CN110316338B - Posture-adjustable water-spraying vector propulsion circular-disk underwater robot and control method thereof - Google Patents

Posture-adjustable water-spraying vector propulsion circular-disk underwater robot and control method thereof Download PDF

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Publication number
CN110316338B
CN110316338B CN201910631314.4A CN201910631314A CN110316338B CN 110316338 B CN110316338 B CN 110316338B CN 201910631314 A CN201910631314 A CN 201910631314A CN 110316338 B CN110316338 B CN 110316338B
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water
water inlet
underwater robot
mounting hole
reversing valve
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CN110316338A (en
Inventor
严卫生
崔荣鑫
蒋绍博
邢瑶
邓飞
李慧平
王银涛
许晖
李宏
张守旭
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Kunming Haiwei Dynamo-Electric Technology Institute (limited Company)
Northwestern Polytechnical University
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Kunming Haiwei Dynamo-Electric Technology Institute (limited Company)
Northwestern Polytechnical University
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Publication of CN110316338A publication Critical patent/CN110316338A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/32—Waterborne vessels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Abstract

The invention relates to the technical field of underwater carrying, and provides a water-spraying vector propelling circular-disk underwater robot with adjustable posture and a control method thereof. The underwater robot comprises a rotary shell and an inner body, wherein the rotary shell comprises a left disc-shaped outer cover, a right disc-shaped outer cover, an observation window and an adjusting weight. The underwater robot provided by the embodiment of the invention improves the compatibility of the underwater robot and the working environment; the low-speed maneuverability of multiple degrees of freedom of the underwater robot is improved, and the navigation noise of the underwater robot is reduced; the underwater robot does not need any dynamic seal, so that a good sealing effect of the robot is ensured; the underwater robot has small volume, light weight, compact structure and simple appearance, and is convenient for transportation, carrying, release and recovery; the underwater robot changes the propulsion direction by adopting an integral rotating shell mode, realizes that the center of mass of the robot is positioned right below the floating center in any posture, and solves the contradiction between the stability and the maneuverability of the robot.

Description

Posture-adjustable water-spraying vector propulsion circular-disk underwater robot and control method thereof
Technical Field
The invention relates to the technical field of underwater carrying, in particular to a water-spraying vector propelling circular-disk underwater robot with adjustable posture and a control method thereof.
Background
The underwater robot is used as a special underwater development tool and has great application prospect in scientific research, resource development, facility maintenance, military and other aspects. Underwater robots are classified according to weight and volume, and generally classified into large, medium and small underwater robots. Among the three types of underwater robots, the small-sized underwater robot has the characteristics of small volume, light weight, convenience in transportation, carrying, release and recovery and capability of operating in a limited narrow space, is becoming an unappreciable development direction of the underwater robot in the future, is also a research hotspot for developing intelligent marine equipment in the ocean of the strong countries, and can be widely applied to inspection and repair of a marine ranch fishing net, commercial salvage diving, monitoring and maintenance of underwater facilities, investigation of underwater environment, inspection of a nuclear power station cooling water pipeline system and the like.
At present, small underwater robots are being developed at home and abroad, but the existing small underwater robots mainly have the following problems:
(1) in order to improve the maneuverability of an underwater robot, in general, mechanisms such as fins and rudders are adopted as the maneuvering mechanisms of the underwater robot, and the mechanisms protrude out of the shell of the underwater robot, so that the protrusions are easy to be wound and collided with an operation object during the operation of the underwater robot, the underwater robot or the operation object is damaged or destroyed, and the application field of the small underwater robots is severely limited.
(2) In order to improve the maneuverability of the existing small underwater robot in multiple degrees of freedom, no matter a propeller or a water jet propeller is adopted, a plurality of propellers are generally required to be arranged in multiple directions, so that the cost, the volume and the weight of the robot are increased, and the reliability of the whole underwater robot is reduced.
(3) In order to ensure the maneuverability of the existing small underwater robot, the problem of dynamic seal of the underwater robot is generally solved, and the problem of abrasion and leakage of the dynamic seal after long-time operation is the greatest potential safety hazard of the underwater robot.
Disclosure of Invention
(1) Technical problem
In order to overcome the defects of the prior art, the embodiment of the invention provides a water-spraying vector propelling circular-disk underwater robot with adjustable postures and a control method thereof, so as to meet the requirements of multiple industry fields on small underwater robots.
(2) Technical scheme
The underwater robot of the invention consists of a rotary shell, an inner body and the like. The inner body is suspended in the inner cavity of the rotary shell.
The rotary shell of the underwater robot consists of a left disc-shaped outer cover, a right disc-shaped outer cover, an observation window, a handle, an adjusting weight and the like. The static sealing is carried out between the sealing step holes at the two ends of the observation window and the annular sealing grooves of the left disc-shaped outer cover and the right disc-shaped outer cover through the placed O-shaped sealing rings; the connecting screw holes uniformly distributed on the circumferences of the two ends of the observation window are connected with the annular connecting grooves of the left disc-shaped outer cover and the right disc-shaped outer cover through clamping connecting screws; the handle is fixed on the left disc-shaped outer cover and the right disc-shaped outer cover by screws and is used for carrying the underwater robot; the adjusting weights are arranged on the inner curved surfaces of the left disc-shaped outer cover and the right disc-shaped outer cover and used for ensuring that the mass center of the rotating shell is located on the origin O of the coordinate system OXYZ.
The observation window of the underwater robot is a transparent cylinder, connecting screw holes are circumferentially and uniformly distributed at two ends of the observation window, and static sealing step holes of O-shaped sealing rings are formed at two ends of the observation window.
The invention relates to a left dish-shaped outer cover of an underwater robot, which comprises a left shell, a left water spraying propulsion device, a charging port, a left rotating seat and the like. The left water jet propulsion device is arranged on a curved surface in the left shell; the charging port is arranged at the position close to the upper part of the left shell and is statically sealed by a sealing ring; the left rotating seat is fixed on the mounting step at the axle center position of the left shell by a screw and is used for connecting the inner body.
Furthermore, a left water inlet mounting hole is formed on a rotating shaft of a left shell of the underwater robot, and a mounting step for mounting a left flange of the posture-adjusting rotating shaft mounting bracket is arranged on the rotating shaft; a left water inlet front mounting hole and a left water inlet rear mounting hole are formed; the underwater robot is provided with a left front water spraying mounting hole and a left rear water spraying mounting hole, the two water spraying mounting holes are symmetrically mounted, the axis of the two water spraying mounting holes is coplanar with the horizontal plane of the underwater robot, a certain included angle is formed between the two water spraying mounting holes and the vertical plane of the underwater robot, and the two angles are equal; two mechanical limiting device left baffles are arranged on the circumference of the left shell; a charging hole is formed at the upper part; an annular sealing groove and an annular connecting groove are formed in the cylindrical surface; the upper part is provided with a step surface for installing a handle, and the lower part is provided with a step surface for placing a robot.
The invention relates to a left water spraying propulsion device of an underwater robot, which comprises a left sea water pump, a left reversing valve, a left water inlet, a left sea water pump water inlet pipe, a left sea water pump water outlet pipe, a left front water inlet, a left rear water inlet, a left front water outlet pipe, a left rear water outlet pipe, a left front nozzle, a left rear nozzle and the like. The left water jet propulsion device is arranged in the left dish-shaped outer cover. The left sea water pump pumps the sea water from a left water inlet, and the sea water enters a left reversing valve from a left sea water pump water outlet pipe after being pressurized and accelerated; the left reversing valve controls the high-pressure high-speed seawater to flow to different water outlets according to requirements; the left water inlet is arranged in a left water inlet mounting hole of the left dish-shaped outer cover and is sealed by an annular sealing groove and a sealing ring; one end of the left water inlet is arranged in the left water inlet front mounting hole, and the other end of the left water inlet front mounting hole is connected with the left reversing valve and sealed by an O-shaped sealing ring chamfer; one end of the left rear water inlet is arranged in the left rear water inlet mounting hole, and the other end of the left rear water inlet is connected with the left reversing valve and is sealed by an O-shaped sealing ring in a chamfering way; the left front nozzle is arranged in the left front water spraying mounting hole and is sealed by an O-shaped sealing ring; the left rear nozzle is arranged in the left rear water spray mounting hole and is sealed by an O-shaped sealing ring; one end of the left sea water pump water inlet pipe is connected with the water inlet of the left sea water pump, and the other end of the left sea water pump water inlet pipe is connected with the left water inlet; one end of the water outlet pipe of the left sea water pump is connected with the water outlet of the left sea water pump, and the other end of the water outlet pipe of the left sea water pump is connected with the water inlet of the left reversing valve; one end of the left front water outlet pipe is connected with a left water outlet of the left reversing valve, and the other end of the left front water outlet pipe is connected with a left front nozzle; one end of the left rear water outlet pipe is connected with the right water outlet of the left reversing valve, and the other end of the left rear water outlet pipe is connected with the left rear nozzle.
The charging port of the underwater robot consists of a charging seat, a charging socket, a cover plate and the like. The charging port is a channel for charging, discharging and managing energy in the robot by external energy equipment, and is installed and sealed with the left shell through the charging seat; the charging socket and the cover plate are arranged on the charging seat, and static sealing is realized through the sealing gasket and the sealing ring.
The invention relates to a right dish-shaped outer cover of an underwater robot, which comprises a right shell, a right water jet propulsion device, an umbilical cable port, a right rotating seat and the like. The right water jet propulsion unit is arranged on the inner curved surface of the right shell; the umbilical cable port is arranged at the position close to the upper part of the right shell and is statically sealed by a sealing ring; the right rotary seat is fixed on the mounting step at the axle center position of the right shell by a screw and is used for connecting the inner body.
Furthermore, a right water inlet mounting hole is formed on a rotating shaft of a right shell of the underwater robot, and a right flange mounting step for mounting a posture-adjusting rotating shaft mounting bracket is arranged on the rotating shaft; a right water inlet front mounting hole and a right water inlet rear mounting hole are formed; the underwater robot is provided with a front right water spraying mounting hole and a rear right water spraying mounting hole, the two water spraying mounting holes are symmetrically mounted, the axis of the two water spraying mounting holes is coplanar with the horizontal plane of the underwater robot, a certain included angle is formed between the two water spraying mounting holes and the vertical plane of the underwater robot, and the two angles are equal; two mechanical limiting device left baffles are arranged on the circumference of the right shell; an umbilical cable hole is formed at the upper part of the bracket; an annular sealing groove and an annular connecting groove are formed in the cylindrical surface; the upper part is provided with a handle installation step surface, and the lower part is provided with a robot placing step surface.
The invention relates to a right water spray propulsion device of an underwater robot, which comprises a right sea water pump, a right reversing valve, a right water inlet, a right sea water pump water inlet pipe, a right sea water pump water outlet pipe, a right front water inlet, a right rear water inlet, a right front water outlet pipe, a right rear water outlet pipe, a right front nozzle, a right rear nozzle and the like. The right water jet propulsion unit is arranged in the right dish-shaped outer cover. The right sea water pump pumps the sea water from the right water inlet, and the sea water enters the right reversing valve from the water outlet pipe of the right sea water pump after being pressurized and accelerated; the right reversing valve controls the high-pressure high-speed seawater to flow to different water outlets as required; the right water inlet is arranged in a right water inlet mounting hole of the right dish-shaped outer cover and is sealed by an annular sealing groove and a sealing ring; one end of the right front water inlet is arranged in the right water inlet front mounting hole, and the other end of the right front water inlet is connected with the right reversing valve and is sealed by an O-shaped sealing ring chamfer; one end of the right rear water inlet is arranged in the right water inlet rear mounting hole, and the other end of the right rear water inlet is connected with the right reversing valve and is sealed by an O-shaped sealing ring chamfer; the right front nozzle is arranged in the right front water spraying mounting hole and is sealed by an O-shaped sealing ring; the right rear nozzle is arranged in the right rear water spraying mounting hole and is sealed by an O-shaped sealing ring; one end of the water inlet pipe of the right seawater pump is connected with the water inlet of the right seawater pump, and the other end of the water inlet pipe of the right seawater pump is connected with the right water inlet; one end of the water outlet pipe of the right sea water pump is connected with the water outlet of the right sea water pump, and the other end of the water outlet pipe of the right sea water pump is connected with the water inlet of the right reversing valve; one end of the right front water outlet pipe is connected with a left water outlet of the right reversing valve, and the other end of the right front water outlet pipe is connected with the right front nozzle; one end of the right rear water outlet pipe is connected with a right water outlet of the right reversing valve, and the other end of the right rear water outlet pipe is connected with the right rear nozzle.
The umbilical cable port of the underwater robot comprises a mounting seat, a socket, an umbilical cable cover plate and the like. The umbilical cable port is a channel for electrical connection between the underwater robot and the robot control equipment, and is installed and sealed with the right shell through the installation seat; the socket and the umbilical cable cover plate are arranged on the mounting seat, and static sealing is achieved through the sealing gasket and the sealing ring.
The four nozzles of the underwater robot are uniformly arranged in a horizontal plane, and the axes of the four nozzles and a vertical plane have the same included angle A; the left front nozzle and the right front nozzle are arranged at the front end of the robot and are symmetrical with each other about a vertical plane of the robot; the left rear nozzle and the right rear nozzle are arranged at the rear end of the robot and are symmetrical with each other about a vertical plane of the robot; the axes of the left front nozzle and the right front nozzle are intersected at the same point of the X axis, the axes of the left rear nozzle and the right rear nozzle are intersected at the same point of the X axis, and the line section length is greater than zero.
The rotary shell of the robot is a rotary body, the generatrix of the rotary body is two sections of same circular arcs and a straight line, and the rotary shaft is a connecting line of the centers of the two circular arcs. Therefore, the center of mass and the floating center of the rotating shell are both at the position of the origin O of the coordinate system, and the position of the floating center of the robot and the position of the floating center of the rotating shell are in a coincidence relation. The same coordinate system is adopted, the center of mass position of the robot and the center of mass position of the inner body are in a coincidence relation, the floating center of the robot is positioned at the position of an original point O of the coordinate system in any posture, the center of mass of the robot is positioned on the Z axis, and the floating center of the robot is positioned right above the center of mass of the robot.
The inner body of the underwater robot consists of a posture adjusting device, a vision and energy measurement and control device, a bracket and the like. The posture adjusting device and the vision and energy measuring and controlling device are arranged on the bracket; besides carrying necessary energy, control, vision and other systems of the robot such as navigation, detection and the like, the inner body of the robot also generates a rotating torque through the attitude adjusting device, so that the rotating shell rotates to a required angle as required, and the vector spraying direction of the spray head is changed, thereby changing the navigation direction or the attitude of the robot.
The posture adjusting device of the underwater robot comprises a steering engine, a speed reducer, a worm wheel, a posture adjusting rotating shaft, a posture adjusting mounting bracket and the like. The steering engine, the speed reducer, the worm wheel and the posture adjusting rotating shaft are all arranged on the posture adjusting mounting bracket; two ends of the posture adjusting rotating shaft are respectively fixedly connected with the left rotating seat and the right rotating seat. When the robot needs to adjust the posture, the steering engine is controlled to drive the speed reducer and the worm to rotate, the worm drives the worm wheel to rotate, the rotating torque is increased, and self-locking is achieved. The worm wheel is fixedly connected with the posture adjusting rotating shaft, the left rotating seat and the right rotating seat. Therefore, when the worm wheel rotates, the rotating shell of the robot synchronously rotates, and the aim of adjusting the posture of the robot is fulfilled.
The invention relates to a measurement and control visual and energy device of an underwater robot, which comprises a battery pack, a camera, a lighting lamp, a measurement and control device, a counterweight and the like. The battery pack is arranged at the bottom of the bracket and is used for providing navigation and control energy for the robot; the camera and the illuminating lamp are arranged below two sides of the bracket and provide images for operations such as robot detection and the like; the measurement and control device is arranged above the bracket. The balance weight is used for adjusting the position of the mass center of the inner body.
The inner body bracket of the underwater robot consists of a battery pack bracket, a counterweight bracket, a camera and lighting lamp bracket, a posture adjusting device mounting plate, a mechanical brake and the like. The support is mainly used for installing and fixing the battery pack, the camera, the illuminating lamp, the balance weight and the posture adjusting device and is used for mechanical limit of the inner body of the robot.
The left reversing valve and the right reversing valve of the underwater robot have the same structure and function, and mainly comprise a left outlet of the reversing valve, a valve body, a right outlet of the reversing valve, a right valve rod, a right linear motor, an inlet of the reversing valve, a left linear motor and a left valve rod. By controlling the switching motion between the left linear motor and the right linear motor, the reversing valve can realize the purpose of switching and outputting high-pressure high-speed jet flow at the left outlet or the right outlet.
According to another aspect of the present invention, a manipulation method of an underwater robot according to an embodiment of the present invention is as follows: the underwater robot is controlled by the cooperative control of the left water jet propulsion device, the right water jet propulsion device and the posture adjusting device. The underwater robot controls the high-pressure and high-speed seawater pumped by the left and right seawater pumps to flow to a left front nozzle or a left rear nozzle, a right front nozzle or a right rear nozzle on a rotary shell of the underwater robot after passing through a left reversing valve and a right reversing valve by controlling the left and right linear motors and the left and right seawater pumps, and is used for generating thrust and the direction of the thrust required by the movement of the underwater robot; the underwater robot can control the rotation shell to rotate relative to the inner body through the umbilical cable port through the control device on the water surface, and the posture adjusting device is used for changing the direction of the nozzle relative to the horizontal plane; through the cooperative control of the three devices of the left water jet propulsion, the right water jet propulsion and the posture adjusting of the underwater robot, the underwater robot can realize the front-back movement, the transverse movement and the steering movement on the horizontal plane and the fixed-angle diving (climbing) movement, the vertical floating movement and the steering movement on the vertical plane.
(3) Advantageous effects
The beneficial effects of the invention are mainly embodied in the following aspects:
1. the whole appearance of the underwater robot is in a disc shape, no obvious protrusion is arranged outside the shell, the problem that the underwater robot is wound with the surrounding working environment is not easy to occur, and the co-fusion property of the underwater robot and the working environment is improved.
2. The underwater robot realizes the movement of five degrees of freedom of the underwater robot by adopting a mode of combining water spray vector propulsion and posture adjustment, thereby not only improving the low-speed maneuverability of the underwater robot, but also reducing the navigation noise of the underwater robot.
3. The underwater robot is wholly based on a cylinder, only adopts an O-shaped sealing ring for static sealing, and does not need any dynamic sealing. The robot has the advantages that the good sealing effect of the robot is guaranteed, and the problems that the dynamic seal of the underwater robot is easy to leak due to abrasion and the working time of the dynamic seal is short are solved. The potential safety hazard of the robot is solved, and the service life of the robot is prolonged.
4. The underwater robot has small volume, light weight, compact structure and simple appearance, and is convenient for transportation, carrying, release and recovery.
5. The underwater robot adopts an integral rotating shell mode to change the propelling direction, realizes that the center of mass of the robot is positioned under the floating center under any posture, and solves the contradiction between the stability and the maneuverability of the underwater robot.
Drawings
Fig. 1 is an overall outline structural view including a coordinate system of an underwater robot according to an embodiment of the present invention;
FIG. 2 is an overall profile side view of an underwater robot in accordance with an embodiment of the present invention;
fig. 3 is a partial sectional view of a rotating housing structure of the underwater robot according to an embodiment of the present invention;
FIG. 4 is a partial cross-sectional view of a left dish-shaped outer cover structure of an underwater robot in accordance with an embodiment of the present invention;
fig. 5 is a partial sectional view of a left housing structure of the underwater robot according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of a left water jet propulsion unit of the underwater robot according to an embodiment of the present invention;
fig. 7 is a partial sectional view of a charging port structure of the underwater robot according to the embodiment of the present invention;
FIG. 8 is a partial cross-sectional view of a right dish-shaped outer cover structure of an underwater robot in accordance with an embodiment of the present invention;
fig. 9 is a partial sectional view of a right housing structure of the underwater robot in accordance with the embodiment of the present invention;
FIG. 10 is a diagram of a right water jet propulsion unit of the underwater robot according to an embodiment of the present invention;
FIG. 11 is a partial cross-sectional view of an umbilical port configuration of a subsea robot in accordance with an embodiment of the present invention;
FIG. 12 is a side view of an underwater robot with a schematic of the centroid, center of buoyancy position and nozzle placement in accordance with an embodiment of the present invention;
FIG. 13 is a C-C cross-sectional view of the underwater robot of FIG. 12 with the arrangement of the nozzles in a horizontal plane in accordance with an embodiment of the present invention;
FIG. 14 is a D-view of FIG. 12 with a centroid, float center position schematic and nozzle placement diagram of an underwater robot in accordance with an embodiment of the present invention;
fig. 15 is a schematic view of an inner body structure of the underwater robot according to the embodiment of the present invention;
fig. 16 is a schematic structural diagram of a posture adjustment device of an underwater robot according to an embodiment of the present invention;
fig. 17 is a schematic structural view of a measurement and control vision and energy device of an underwater robot according to an embodiment of the present invention;
FIG. 18 is a schematic diagram of an internal body support structure of an underwater robot according to an embodiment of the present invention;
fig. 19 is a schematic structural diagram of a left reversing valve and a right reversing valve of the underwater robot according to the embodiment of the invention.
Description of reference numerals: 1: rotating the housing 2: endosome 3: left dish-shaped outer cover 4: right dish-shaped outer cover 5: left shell 6: left water jet propulsion unit 7: charging port 8: right housing 9: right water jet propulsion device 10: umbilical port 11: posture adjusting device 12: and a measurement and control vision and energy device 13: 0-1 of bracket: floating center position 0-2: centroid position 1-1: observation windows 1-2: 1-3 of handle: adjusting the weight 2-1: a left outlet 2-2 of the reversing valve: valve body 2-3: 2-4 of the right outlet of the reversing valve: 2-5 of right valve rod: 2-6 of a right linear motor: inlet 2-7 of the reversing valve: 2-8 of a left linear motor: left valve stem 3-1: left rotating seat 4-1: right rotating base 5-1: 5-2 of left water inlet mounting hole: 5-3 of left flange: 5-4 of left water inlet front mounting hole: 5-5 of left water inlet rear mounting hole: 5-6 of left front water spraying mounting hole: 5-7 of left rear water spray mounting hole: 5-8 parts of left baffle: charging hole 6-1: 6-2 of a left seawater pump: 6-3 of a left reversing valve: 6-4 of left water inlet: 6-5 of a water inlet pipe of the left seawater pump: water outlet pipe 6-6 of left sea water pump: 6-7 of left front water inlet: 6-8 of left rear water inlet: left front water outlet pipe 6-9: 6-10 of left rear water outlet pipe: left front nozzle 6-11: left rear nozzle 7-1: a charging seat 7-2: charging socket 7-3: cover plate 8-1: right water inlet mounting hole 8-2: 8-3 of right flange: right water inlet front mounting hole 8-4: and (3) right water inlet rear mounting hole 8-5: right front water spray mounting hole 8-6: and (4) a right rear water spray mounting hole 8-7: left baffle 8-8: umbilical cord hole 9-1: 9-2 of a right seawater pump: right directional control valve 9-3: 9-4 of right water inlet: 9-5 of a water inlet pipe of a right seawater pump: water outlet pipe 9-6 of right sea water pump: 9-7 of right front water inlet: 9-8 of right rear water inlet: right front water outlet pipe 9-9: and (3) right rear water outlet pipe 9-10: right front nozzle 9-11: right rear nozzle 10-1: mounting seat 10-2: socket 10-3: umbilical cable cover 11-1: steering engine 11-2: the speed reducer 11-3: worm 11-4: worm wheel 11-5: posture adjusting rotating shaft 11-6: adjusting the posture of the mounting bracket 12-1: battery pack 12-2: camera 12-3: illumination lamp 12-4: measurement and control device 12-5: counterweight 13-1: battery pack bracket 13-2: counterweight support 13-3: camera and light bracket 13-4: posture adjusting device mounting plate 13-5: mechanical brake
Detailed Description
The embodiment of the invention provides a water-jet vector propelling circular-disk underwater robot (hereinafter, also referred to as an underwater robot) with adjustable posture and a control method thereof, and the embodiment of the invention is explained in detail below by combining with accompanying drawings 1-19, and the specific implementation mode of the invention is further explained.
Referring to fig. 1, the underwater robot of the present invention is mainly composed of a rotating housing 1 and an inner body 2, wherein the inner body 2 is suspended in an inner cavity of the rotating housing 1.
Referring to fig. 1 and 2, the origin O is the midpoint of the line connecting the centers of the two arcs of the housing 1; the X axis is perpendicular to the YOZ plane; the Y axis is collinear with the rotating shaft; the Z-axis is perpendicular to the horizontal plane of the ground coordinate system.
Referring to fig. 2, the appearance of the posture-adjustable water jet vector propulsion circular-disk underwater robot is a revolving body, and the appearance mainly depends on the shape of the rotating shell 1. As can be seen from fig. 2, the top and bottom of the housing 1 are flat, and the two sides of the housing 1 are symmetrical circular arc surfaces. In other words, the generatrix of the revolving body is formed by two identical circular arcs and a straight line, and the revolving shaft is a connecting line of the centers of the two circular arcs.
Referring to fig. 3, the rotary shell 1 of the underwater robot mainly comprises a left disc-shaped outer cover 3, a right disc-shaped outer cover 4, an observation window 1-1, a handle 1-2 and an adjusting weight 1-3.
Static sealing is carried out between the sealing step holes at the two ends of the observation window 1-1 and the annular sealing grooves of the left disc-shaped outer cover 3 and the right disc-shaped outer cover 4 through the placed O-shaped sealing rings; the connecting screw holes evenly distributed on the circumference of the two ends of the observation window 1-1 are connected with the annular connecting grooves of the left disc-shaped outer cover 3 and the right disc-shaped outer cover 4 in a manner of clamping connecting screws.
The handle 1-2 is fixed on the left dish-shaped outer cover 3 and the right dish-shaped outer cover 4 by screws, so that the underwater robot can be conveniently carried.
The adjusting weights 1-3 are arranged on the inner curved surfaces of the left disc-shaped outer cover 3 and the right disc-shaped outer cover 4 and are used for ensuring that the mass center of the rotating shell 1 is on the origin O of the coordinate system OXYZ.
Referring to fig. 1-3, the observation window 1-1 of the underwater robot of the present invention may be a transparent cylinder, both ends of which are provided with circumferentially and uniformly distributed connection screw holes, and both ends of which are provided with static-seal stepped holes capable of accommodating O-ring seals.
Referring to fig. 4, the left dish-shaped outer cover 3 of the underwater robot of the present invention is mainly composed of a left outer shell 5, a left water jet propulsion unit 6, a charging port 7 and a left rotating base 3-1. The left water jet propulsion unit 6 is arranged on the inner curved surface of the left shell 5; the charging port 7 is arranged at the position close to the upper part of the left shell 5 and is statically sealed by adopting a sealing ring; the left rotating seat 3-1 is fixed on the installation step at the axle center position of the left shell 5 by a screw and is used for connecting the inner body 2.
Referring to fig. 5, a left water inlet mounting hole 5-1 is formed on a rotating shaft Y-axis of a left housing 5 of the underwater robot of the present invention, and a mounting step for mounting a left flange 5-2 of an attitude adjusting rotating shaft mounting bracket is formed on the rotating shaft.
The left shell 5 is provided with a left water inlet front mounting hole 5-3 and a left water inlet rear mounting hole 5-4 on the side wall along the Y-axis direction, and the two mounting holes are coaxial with the C1 inlet and the C2 inlet of the left reversing valve 6-2. The left shell 5 is provided with a left front water spraying mounting hole 5-5 and a left rear water spraying mounting hole 5-6 on the side edge, the two water spraying mounting holes of the left front water spraying mounting hole 5-5 and the left rear water spraying mounting hole 5-6 are symmetrically arranged, the axis of the left front water spraying mounting hole and the axis of the left rear water spraying mounting hole are coplanar with the horizontal plane XOY of the underwater robot, and the left front water spraying mounting hole 5-5 and the left rear water spraying mounting hole 5-6 form a certain included angle with the vertical plane XOZ of the underwater robot, and the two angles are equal.
Two mechanical limiting devices, namely left baffles 5-7 are arranged on the circumference of the left shell 5 and used for mechanical limiting of the posture adjusting device 11; the upper part of the charging hole is provided with a charging hole 5-8. An annular sealing groove and an annular connecting groove are formed in the cylindrical surface, and connecting screw holes evenly distributed at the two ends and the periphery of the observation window 1-1 are connected with the annular connecting grooves of the left disc-shaped outer cover 3 and the right disc-shaped outer cover 4 through clamping connecting screws. The upper part is provided with a step surface provided with a handle 1-2, and the lower part is provided with a step surface for placing a robot.
Referring to fig. 6, the left water jet propulsion unit 6 mainly comprises a left sea water pump 6-1, a left reversing valve 6-2, a left water inlet 6-3, a left sea water pump water inlet pipe 6-4, a left sea water pump water outlet pipe 6-5, a left front water inlet 6-6, a left rear water inlet 6-7, a left front water outlet pipe 6-8, a left rear water outlet pipe 6-9, a left front nozzle 6-10 and a left rear nozzle 6-11. The left water jet propulsion unit 6 is arranged in the left dish-shaped outer cover 3.
The left water inlet 6-3 is arranged in a left water inlet mounting hole 5-1 of the left dish-shaped outer cover 3 and is sealed by an annular sealing groove and a sealing ring during installation. One end of the left front water inlet 6-6 is arranged in the left front water inlet mounting hole 5-3, and the other end is connected with the left reversing valve 6-2 and is sealed by an O-shaped sealing ring chamfer. One end of the left rear water inlet 6-7 is arranged in the left rear water inlet mounting hole 5-4, and the other end is connected with the left reversing valve 6-2 which is sealed by an O-shaped sealing ring chamfer. The left front nozzle 6-10 is arranged in the left front water spraying mounting hole 5-5 and is sealed by an O-shaped sealing ring chamfer. The left rear nozzle 6-11 is arranged in the left rear water spray mounting hole 5-6 and is sealed by an O-shaped sealing ring chamfer. One end of the left sea water pump water inlet pipe 6-4 is connected with the water inlet of the left sea water pump 6-1, and the other end is connected with the left water inlet 6-3; one end of a water outlet pipe 6-5 of the left sea water pump is connected with a water outlet of the left sea water pump 6-1, and the other end is connected with a water inlet of a left reversing valve 6-2; one end of a left front water outlet pipe 6-8 is connected with a left water outlet of the left reversing valve 6-2, and the other end is connected with a left front nozzle 6-10; one end of the left rear water outlet pipe 6-9 is connected with the right water outlet of the left reversing valve 6-2, and the other end is connected with the left rear nozzle 6-11. During actual operation, the left sea water pump 6-1 pumps sea water into the left reversing valve 6-2 from the left water inlet 6-3, and the sea water enters the left reversing valve 6-2 from the left sea water pump water outlet pipe 6-5 after being pressurized and accelerated; the left reversing valve 6-2 controls the high-pressure high-speed seawater to flow to different water outlets according to requirements.
Referring to fig. 7, the charging port 7 of the underwater robot of the present invention is composed of a charging stand 7-1, a charging socket 7-2, a cover plate 7-3, and the like. The charging port 7 is a channel for charging, discharging and managing energy in the robot by external energy equipment, and is installed and sealed with the left shell 5 through the charging seat 7-1; the charging socket 7-2 and the cover plate 7-3 are arranged on the charging seat 7-1, and static sealing is realized through a sealing gasket and a sealing ring.
Referring to fig. 8, the right dish-shaped outer cover 4 of the underwater robot of the present invention is mainly composed of a right outer shell 8, a right water jet propulsion unit 9, an umbilical cable port 10 and a right rotating base 4-1. The umbilical cable port 10 is connected with the control device on the water surface through an umbilical cable, and is a channel for information transmission and control between the underwater robot and the control device on the water surface. It should be noted that the left and right disk-shaped covers 3 and 4 are substantially symmetrically disposed, and the difference between them is mainly in the arrangement of the charging port 7 and the umbilical cord port 10. The parts of the left disc-shaped outer cover 3 and the right disc-shaped outer cover 4 which are identical in design are not described in detail herein.
In short, the right water jet propulsion unit 9 is mounted on the inner curved surface of the right shell 8; the umbilical cable port 10 is mounted at the upper position of the right shell 8 and is statically sealed by a sealing ring. The right rotary seat 4-1 is fixed on the mounting step at the axle center position of the right shell 8 by a screw and is used for connecting the inner body 2.
Referring to fig. 9, a right water inlet mounting hole 8-1 is formed on a rotation axis Y axis of a right housing 8 of the underwater robot of the present invention, and a mounting step for mounting a right flange 8-2 of an attitude adjusting rotation axis mounting bracket is formed on the rotation axis.
A right water inlet front mounting hole 8-3 and a right water inlet rear mounting hole 8-4 are formed in the side wall of the right shell 8 along the Y-axis direction; the right shell 8 is provided with a right front water spray mounting hole 8-5 and a right rear water spray mounting hole 8-6 on the side edge, the two water spray mounting holes of the right front water spray mounting hole 8-5 and the right rear water spray mounting hole 8-6 are symmetrically arranged, the axis of the right front water spray mounting hole 8-5 and the axis of the right rear water spray mounting hole 8-6 are coplanar with the horizontal plane XOY of the underwater robot, and the right front water spray mounting hole 8-5 and the right rear water spray mounting hole 8-6 form a certain included angle with the vertical plane XOZ of the underwater robot, and the two angles are equal. Similarly, two mechanical limiting devices, namely a left baffle plate 8-7, are arranged on the circumference of the right shell 8; an umbilical cable hole 8-8 is arranged at the upper part; an annular sealing groove and an annular connecting groove are formed in the cylindrical surface. The upper part is provided with a step surface provided with a handle 1-2, and the lower part is provided with a step surface for placing a robot.
The right water jet propulsion device 9 in fig. 10 is identical in construction to the left water jet propulsion device 6 in fig. 6. In order to describe the water jet propulsion system of the present invention from a different point of view, the right water jet propulsion system 9 will be described in detail below.
Referring to fig. 10, the right water jet propulsion unit 9 of the invention mainly comprises a right sea water pump 9-1, a right reversing valve 9-2, a right water inlet 9-3, a right sea water pump water inlet pipe 9-4, a right sea water pump water outlet pipe 9-5, a right front water inlet 9-6, a right rear water inlet 9-7, a right front water outlet pipe 9-8, a right rear water outlet pipe 9-9, a right front nozzle 9-10 and a right rear nozzle 9-11. The right water jet propulsion unit 9 is mounted inside the right dish-shaped outer cover 4.
The right water inlet 9-3 is arranged in a right water inlet mounting hole 8-1 of the right dish-shaped outer cover 4 and is sealed by an annular sealing groove and a sealing ring. One end of a right front water inlet 9-6 is arranged in the right water inlet front mounting hole 8-3, and the other end is connected with a right reversing valve 9-2 and is sealed by an O-shaped sealing ring chamfer. One end of a right rear water inlet 9-7 is arranged in the right water inlet rear mounting hole 8-4, and the other end is connected with a right reversing valve 9-2 and is sealed by an O-shaped sealing ring chamfer. The right front nozzle 9-10 is arranged in the right front water spraying mounting hole 8-5 and is sealed by an O-shaped sealing ring; the right rear nozzle 9-11 is arranged in the right rear water spray mounting hole 8-6 and is sealed by an O-shaped sealing ring chamfer.
One end of the right seawater pump water inlet pipe 9-4 is connected with the water inlet of the right seawater pump 9-1, and the other end is connected with the right water inlet 9-3; one end of a water outlet pipe 9-5 of the right sea water pump is connected with a water outlet of the right sea water pump 9-1, and the other end is connected with a water inlet of a right reversing valve 9-2; one end of a right front water outlet pipe 9-8 is connected with a left water outlet of the right reversing valve 9-2, and the other end is connected with a right front nozzle 9-10; one end of the right rear water outlet pipe 9-9 is connected with the right water outlet of the right reversing valve 9-2, and the other end is connected with the right rear nozzle 9-11.
In actual operation, the right seawater pump 9-1 pumps seawater from the right water inlet 9-3, and the seawater enters the right reversing valve 9-2 from the right seawater pump water outlet pipe 9-5 after pressurization and acceleration; the right reversing valve 9-2 controls the high-pressure high-speed seawater to flow to different water outlets according to requirements.
Referring to fig. 11, the umbilical port 10 of the present invention is composed of a mounting seat 10-1, a socket 10-2, an umbilical cover 10-3, etc. The umbilical cable port 10 is a channel for electrical connection between the underwater robot and the control device, and is installed and sealed with the right housing 8 through the installation seat 10-1. The socket 10-2 and the umbilical cable cover plate 10-3 are arranged on the mounting seat 10-1, and static sealing is achieved through a sealing gasket and a sealing ring.
Referring to fig. 12, 13 and 14, the four nozzles of the robot of the present invention, namely, the left front nozzle 6-10, the left rear nozzle 6-11, the right front nozzle 9-10 and the right rear nozzle 9-11, are all arranged in the horizontal plane XOY, and the axes of the four nozzles and the vertical plane XOZ all have the same included angle a. The left front nozzle 6-10 and the right front nozzle 9-10 are arranged at the front end of the robot and are symmetrical with each other about a vertical plane XOZ; the left rear nozzle 6-11 and the right rear nozzle 9-11 are arranged at the rear end of the robot in a symmetrical relationship with respect to the vertical plane XOZ. The axes of the left front nozzle 6-10 and the right front nozzle 9-10 are intersected at a point E of an X axis, the axes of the left rear nozzle 6-11 and the right rear nozzle 9-11 are intersected at a point F of the X axis, the length of an EF line is B and is larger than zero, namely, the distance between the intersection of the axes of the left front nozzle 6-10 and the right front nozzle 9-10 and the intersection of the axes of the left rear nozzle 6-11 and the right rear nozzle 9-11 is larger than zero.
Referring to fig. 12, 13 and 14, the rotary housing 1 of the robot of the present invention is a rotary body, a generatrix (a curved surface figure can be regarded as a track when a moving line moves, and the moving line forming the curved surface is called as a generatrix) of the rotary body is a connecting line of two identical circular arcs and a straight line, and the rotary axis is a connecting line of centers of the two circular arcs. Therefore, the centroid and the floating center of the rotating housing 1 are both at the position of the origin O of the coordinate system oyxyz, and the position 0-1 of the floating center of the robot, that is, the position of the floating center of the rotating housing 1, is in an overlapping relationship.
And the same coordinate system is adopted, the position 0-2 of the mass center of the robot is in a coincidence relation with the position of the mass center of the inner body 2, and the position 0-2 of the mass center of the robot is on the Z axis. In any posture of the robot, the floating center position 0-1 of the robot is at the position of the origin O of the coordinate system OXYZ, the centroid position 0-2 of the robot is on the Z axis, and the floating center position 0-1 of the robot is right above the centroid position 0-2 of the robot.
Referring to fig. 15, the robot inner body 2 of the present invention mainly comprises a posture adjusting device 11, a vision and energy measurement and control device 12 and a support 13. The posture adjusting device 11 and the measurement and control vision and energy device 12 are both arranged on the bracket 13; besides carrying necessary energy, control, vision and other systems of the robot such as navigation, detection and the like, the robot inner body 2 also generates a rotating moment through the attitude adjusting device 11, so that the rotating shell 1 rotates to a required angle as required, and the vector spraying direction of the spray head is changed, thereby changing the navigation direction or the attitude of the robot.
Referring to fig. 16, the posture adjusting device 11 of the invention comprises a steering engine 11-1, a speed reducer 11-2, a worm 11-3, a worm wheel 11-4, a posture adjusting rotating shaft 11-5, a posture adjusting mounting bracket 11-6 and the like. A steering engine 11-1, a speed reducer 11-2, a worm 11-3, a worm wheel 11-4 and an attitude adjusting rotating shaft 11-5 are all arranged on an attitude adjusting mounting bracket 8-6; two ends of the posture adjusting rotating shaft 11-5 are respectively fixedly connected with the left rotating seat 3-1 and the right rotating seat 4-1.
When the robot needs to adjust the posture, the steering engine 11-1 is controlled to drive the speed reducer 11-2 and the worm 11-3 to rotate, the worm (11-3) drives the worm wheel 11-4 to rotate, the rotating torque is increased, and self-locking is achieved. The worm wheel 11-4 is fixedly connected with the posture adjusting rotating shaft 11-5, the left rotating seat 3-1 and the right rotating seat 4-1. Therefore, when the worm wheel rotates, the rotating shell 1 of the robot synchronously rotates, and the aim of adjusting the posture of the robot is fulfilled.
Referring to fig. 17, the measurement and control vision and energy device 12 of the underwater robot mainly comprises a battery pack 12-1, a camera 12-2, an illuminating lamp 12-3, a measurement and control device 12-4 and a counterweight 12-5. The battery pack 12-1 is installed at the bottom of the support frame 13 for providing a power source for navigation and control of the robot. The camera 12-2 and the illuminating lamp 12-3 are arranged below two sides of the bracket 13 and provide images for operations such as robot detection and the like; the measurement and control device 12-4 is arranged above the bracket 13. The counterweight 12-5 is used to adjust the position of the center of mass of the inner body 7.
Referring to fig. 18, the bracket 13 of the inner body of the underwater robot of the present invention is mainly composed of a battery pack bracket 13-1, a counterweight bracket 13-2, a camera and lighting lamp bracket 13-3, a posture adjusting device mounting plate 13-4, and a mechanical brake 13-5. The bracket 13 is mainly used for mounting and fixing the battery pack 12-1, the camera 12-2, the illuminating lamp 12-3, the counterweight 12-5 and the posture adjusting device 11 and for mechanical limit of the robot inner body 2.
Referring to fig. 19, the left reversing valve 6-2 and the right reversing valve 9-2 for water spray vector propulsion of the underwater robot have the same structure and function, and mainly comprise a reversing valve left outlet 2-1, a valve body 2-2, a reversing valve right outlet 2-3, a right valve rod 2-4, a right linear motor 2-5, a reversing valve inlet 2-6, a left linear motor 2-7 and a left valve rod 2-8.
By controlling the switching movement of the left and right linear motors 2-7 and 2-5, the left and right reversing valves 6-2 and 9-2 can realize the switching opening and closing of inlets C1 and C2, so as to achieve the purpose of switching high-pressure high-speed jet flow to the left outlet 2-1 of the reversing valve or the right outlet 2-3 of the reversing valve. Wherein inlets of C1 and C2 of the left reversing valve 6-2 are respectively connected with a left front water inlet 6-6 and a left rear water inlet 6-7, and inlets of C1 and C2 of the right reversing valve 9-2 are respectively connected with a right front water inlet 9-6 and a right rear water inlet 9-7.
The specific working principle is as follows: when the left linear motor 2-7 works to drive the left valve rod 2-8 to move, the right linear motor 2-5 does not work, the C2 inlet is opened, and the C1 inlet is closed, so that the seawater pumped by the left seawater pump 6-1 or the right seawater pump 9-2 flows from the reversing valve inlet 2-6 to the reversing valve right outlet 2-3 under the action of fluid; on the contrary, when the right linear motor 2-5 works to drive the valve rod 2-4 to move, the left linear motor 2-7 does not work, the inlet C1 is opened, and the inlet C2 is closed, so that the seawater pumped by the left seawater pump 6-1 or the right seawater pump 9-2 flows to the left outlet 2-1 of the reversing valve from the inlet 2-6 of the reversing valve under the action of fluid. The reversing valve achieves the reversing purpose by switching the direction of the high-speed high-pressure jet flow.
The principle of the underwater robot control of the present invention includes forward and backward movement, steering movement, lateral movement in the horizontal plane, and fixed angle diving (climbing) movement, vertical sinking and floating movement and steering movement in the vertical plane, and each main operation mode is explained as follows:
1. back and forth movement in the horizontal plane: when the attitude-fixing angle of the robot is 0 degree, the direction of the nozzle propelled by water spray is in the level of a ground coordinate system. When the robot needs to move forwards, the left sea water pump 6-1 and the right sea water pump 9-1 work at the same flow and flow rate, the same water flow is sucked from the left water inlet 6-3 and the right water inlet 9-3, the water flow is pumped into the left reversing valve 6-2 and the right reversing valve 9-2 after being accelerated and pressurized, the water flow in the left reversing valve 6-2 flows to the left rear nozzle 6-11 and the water flow in the right reversing valve 9-2 flows to the right rear nozzle 9-11 through the control ports C1 and C2 of the left reversing valve 6-2 and the right reversing valve 9-2 respectively, and therefore the forward movement is achieved; on the contrary, the water flow in the left reversing valve 6-2 flows to the left front nozzle 6-10, and the water flow in the right reversing valve 9-2 flows to the right front nozzle 9-10, so that the backward movement is realized.
2. Turning movement in the horizontal plane: when the attitude-fixing angle of the robot is 0 degree, the direction of the nozzle propelled by water spray is in the level of a ground coordinate system. When the robot needs to move in a left-handed direction, the left sea water pump 6-1 and the right sea water pump 9-1 work at the same flow rate and flow velocity, the same water flow is sucked from the left water inlet 6-3 and the right water inlet 9-3, the water flow is pumped into the left reversing valve 6-2 and the right reversing valve 9-2 after being accelerated and pressurized, the water flow in the left reversing valve 6-2 flows to the left front nozzle 6-10 and the water flow in the right reversing valve 9-2 flows to the right rear nozzle 9-11 through the control ports C1 and C2 of the left reversing valve 6-2 and the right reversing valve 9-2 respectively, and therefore the left-handed movement (the rotation in the counterclockwise direction when viewed from top to bottom) is realized; on the contrary, the water flow in the left reversing valve 6-2 flows to the left rear nozzle 6-11, and the water flow in the right reversing valve 9-2 flows to the right front nozzle 9-10, so that the right-handed rotation (clockwise rotation seen from top to bottom) is realized.
3. Traversing movement in the horizontal plane: when the attitude-fixing angle of the robot is 0 degree, the direction of the nozzle propelled by water spray is in the level of a ground coordinate system. When the robot needs to move left, the right seawater pump 9-1 works, water flow is sucked from the right water inlet 9-3, the water flow is pumped into the right reversing valve 9-2 after being accelerated and pressurized, and the water flow in the right reversing valve 9-2 intermittently flows to the right front nozzle 9-10 and the right rear nozzle 9-11 by uniformly switching the control ports C1 and C2 of the right reversing valve 9-2, so that the left movement is realized; on the contrary, the left seawater pump 6-1 works to suck water flow from the left water inlet 6-3, the water flow is pumped into the reversing valve 6-2 after being accelerated and pressurized, and the water flow in the left reversing valve 6-2 intermittently flows to the left front nozzle 6-10 and the left rear nozzle 6-11 by uniformly switching the control ports C1 and C2 of the left reversing valve 6-2, so that the right shifting movement is realized.
4. Fixed angle dive (climb) motion in vertical plane: when the attitude-fixing angle of the robot is a certain angle, the included angle between the direction of the nozzle for water jet propulsion and the horizontal plane of the ground coordinate system is a certain angle, and the forward and backward movement when the attitude-fixing angle of the robot is 0 degree is changed into fixed-angle dive (climbing) movement in the vertical plane.
5. Vertical float and sink movement in the vertical plane: when the attitude-fixing angle of the robot is +/-90 degrees, the included angle between the direction of the water jet propelled nozzle and the horizontal plane of the ground coordinate system is +/-90 degrees, and the front-back movement of the robot when the attitude-fixing angle is 0 degree is changed into the vertical floating movement in the vertical plane.
6. Steering movement in the vertical plane: when the attitude-fixing angle of the robot is a certain angle, the included angle between the direction of the nozzle propelled by water spray and the horizontal plane of the ground coordinate system is a certain angle, and the original steering motion when the attitude-fixing angle of the robot is 0 degree is changed into the steering motion in the vertical plane.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A posture-adjustable water-jet vector propulsion circular-disk-shaped underwater robot is characterized by comprising a rotary shell and an inner body, wherein a bus of the rotary shell is formed by two sections of same circular arcs and a straight line, the rotary shell comprises a left disk-shaped outer cover, a right disk-shaped outer cover, an observation window and an adjusting weight, the observation window is respectively in static sealing connection with the left disk-shaped outer cover and the right disk-shaped outer cover, the adjusting weight is arranged on the inner curved surfaces of the left disk-shaped outer cover and the right disk-shaped outer cover and used for ensuring that the mass center of the rotary shell is positioned on the middle point of a connecting line of the circle centers of the two circular arcs, the left disk-shaped outer cover comprises a left shell, a left water-jet propulsion device, a charging port and a left rotary seat, and the left; the charging port is arranged at the position close to the upper part of the left shell and is statically sealed by a sealing ring; the left rotating seat is fixed on the mounting step at the axis position of the left shell and is used for connecting the inner body; the right dish-shaped outer cover comprises a right shell, a right water jet propulsion device, an umbilical cable port and a right rotating seat, wherein the right water jet propulsion device is arranged on the inner curved surface of the right shell; the umbilical cable port is arranged at the position close to the upper part of the right shell and is statically sealed by a sealing ring; the right rotating seat is fixed on a mounting step at the axis position of the right shell and is used for being connected with an inner body, wherein the inner body comprises a posture adjusting device, a vision and energy measurement device and a support, and the posture adjusting device comprises a steering engine, a speed reducer, a worm gear, a posture adjusting rotating shaft and a posture adjusting mounting support; the steering engine, the speed reducer, the worm wheel and the posture adjusting rotating shaft are all arranged on the posture adjusting mounting bracket, the steering engine can drive the speed reducer and the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel is fixedly connected with the posture adjusting rotating shaft, and two ends of the posture adjusting rotating shaft are fixedly connected with the left rotating seat and the right rotating seat respectively; the underwater robot adopts an integral rotating shell mode to change the propelling direction, and the center of mass of the underwater robot is located right below the floating center in any posture.
2. The underwater robot of claim 1, wherein the rotating housing further comprises a handle secured to the left and right dished outer covers.
3. The underwater robot of claim 1, wherein a left water inlet mounting hole is formed on the rotation shaft of the left housing, and a left flange mounting step for mounting the attitude adjusting rotation shaft mounting bracket is formed on the rotation shaft of the left housing; the outer wall of the left shell is provided with a left water inlet front mounting hole and a left water inlet rear mounting hole; the side symmetry of left shell is opened has left front water spray mounting hole and left back water spray mounting hole, and the axis of left front water spray mounting hole and left back water spray mounting hole and underwater robot's horizontal plane coplane, and left front water spray mounting hole and left back water spray mounting hole form the contained angle of the same angle with underwater robot's perpendicular.
4. The underwater robot as claimed in claim 1, wherein a right water inlet mounting hole is formed on a rotation shaft of the right housing, and a right flange mounting step for mounting the attitude adjusting rotation shaft mounting bracket is formed on the rotation shaft of the right housing; a right water inlet front mounting hole and a right water inlet rear mounting hole are formed in the outer wall of the right shell; the side of the right shell is symmetrically provided with a right front water spraying mounting hole and a right rear water spraying mounting hole, the axes of the right front water spraying mounting hole and the right rear water spraying mounting hole are coplanar with the horizontal plane of the underwater robot, and the right front water spraying mounting hole and the right rear water spraying mounting hole form an included angle with the same angle with the vertical plane of the underwater robot.
5. The underwater robot of claim 1, wherein the observation window is a transparent cylinder, connecting screw holes are circumferentially and uniformly distributed at two ends of the observation window, and static sealing stepped holes of O-shaped sealing rings are formed at two ends of the observation window.
6. The underwater robot of claim 3, wherein the left water jet propulsion device comprises a left sea water pump, a left reversing valve, a left water inlet, a left sea water pump water inlet pipe, a left sea water pump water outlet pipe, a left water inlet and a right water inlet of the left reversing valve, a left water outlet pipe and a right water outlet pipe of the left reversing valve, a left front nozzle and a left rear nozzle; the left water inlet of the left water jet propulsion device is arranged in a left water inlet mounting hole of the left shell and is sealed by an annular sealing groove and a sealing ring; a left water inlet and a right water inlet of the left reversing valve are arranged in a left water inlet front mounting hole and a left water inlet rear mounting hole of the left shell and are sealed by an O-shaped sealing ring chamfer; the left front nozzle and the left rear nozzle are symmetrically arranged in the left front water spray mounting hole and the left rear water spray mounting hole and are sealed by an O-shaped sealing ring; the water inlet of the left seawater pump is connected with the left water inlet by a left seawater pump water inlet pipe; the water outlet of the left sea water pump is connected with the water inlet of the left reversing valve through a left sea water pump water outlet pipe; the left water inlet of the left reversing valve is connected with the left water inlet mounting hole of the left reversing valve, and the right water inlet of the left reversing valve is connected with the right water inlet mounting hole of the left reversing valve; the left water outlet of the left reversing valve is connected with the left front nozzle through a left water outlet pipe of the left reversing valve, and the right water outlet of the left reversing valve is connected with the left rear nozzle through a right water outlet pipe of the left reversing valve.
7. The underwater robot of claim 4, wherein the right water jet propulsion device comprises a right sea water pump, a right reversing valve, a right water inlet, a right sea water pump water inlet pipe, a right sea water pump water outlet pipe, a left water inlet and a right water inlet of the right reversing valve, a left water outlet pipe and a right water outlet pipe of the right reversing valve, a right front nozzle and a right rear nozzle; the right water inlet of the right water jet propulsion device is arranged in a right water inlet mounting hole of the right shell and is sealed by an annular sealing groove and a sealing ring; a left water inlet and a right water inlet of the right reversing valve are arranged in a right water inlet front mounting hole and a right water inlet rear mounting hole of the right shell and are sealed by an O-shaped sealing ring chamfer; the right front nozzle and the right rear nozzle are symmetrically arranged in the right front water spray mounting hole and the right rear water spray mounting hole and are sealed by an O-shaped sealing ring; the water inlet of the right seawater pump is connected with the right water inlet by a right seawater pump water inlet pipe; the water outlet of the right sea water pump is connected with the water inlet of the right reversing valve through a water outlet pipe of the right sea water pump; the left water inlet of the right reversing valve is connected with the left water inlet mounting hole of the right reversing valve, and the right water inlet of the right reversing valve is connected with the right water inlet mounting hole of the right reversing valve; the left water outlet of the right reversing valve is connected with the right front nozzle through a left water outlet pipe of the right reversing valve, and the right water outlet of the right reversing valve is connected with the right rear nozzle through a right water outlet pipe of the right reversing valve.
8. An underwater robot as in claim 6 or 7 wherein the left and right directional valves comprise directional valve left outlets, valve bodies, directional valve right outlets, right valve stems, right linear motors, directional valve inlets, left linear motors, and left valve stems.
9. The underwater robot of claim 8, wherein a distance between an intersection of axes of the left and right front nozzles and an intersection of axes of the left and right rear nozzles is greater than zero.
10. A control method of the underwater robot as claimed in any one of claims 1 to 9, wherein the control of the underwater robot is performed by the cooperative control of the left water jet propulsion device, the right water jet propulsion device and the attitude adjusting device, wherein the underwater robot controls the left and right linear motors and the left and right sea water pumps, and controls the high-pressure and high-speed sea water pumped by the left and right sea water pumps to flow to the left front nozzle or the left rear nozzle, the right front nozzle or the right rear nozzle on the rotating shell of the underwater robot after passing through the left and right reversing valves, so as to generate thrust and the direction of the thrust required by the movement of the underwater robot; the posture adjusting device controls the rotation of the rotating shell relative to the inner body through the umbilical cable port and is used for changing the direction of the nozzle relative to the horizontal plane, so that the front-back movement, the transverse movement and the steering movement of the underwater robot on the horizontal plane and the fixed-angle diving movement, the vertical floating movement and the steering movement of the underwater robot on the vertical plane are realized.
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