vertical propeller are correspondingly arranged at the head end and the tail end of the power propulsion system; when the first longitudinal propeller and the second longitudinal propeller are positioned at the same rotating speed, the robot is controlled to advance and retreat; when the difference speed is formed by the first longitudinal propeller and the second longitudinal propeller, the robot is controlled to do yawing motion; when the first vertical propeller and the second vertical propeller are positioned at the same rotating speed, the robot is controlled to do heaving and wall-attaching adsorption actions; when the difference speed is formed by the first vertical propeller and the second vertical propeller which are correspondingly arranged at the head end and the tail end of the power propulsion system, the pitching motion of the robot is adjusted. According to the power propulsion system disclosed by the invention, by the arrangement of a mode switching and sewage disposing structure, the sewage disposing operation can be efficiently performed under the condition that the flexibility of the underwater robot is not reduced.

Description

Under-water robot power propulsion system and method for designing

Technical field

The present invention relates to a kind of under-water robot, particularly relate to a kind of multi-functional under-water robot and method of designing thereof, belong to robotics.

Background technology

For a long time, land natural resources is exploited in a large number until exhausted, and the resource that is richly stored with in ocean, be untapped precious deposits.Under-water robot has the many merits such as safe, economic, efficient, and can replace diver in high depth and hazardous environment, complete the work of high strength, large load, be a kind of important tool of exploitation marine resources.There is cable remote underwater robot (ROV, Remotely Operated Vehicle) be detection and exploitation ocean " pioneer ", become a kind of important under-water operation equipment, and be widely used in the fields such as inland river dykes and dams detection, ocean engineering structure I&M, deep-sea resources detection, off-shore pipeline maintenance, search and rescue under water.The under-water operation technology particularly combined with diver's saturation diving with ROV has become ocean engineering underwater structure and has detected the important model with pollution clean-up technology.

Domestic and international existing most of under-water robot only has floating capability or ability of creeping, and the under-water robot that also can creep of can either swimming is comparatively rare.U.S.'s LBC under-water robot is a kind of underwater monitoring robot carrying out swimming and creep, and it is creeped with 4 wheel driven dolly, uses vortex generator to produce negative-pressure adsorption power.But this robot Power Drive Unit is numerous, need 9 motors, electric power system rating horsepower is large, energy consumption is large, control object is too much, complexity is high, and motor degree of utilization is low, manufacturing cost and difficulty of processing larger.

Patent CN201310214569.3 provides a kind of basic physique and control method of Mode-switch under-water robot, but does not provide detailed control system.Patent CN201310545280.X provides one and swims and climb wall under-water robot basic structure, but does not relate to its control method and do not have a decontamination function.Patent CN201310273444.8 provides one and to remove contamination under water measuring robots, but it can only be creeped at the bottom, and tool does not swim function, decontamination function carries out inconvenience, and its sewage disposal brush one is only exposed to external, does not possess Mode-switch function, affects its ability to act.

Summary of the invention

The object of the present invention is to provide a kind of under-water robot power propulsion system and method for designing, detect towards ocean engineering underwater structure and remove contamination field.Especially possessing Mode-switch and remove contamination structure, efficiently can carry out clean-up operation when not reducing under-water robot flexibility ratio.Clean-up operation by the cooperation of underwater sensor, upper computer data processing and artificial intervention can environment is suitable under water when carry out automatic pollutant removal operation, reduce the work capacity of manipulation personnel.

Object of the present invention is achieved by the following technical programs:

A kind of under-water robot power propulsion system, comprise the first longitudinal thruster 805, second longitudinal thruster 806, first vertical thrusters 803, second vertical thrusters 804, described first vertical thrusters 803, second vertical thrusters 804 head and the tail are arranged, described first longitudinal thruster 805, second longitudinal thruster 806 is retreated with control during rotating speed, and during differential, control turns bow motion; Described first vertical thrusters 803, second vertical thrusters 804 with control heave during rotating speed and adherent absorption, described head and the tail arrange first vertical thrusters the 803, second vertical thrusters 804 differential time adjustment robot pitching attitude.

A kind of under-water robot power propulsion system method of designing, carries out the calculating of Powered Propulsion unit, ROV is regarded as the incompressible Newtonian fluid of viscosity, and set up following equation of continuity and the equation of motion:

$\frac{\∂u_i}{\∂x_i}=0---\left(1\right)$

$\frac{\∂u_i}{\∂t}+\frac{\∂}{\∂x_j}\left(u_i{u}_j\right)=-\frac{1}{\mathrm{\ρ}}\frac{\∂p}{\∂x_i}+\mathrm{\ν}\frac{\∂}{\∂x_j}[\frac{\∂u_i}{\∂x_j}+\frac{\∂u_j}{\∂x_i}]---\left(2\right)$

In formula, u _i(i=1,2,3) are the speed component in three coordinate axle positive dirctions, u _j(j=1,2,3) are the speed component in three coordinate axle negative directions, x _i(i=1,2,3) are the coordinate components in three coordinate axle positive dirctions, x _j(j=1,2,3) are the coordinate components in three coordinate axle negative directions, and p is pressure, and ρ is fluid density, for the coefficient of kinematic viscosity of fluid, t is the time; When simulating turbulent motion, all measure when needing the variable in wushu (2) to resolve into with pulsating quantity φ ' two component parts:

$\mathrm{\φ}=\stackrel{\‾}{\mathrm{\φ}}+{\mathrm{\φ}}^{\text{\′}}---\left(3\right)$

Again formula (2) left and right sides was averaged the time, equation of continuity equal when obtaining:

$\frac{\∂u_i}{\∂t}+\frac{\∂}{\∂x_j}\left(u_i{u}_j\right)=-\frac{1}{\mathrm{\ρ}}\frac{\∂p}{\∂x_i}+\mathrm{\ν}\frac{\∂}{\∂x_j}[\frac{\∂u_i}{\∂x_j}+\frac{\∂u_j}{\∂x_i}]+\frac{\∂}{\∂x_j}[-\stackrel{\‾}{{u_i}^{\′}{u_j}^{\′}}]---\left(4\right)$

In formula, u ' _irepresent positive dirction speed component pulsating quantity, u ' _irepresent negative direction speed component pulsating quantity.Formula (4) and formula (2) are compared the just many Reynolds stress items of rear discoverable type (4), after therefore introducing turbulence model again, just can solve the turbulent flow problem of viscous fluid;

Analyze six-DOF robot sub aqua sport is stressed, show that stressed equation is:

$\left[\begin{array}{c}{F}_{\mathrm{Tx}}\\ F_{\mathrm{Ty}}\\ F_{\mathrm{Tz}}\\ M_{\mathrm{Tx}}\\ M_{\mathrm{Ty}}\\ M_{\mathrm{Tz}}\end{array}\right]=\left[\begin{array}{c}{T}_1+T_2\\ 0\\ T_3+T_4+T_5\\ 0\\ b(T_3-T_5)\\ a(T_1-T_2)\end{array}\right]---\left(5\right)$

Wherein, T1, T2, T3, T4, T5 are respectively the thrust of fiveimprovements device; F _tx, F _ty, F _tzrepresent that robot is subject to angle of rake longitudinal, horizontal, vertical thrust respectively; M _tx, M _ty, M _tzrespectively represent robot be subject to angle of rake rolling, pitching, moment of gyration, a be level to propelling unit and axis distance, b is Vertical dimension propelling unit and axis distance;

Because under-water robot is main movement with advance and retreat, so angle of rake thrust can be estimated according to longitudinal resistance, the resistance of under-water robot comprises two parts: underwater human body resistance of motion and hawser resistance, and underwater human body resistance of motion computing formula is:

$F=\frac{1}{2}{C}_d\mathrm{\ρ}{V}^2{L}^2---\left(6\right)$

Wherein, C _ddrag coefficient, its value, between 0.1-0.2, gets 0.12 here; V is under-water robot kinematic velocity; ρ is water tightness, and L is characteristic length, gets under-water robot longitudinal length 1m; And for the resistance of hawser, can be tried to achieve by following formula estimation:

$R_d=\frac{1}{2}{C}_d\mathrm{\ρ}{V}^{2}A---\left(7\right)$

Wherein, A is feature area, and for cable, A equals cable size and is multiplied by length perpendicular to water (flow) direction, gets 0.38 here; Thus, according to formula (5), can show that single angle of rake horsepower output is:

P＝(F+R _d)·V/2 (8)

Object of the present invention can also be realized further by following technical measures:

Aforementioned under-water robot power propulsion system, also comprise Mode-switch and remove contamination module 11, carry out robot to swim and climb wall and to remove contamination the switching of two kinds of mode, described Mode-switch comprises the first stepping motor 807 with module 11 of removing contamination, second stepping motor 808, to remove contamination motor 809, travel switch 814, maneuvering board 815, to remove contamination disc brush 816, crawler module gear 101, longitudinal spiral oar gear 8101, the current mode of travel switch 814 measuring robots, when swimming mode, described first longitudinal thruster 805, the motor gear of the second longitudinal thruster 806 engages with longitudinal spiral oar gear 8101, longitudinal spiral oar is driven to carry out motion of swimming, climb wall remove contamination mode time, first stepping motor 807, second stepping motor 808 run-in synchronism, actuation movement plate 815 carries motor 809 of removing contamination, disc brush of removing contamination 816, first longitudinal thruster 805, second longitudinal thruster 806 moves downward, the motor gear of the first longitudinal thruster 805, second longitudinal thruster 806 engages with crawler module gear 101, for wheel provides power, carry out climbing wall, motor 809 of removing contamination drives disc brush 816 of removing contamination to remove contamination, when to switch back again swim mode time, the first stepping motor 807, second stepping motor 808 again synchronous backward running, disc brush of removing contamination 816 is regained.

Aforementioned under-water robot power propulsion system, disc brush of wherein removing contamination 816 adopts standard interface sewage disposal brush, cleans the replaceable sewage disposal brush of object with water according to difference.

Aforementioned under-water robot power propulsion system, disc brush of wherein removing contamination 816 changes screw propeller into, strengthens robot underwater engine.

Compared with prior art, the invention has the beneficial effects as follows:

After under-water robot ROV of the present invention enters water, airborne sensor will feed back to host computer interface by real time information under water.With reference to sensory information, manipulation personnel utilize upper computer software or control handle to control ROV under-water operation, and underwater moving-body carries out by the propelling unit of self assembling motion of swimming, and utilizes facilities for observation to reconnoitre operation under water.After target wall, change longitudinal motor power point of action by Mode-switch and module of removing contamination, realize swimming and the switching of function of creeping: longitudinal motor and longitudinal spiral oar meshing time can realize robot 4DOF and swim and move; Longitudinal motor and wheel drive case meshing time realize the clean-up operation of creeping of robot; Transmission gearbox can give rearmounted two wheel transmission power, and two vertical pusher provide adherent adsorption affinity when creeping.ROV propelling unit is designed to multi-functional, and modular design and development contributes to replacing and the maintenance of part, whole system low cost of manufacture, easy to process simple, electric power system energy consumption is less; Can creep at wall and clean simultaneously, prospecting operation of also can swimming, action radius be wide.And by Mode-switch, sewage disposal brush is acted freely, packing up sewage disposal brush when patrolling and examining, making almost not affect the flexible motion of operation of cruising.When underwater environment is suitable, coordinates upper computer to the identifying processing of lower computer sensor information, the automatic pollutant removal operation in certain limit can be carried out, alleviate manual operation burden.

Accompanying drawing explanation

Fig. 1 is under-water robot power propulsion system structured flowchart of the present invention;

Fig. 2 is under-water robot Mode-switch of the present invention and module map of removing contamination.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the invention will be further described.

As shown in Figure 1, under-water robot power propulsion system, comprise the first longitudinal thruster 805, second longitudinal thruster 806, first vertical thrusters 803, second vertical thrusters 804, described first vertical thrusters 803, second vertical thrusters 804 head and the tail are arranged, described first longitudinal thruster 805, second longitudinal thruster 806 is retreated with control during rotating speed, and during differential, control turns bow motion; Described first vertical thrusters 803, second vertical thrusters 804 with control heave during rotating speed and adherent absorption, described head and the tail arrange first vertical thrusters the 803, second vertical thrusters 804 differential time adjustment robot pitching attitude.

The object of the invention ROV control system divides water surface control system and Subsea Control Systems two subsystems, and both connect the transmission realizing signal, the energy by umbilical cables.Under-water robot power propulsion system method of designing is:

Based on Newton mechanics law, conservation of mass and energy theorem, ROV is regarded as the incompressible Newtonian fluid of viscosity, and sets up following equation of continuity and the equation of motion:

$\frac{\∂u_i}{\∂x_i}=0---\left(1\right)$

$\frac{\∂u_i}{\∂t}+\frac{\∂}{\∂x_j}\left(u_i{u}_j\right)=-\frac{1}{\mathrm{\ρ}}\frac{\∂p}{\∂x_i}+\mathrm{\ν}\frac{\∂}{\∂x_j}[\frac{\∂u_i}{\∂x_j}+\frac{\∂u_j}{\∂x_i}]---\left(2\right)$

In formula, u _i(i=1,2,3) are the speed component in three coordinate axle positive dirctions, u _j(j=1,2,3) are the speed component in three coordinate axle negative directions, x _i(i=1,2,3) are the coordinate components in three coordinate axle positive dirctions, x _j(j=1,2,3) are the coordinate components in three coordinate axle negative directions, and p is pressure, and ρ is fluid density, and ν is the coefficient of kinematic viscosity of fluid, and t is the time.When simulating turbulent motion, all measure when needing the variable in wushu (2) to resolve into with pulsating quantity φ ' two component parts:

$\mathrm{\φ}=\stackrel{\‾}{\mathrm{\φ}}+{\mathrm{\φ}}^{\text{\′}}---\left(3\right)$

Again formula (2) left and right sides was averaged the time, equation of continuity equal when obtaining:

$\frac{\∂u_i}{\∂t}+\frac{\∂}{\∂x_j}\left(u_i{u}_j\right)=-\frac{1}{\mathrm{\ρ}}\frac{\∂p}{\∂x_i}+\mathrm{\ν}\frac{\∂}{\∂x_j}[\frac{\∂u_i}{\∂x_j}+\frac{\∂u_j}{\∂x_i}]+\frac{\∂}{\∂x_j}[-\stackrel{\‾}{{u_i}^{\′}{u_j}^{\′}}]---\left(4\right)$

In formula, u ' _irepresent positive dirction speed component pulsating quantity, u ' _irepresent negative direction speed component pulsating quantity.Formula (4) and formula (2) are compared the just many Reynolds stress items of rear discoverable type (4), after therefore introducing turbulence model again, just can solve the turbulent flow problem of viscous fluid.

Analyze six-DOF robot sub aqua sport is stressed, show that stressed equation is:

$\left[\begin{array}{c}{F}_{\mathrm{Tx}}\\ F_{\mathrm{Ty}}\\ F_{\mathrm{Tz}}\\ M_{\mathrm{Tx}}\\ M_{\mathrm{Ty}}\\ M_{\mathrm{Tz}}\end{array}\right]=\left[\begin{array}{c}{T}_1+T_2\\ 0\\ T_3+T_4+T_5\\ 0\\ b(T_3-T_5)\\ a(T_1-T_2)\end{array}\right]---\left(5\right)$

Wherein, T ₁, T ₂, T ₃, T ₄, T ₅be respectively the thrust of fiveimprovements device; F _tx, F _ty, F _tzrepresent that robot is subject to angle of rake longitudinal, horizontal, vertical thrust respectively; M _tx, M _ty, M _tzrespectively represent robot be subject to angle of rake rolling, pitching, moment of gyration, a be level to propelling unit and axis distance, b is Vertical dimension propelling unit and axis distance.

Because under-water robot is main movement with advance and retreat, so angle of rake thrust can be estimated according to longitudinal resistance.The resistance of under-water robot comprises two parts: underwater human body resistance of motion and hawser resistance.MC-ROV underwater human body resistance of motion computing formula is:

$F=\frac{1}{2}{C}_d\mathrm{\ρ}{V}^2{L}^2---\left(6\right)$

Wherein, C _ddrag coefficient, its value, between 0.1-0.2, gets 0.12 here; V is under-water robot kinematic velocity; ρ is water tightness, and L is characteristic length, gets MC-ROV under-water robot longitudinal length 1m.And for the resistance of hawser, can be tried to achieve by following formula estimation:

$R_d=\frac{1}{2}{C}_d\mathrm{\ρ}{V}^{2}A---\left(7\right)$

Wherein, A is feature area, and for cable, A equals cable size and is multiplied by length perpendicular to water (flow) direction, gets 0.38 here.Thus, according to formula (5), can show that single angle of rake horsepower output is:

P＝(F+R _d)·V/2 (8)

Underwater engine propulsion unit comprises vertical propulsion die, longitudinal propulsion die, Mode-switch module, crawler module.Power propulsion system design plan is as follows: design that four propelling units realize under-water robot heave, swim motion and the clean-up operation of creeping of retreat, turn bow, pitching four degree of freedom, and wherein two propelling units of Vertical dimension propulsion die realize heave or pitching motion and adherent absorption; When swimming, two longitudinal thrusters of Mode-switch module drive two of longitudinal propulsion die longitudinal spiral oars to realize retreating, turning bow motion respectively.Two vertical thrusters realize heave or pitching motion; When creeping, two vertical thrusters realize adherent adsorption.Two longitudinal thrusters drive two rearmounted trundles of crawler module, realize clean-up operation of creeping together with module of removing contamination; Mode-switch drives screw mandrel to drive with the Mode-switch process of module of removing contamination by two stepping motors.The Mode-switch designed with remove contamination module as shown in Figure 2.

Mode-switch and module 11 of removing contamination are carried out robot and are swum and climb wall and to remove contamination the switching of two kinds of mode, described Mode-switch comprises the first stepping motor 807 with module 11 of removing contamination, second stepping motor 808, to remove contamination motor 809, travel switch 814, maneuvering board 815, to remove contamination disc brush 816, crawler module gear 101, longitudinal spiral oar gear 8101, the current mode of travel switch 814 measuring robots, when swimming mode, described first longitudinal thruster 805, the motor gear of the second longitudinal thruster 806 engages with longitudinal spiral oar gear 8101, longitudinal spiral oar 812 is driven to carry out motion of swimming, climb wall remove contamination mode time, first stepping motor 807, second stepping motor 808 run-in synchronism, actuation movement plate 815 carries motor 809 of removing contamination, disc brush of removing contamination 816, first longitudinal thruster 805, second longitudinal thruster 806 moves downward, the motor gear of the first longitudinal thruster 805, second longitudinal thruster 806 engages with crawler module gear 101, for wheel 10 provides power, carry out climbing wall, motor 809 of removing contamination drives disc brush 816 of removing contamination to remove contamination, when to switch back again swim mode time, the first stepping motor 807, second stepping motor 808 again synchronous backward running, disc brush of removing contamination 816 is regained.Described disc brush 816 of removing contamination adopts standard interface sewage disposal brush, cleans the replaceable sewage disposal brush of object with water according to difference.Can disc brush 816 of removing contamination be changed into screw propeller under special circumstances, strengthen robot underwater engine.

Mode-switch process is as follows:

When needs by floating state be switched to creep or clean-up operation time just need to carry out Mode-switch.During Mode-switch, synchronous unlatching two stepping motors 807,808, drive screw mandrel to rotate, because the flange on screw mandrel and maneuvering board are fixed together, so when screw mandrel rotates time, flange and screw mandrel produce relative motion, then maneuvering board drives two longitudinal motors to move downward with motor of removing contamination, when the gear mesh of the gear on longitudinal motor and wheel case, maneuvering board is contacting travel switch just in time, then Mode-switch process terminates.Disc brush of now removing contamination just in time is exposed by under-water robot body interior.Open two vertical motors, increase the adsorption affinity of body and wall, then can open two longitudinal motors and carry out creeping clean-up operation with motor of removing contamination.After clean-up operation completes, two stepping motors synchronously reverse again, and when maneuvering board touches upper run switch, two longitudinal motor gears just in time with longitudinal spiral oar gear mesh, have then been switched to pattern of swimming.Motor of simultaneously removing contamination regains body interior with disc brush of removing contamination.

In addition to the implementation, the present invention can also have other embodiments, and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop in the protection domain of application claims.

Claims (5)

1. a under-water robot power propulsion system, it is characterized in that, comprise the first longitudinal thruster (805), the second longitudinal thruster (806), the first vertical thrusters (803), the second vertical thrusters (804), described first vertical thrusters (803), the second vertical thrusters (804) head and the tail are arranged, described first longitudinal thruster (805), the second longitudinal thruster (806) are retreated with control during rotating speed, and during differential, control turns bow motion; Described first vertical thrusters (803), the second vertical thrusters (804) with control heave during rotating speed and adherent absorption, described head and the tail arrange the first vertical thrusters (803), the second vertical thrusters (804) differential time adjustment robot pitching attitude.

2. a method of designing for under-water robot power propulsion system as claimed in claim 1, is characterized in that, carry out the calculating of Powered Propulsion unit, ROV is regarded as the incompressible Newtonian fluid of viscosity, and set up following equation of continuity and the equation of motion:

$\frac{\∂u_i}{\∂x_i}=0---\left(1\right)$

$\frac{\∂u_i}{\∂t}+\frac{\∂}{\∂x_j}\left(u_i{u}_j\right)=-\frac{1}{\mathrm{\ρ}}\frac{\∂p}{\∂x_i}+v\frac{\∂}{\∂x_j}[\frac{\∂u_i}{\∂x_j}+\frac{\∂u_j}{\∂x_j}]---\left(2\right)$

In formula, u _i(i=1,2,3) are the speed component in three coordinate axle positive dirctions, u _j(j=1,2,3) are the speed component in three coordinate axle negative directions, x _i(i=1,2,3) are the coordinate components in three coordinate axle positive dirctions, and xj (j=1,2,3) is the coordinate components in three coordinate axle negative directions, and p is pressure, and ρ is fluid density, for the coefficient of kinematic viscosity of fluid, t is the time; When simulating turbulent motion, all measure when needing the variable in wushu (2) to resolve into with pulsating quantity φ ' two component parts:

$\mathrm{\φ}=\stackrel{\‾}{\mathrm{\φ}}+{\mathrm{\φ}}^{\′}---\left(3\right)$

Again formula (2) left and right sides was averaged the time, equation of continuity equal when obtaining:

$\frac{\∂u_i}{\∂t}+\frac{\∂}{\∂x_j}\left(u_i{u}_j\right)=-\frac{1}{\mathrm{\ρ}}\frac{\∂p}{\∂x_i}+v\frac{\∂}{\∂x_j}[\frac{\∂u_i}{\∂x_j}+\frac{\∂u_j}{\∂x_j}]+\frac{\∂}{\∂x_j}[-\stackrel{\‾}{{u_i}^{\′}{u_j}^{\′}}]---\left(4\right)$

In formula, u ' _irepresent positive dirction speed component pulsating quantity, u ' _irepresent negative direction speed component pulsating quantity.Formula (4) and formula (2) are compared the just many Reynolds stress items of rear discoverable type (4), after therefore introducing turbulence model again, just can solve the turbulent flow problem of viscous fluid;

Analyze six-DOF robot sub aqua sport is stressed, show that stressed equation is:

$\left[\begin{array}{c}{F}_{\mathrm{Tx}}\\ F_{\mathrm{Ty}}\\ F_{\mathrm{Tz}}\\ M_{\mathrm{Tx}}\\ M_{\mathrm{Ty}}\\ M_{\mathrm{Tz}}\end{array}\right]=\left[\begin{array}{c}{T}_1+T_2\\ 0\\ T_3+T_4+T_5\\ 0\\ b(T_3-T_5)\\ a(T_1-T_2)\end{array}\right]---\left(5\right)$

Wherein, T1, T2, T3, T4, T5 are respectively the thrust of fiveimprovements device; F _tx, F _ty, F _tzrepresent that robot is subject to angle of rake longitudinal, horizontal, vertical thrust respectively; M _tx, M _ty, M _tzrespectively represent robot be subject to angle of rake rolling, pitching, moment of gyration, a be level to propelling unit and axis distance, b is Vertical dimension propelling unit and axis distance;

Because under-water robot is main movement with advance and retreat, so angle of rake thrust can be estimated according to longitudinal resistance, the resistance of under-water robot comprises two parts: underwater human body resistance of motion and hawser resistance, and underwater human body resistance of motion computing formula is:

$F=\frac{1}{2}{C}_d\mathrm{\ρ}{V}^2{L}^2---\left(6\right)$

Wherein, C _ddrag coefficient, its value, between 0.1-0.2, gets 0.12 here; V is under-water robot kinematic velocity; ρ is water tightness, and L is characteristic length, gets under-water robot longitudinal length 1m; And for the resistance of hawser, can be tried to achieve by following formula estimation:

$R_d=\frac{1}{2}{C}_d\mathrm{\ρ}{V}^{2}A---\left(7\right)$

Wherein, A is feature area, and for cable, A equals cable size and is multiplied by length perpendicular to water (flow) direction, gets 0.38 here; Thus, according to formula (5), can show that single angle of rake horsepower output is:

P＝(F+R _d)·V/2 (8)

3. under-water robot power propulsion system as claimed in claim 1, it is characterized in that, also comprise Mode-switch and remove contamination module (11), carry out robot to swim and climb wall and to remove contamination the switching of two kinds of mode, described Mode-switch comprises the first stepping motor (807) with module (11) of removing contamination, second stepping motor (808), to remove contamination motor (809), travel switch (814), maneuvering board (815), disc brush of removing contamination (816), crawler module gear (101), longitudinal spiral oar gear (8101), the current mode of travel switch (814) measuring robots, when swimming mode, described first longitudinal thruster (805), the motor gear of the second longitudinal thruster (806) engages with longitudinal spiral oar gear (8101), longitudinal spiral oar is driven to carry out motion of swimming, climb wall remove contamination mode time, first stepping motor (807), second stepping motor (808) run-in synchronism, actuation movement plate (815) carries motor of removing contamination (809), disc brush of removing contamination (816), first longitudinal thruster (805), second longitudinal thruster (806) moves downward, first longitudinal thruster (805), the motor gear of the second longitudinal thruster (806) engages with crawler module gear (101), for wheel provides power, carry out climbing wall, motor (809) of removing contamination drives disc brush (816) of removing contamination to remove contamination, when to switch back again swim mode time, the first stepping motor (807), the second stepping motor (808) again synchronous backward running, disc brush of removing contamination (816) regain.

4. under-water robot power propulsion system as claimed in claim 3, is characterized in that, described in disc brush (816) of removing contamination adopt standard interface sewage disposal brush, clean the replaceable sewage disposal brush of object with water according to difference.

5. under-water robot power propulsion system as claimed in claim 3, is characterized in that, described in disc brush (816) of removing contamination change screw propeller into, strengthen robot underwater engine.