CN113002744B

CN113002744B - Four-rotor underwater vehicle

Info

Publication number: CN113002744B
Application number: CN202110259361.8A
Authority: CN
Inventors: 孔文超; 邓豪; 梅涛; 王潇洋; 王超; 高鑫; 唐聚学; 赖宇锋
Original assignee: Peng Cheng Laboratory
Current assignee: Peng Cheng Laboratory
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2022-07-01
Anticipated expiration: 2041-03-09
Also published as: CN113002744A

Abstract

The invention provides a four-rotor underwater vehicle, which comprises a sealed cabin shell, a driving device and a counterweight module, wherein the driving device and the counterweight module are arranged in the shell; the four-rotor underwater vehicle is provided with a gravity center and a floating center, the four-rotor underwater vehicle is provided with a first posture and a second posture, the floating center position of the underwater vehicle is O1, the gravity center position is O2, the O1 is taken as an origin, the shaft line of the sealed cabin shell is a Y1 shaft, the X1 shaft is perpendicular to a Y1 shaft, and the geodetic coordinate system is a second coordinate system. In the first posture, Y1 is parallel to Y2, in the second coordinate system, O1 is located above O2, O1O2 is parallel to Y2, when the first posture is switched to the second posture, Y1 is perpendicular to Y2, the driving device drives the counterweight module to move, so that the position of the gravity center O2 in the first coordinate system is changed, in the second coordinate system, O1 is still located above O2, and O1O2 is still parallel to the Y2 shaft. The invention solves the problem of low propulsion efficiency of the existing four-rotor underwater vehicle.

Description

Four-rotor underwater vehicle

Technical Field

The invention relates to the technical field of underwater navigation devices, in particular to a four-rotor underwater vehicle.

Background

In the four-rotor underwater vehicle in the prior art, when moving underwater, the four-rotor underwater vehicle is simultaneously under the action of buoyancy and gravity, wherein the equivalent action point of the buoyancy is called as a floating center, and the equivalent action point of the gravity is called as a gravity center. When the four-rotor underwater vehicle sails horizontally, the gravity center tends to move towards the upper part of the floating center, so that a turning moment is generated. The four-rotor underwater vehicle needs to increase power consumption and ensure that the center of gravity is positioned below the floating center. Further, the four-rotor underwater vehicle in the prior art has the problem of low propulsion efficiency.

Disclosure of Invention

The invention provides a four-rotor underwater vehicle, and aims to solve the problem that the four-rotor underwater vehicle in the prior art is low in propelling efficiency.

In order to solve the problems, the invention provides a four-rotor underwater vehicle, which comprises a sealed cabin shell and a gravity center adjusting device arranged in the sealed cabin shell; the gravity center adjusting device comprises a driving device and a counterweight module; the four-rotor underwater vehicle is provided with a gravity center and a floating center, the floating center position of the four-rotor underwater vehicle is O1, the gravity center position is O2, the floating center position O1 of the four-rotor underwater vehicle is taken as an original point, the axis of the sealed cabin shell is a Y1 axis, a straight line perpendicular to a Y1 axis is an X1 axis to establish a first coordinate system, a geodetic coordinate system is a second coordinate system, the opposite direction of the gravity direction is a Y2 axis, and a straight line perpendicular to a Y2 axis is an X2 axis; the quad-rotor underwater vehicle has a first attitude in which the axis Y1 and the axis Y2 are parallel, and a second attitude in which the axis O1 is above the axis O2 and the line O1O2 is parallel to the axis Y1, and when the quad-rotor underwater vehicle is switched from the first attitude to the second attitude, the axis Y1 is perpendicular to the axis Y2, and the driving device drives the counterweight module to move, thereby changing the position of the center of gravity O2 within the first coordinate system, so that in the second coordinate system, the axis O1 is still above the axis O2 and the line O1O2 is still parallel to the axis Y2.

In an optional embodiment, the gravity center adjusting device further includes a guide rail, the counterweight module is disposed on the guide rail, and the driving device drives the counterweight module to move along the guide rail.

In an optional embodiment, the guide rail includes a first guide rail and a second guide rail, the first guide rail is disposed perpendicular to the second guide rail, the first guide rail coincides with the Y1 axis, the second guide rail is disposed perpendicular to the Y1 axis, the counterweight module includes a first counterweight module and a second counterweight module, and the first counterweight module and the second counterweight module are disposed on the first guide rail and the second guide rail respectively.

In an optional embodiment, the quad-rotor underwater vehicle further comprises a control device and a battery, wherein the control device and the battery are arranged inside the sealed cabin shell, and the control device, the battery and the first counterweight module are integrally arranged; alternatively, the first and second electrodes may be,

the first counterweight module includes a control device and a battery.

In an optional embodiment, the guide rail is a ball screw, and a ball nut matched with the ball screw is arranged on the counterweight module; alternatively, the first and second electrodes may be,

the guide rail is an electric push rod.

In an optional embodiment, the quad-rotor underwater vehicle further comprises a stabilizing assembly disposed inside the capsule housing, the stabilizing assembly comprising at least one stabilizing rail, the stabilizing rails each being fixedly connected to the capsule housing, at least one slider being disposed on each stabilizing rail, the counterweight module and the slider being fixedly connected, and the slider moving with the counterweight module when the counterweight module moves.

In an optional embodiment, the quad-rotor underwater vehicle further includes a bracket, the bracket is disposed inside the capsule housing, the bracket is fixedly connected to the capsule housing, and the stabilizing rail and the driving device are fixed to the bracket.

In an alternative embodiment, the quad-rotor underwater vehicle further comprises an observation device fixed to the bracket, and the capsule housing is provided with a transparent portion for exposing the observation device.

In an optional embodiment, the capsule shell comprises a front shell, a shell body and a rear shell, two ends of the shell body are respectively connected with the front shell and the rear shell in a sealing manner, the front shell is arranged in a transparent manner, and the observation device is arranged facing the front shell.

In an alternative embodiment, the front shell is arranged in a hemispherical shape.

In an alternative embodiment, the driving device is a motor or a cylinder.

In an alternative embodiment, the quad-rotor underwater vehicle further comprises 4 thrusters, wherein the 4 thrusters are arranged outside the capsule housing, and the 4 thrusters are symmetrically arranged along the periphery of the capsule housing.

In an alternative embodiment, the 4 thrusters and the center of buoyancy of the quad-rotor underwater vehicle are disposed in the same plane.

Therefore, the four-rotor underwater vehicle is provided with the gravity center adjusting device and the driving device for driving the gravity center adjusting device, and the gravity center position of the four-rotor underwater vehicle can be changed by driving the gravity center adjusting device to move.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of a quad-rotor underwater vehicle according to the present invention;

FIG. 2 is a cross-sectional view of the capsule body of FIG. 1;

FIG. 3 is an exploded view of the capsule body of FIG. 2;

FIG. 4 is a cross-sectional view of the capsule body of FIG. 1 in a first attitude;

FIG. 5 is a cross-sectional view of the capsule body of FIG. 1 in a second position;

FIG. 6 is a schematic illustration of the quad-rotor underwater vehicle of FIG. 1 in a first attitude;

fig. 7 is a schematic illustration of the quad-rotor underwater vehicle of fig. 1 in a second attitude.

FIG. 8 is a schematic representation of the relative positions of the first and second coordinates of the quad-rotor underwater vehicle of FIG. 1 in a first pose and a second pose;

the reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Four-rotor underwater vehicle	10	Sealed cabin main body
11	Front shell	12	Shell body
				13	Rear shell	14	First seal member
15	Second seal	16	First support
				17	Second support	18	Observation device
21	First guide rail	22	Second guide rail
				23a	First stable guide rail	23b	Second stable guide rail
23c	Third stable guide rail	24	First counterweight module
				25	Second counterweight module	26	Sliding block
27	First driving device	28	Second driving device
				31	Main body frame	32	Propeller
33	Propeller cable	34	Watertight connector
				41	Floating core	42	Center of gravity

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "a and/or B" as an example, including either the a aspect, or the B aspect, or both the a and B aspects. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Quad-rotor Underwater vehicles (AUV for short). Is one of unmanned underwater vehicles, which may be shaped like a small submarine or torpedo, is not connected to a mother ship by a cable or an external operator, and automatically performs its tasks according to the program of a controller. Since all tasks are automated, autonomous underwater vehicles are suitable for long term, routine, or hazardous tasks, such as exploring oil fields, marine maps, oceanographic research, excluding mines, and the like. It belongs to a branch of unmanned underwater vehicle system, and said system also includes a remote-control submersible.

As marine resources are gradually brought into the country and the sight of people, more Autonomous Underwater Vehicles (AUVs) are put into use, and currently, many different types of unmanned Autonomous underwater vehicles are applied to a plurality of working fields such as military ocean technology, ocean science and technology investigation, submarine exploration, pipeline overhaul, submarine salvage, oil field exploration and the like. The existing four-rotor underwater vehicle mostly adopts a torpedo type or frame type structure, most AUVs generally adopt torpedo type structures, the controllability at low speed is poor, the turning radius is large, the sailing resistance of the four-rotor underwater vehicle adopting the frame type structure is large, a plurality of propellers are required to be arranged, and the propelling efficiency is low. And when the four-rotor underwater vehicle switches the attitude underwater, the relative positions of the floating center and the gravity center are changed. When the floating center is positioned below the center of gravity, a turning moment which is easy to turn the four-rotor underwater vehicle is generated. So that the quad-rotor underwater vehicle requires additional energy consumption to overcome this overturning moment while in motion. Therefore, the existing four-rotor underwater vehicle has the problem of low propulsion efficiency.

Referring to fig. 1, fig. 2, fig. 7, and fig. 8, the present invention provides a quad-rotor underwater vehicle 100, which includes a capsule housing and a center-of-gravity adjusting device disposed inside the capsule housing; the gravity center adjusting device comprises a driving device and a counterweight module; said quad-rotor underwater vehicle 100 having a center of gravity and a center of buoyancy, said quad-rotor underwater vehicle 100 having a center of buoyancy position of O1 and a center of gravity position of O2, said quad-rotor underwater vehicle 100 having a center of buoyancy position of O1 as an origin, said capsule hull axis being a Y1 axis, a line normal to said Y1 axis establishing a first coordinate system for an X1 axis, a second coordinate system for a geodetic coordinate system, a line normal to an opposite direction of gravity being a Y2 axis, a line normal to a Y2 axis being a X2 axis, said quad-rotor underwater vehicle 100 having a first attitude and a second attitude, said Y1 axis and said Y2 axis being parallel when said quad-rotor underwater vehicle 100 is in said first attitude, in said second coordinate system, O1 being above O2, a line O1O2 being parallel to said Y1 axis, and when said quad-rotor underwater vehicle 100 is switched from said first attitude to said second attitude, a Y1 axis being perpendicular to said Y2 axis, the drive drives the counterweight module to move, thereby changing the position of the center of gravity O2 in the first coordinate system, so that in the second coordinate system, O1 is still located above O2 and the straight line O1O2 is still parallel to the Y2 axis.

The gravity center 42 is the equivalent acting point of gravity, and it can be known through experiments that no matter how the object is placed, the gravity of the object always passes through a determined point in the object and the center of a parallel force system, and the determined point is called the gravity center 42 of the object. For objects with a uniform mass distribution, the position of the center of gravity 42 is dependent only on the shape of the object. For objects with uneven mass distribution, the position of the center of gravity 42 is dependent on the mass distribution within the object, in addition to the shape of the object. The buoyancy core 41, as the name implies, is the equivalent point of action of buoyancy. When the object is put into the fluid, according to the Archimedes' law, the gravity of the part of the fluid where the object is discharged can be obtained according to the buoyancy of the object. And the position of the center of gravity 42 of the portion of displaced fluid is the position of the center of gravity 41.

Specifically, referring to fig. 8, α is a horizontal plane, and an example of the four-rotor underwater vehicle 100 sailing below the horizontal plane α is described. It should be noted that the geodetic coordinate system mentioned in the present application is a coordinate system established with the opposite direction of gravity as the Y2 axis, the straight line perpendicular to the direction of gravity as the X2 axis, and O1 as the origin.

When the quad-rotor underwater vehicle 100 is in the first, or vertical, attitude, the axis of the capsule housing is perpendicular to the sea level. The quad-rotor underwater vehicle 100 can now maneuver quickly in the vertical direction. At this time, the first coordinate system and the second coordinate system coincide. When the quad-rotor underwater vehicle 100 is switched from the first posture to the second posture, the quad-rotor underwater vehicle 100 can rapidly maneuver in the vertical direction, the axis of the sealed cabin shell, namely the Y1 axis, is parallel to the sea level (namely the Y2 axis), and the relative positions of the first coordinate system and the second coordinate system are changed. If this is the case, the center of gravity adjusting means does not function. In the second coordinate system, the relative positions of O1 and O2 change. Specifically, O2 has a tendency to move above O1, which creates a roll-over moment that the existing quad-rotor underwater vehicle 100 requires additional increased propulsion power consumption to overcome. In the proposed quad-rotor underwater vehicle 100 of the present invention, the drive drives the counterweight module to move within the capsule housing, thereby changing the coordinates of O2 in the first coordinate system, so that in the second coordinate system, O2 is still located below O1 and the line on which O2 and O1 are located is parallel to the Y2 axis.

By the arrangement, the gravity center 42 position of the four-rotor underwater vehicle 100 can be adjusted in two directions under the condition that the buoyancy and the gravity of the four-rotor underwater vehicle 100 and the position of the floating center 41 are not changed, the stable state of the four-rotor underwater vehicle 100 in water is rapidly switched, the four-rotor underwater vehicle 100 does not need to overcome the overturning moment of the traditional four-rotor underwater vehicle 100 during movement and posture change, extra energy consumption is reduced, a complex propeller 32 rotating device is not needed, and the flexibility and the propulsion utilization efficiency are greatly improved.

Referring to fig. 2, in an embodiment, the gravity center adjusting apparatus further includes a guide rail, the counterweight module is disposed on the guide rail, and the driving apparatus drives the counterweight module to move along the guide rail. The drive mechanism may drive the movement of the weight module to change the position of the center of gravity 42 in a variety of ways. Such as magnetic attraction type, guide rail type, etc. For precise control, and in situations where the position of center of gravity 42 needs to be changed, it is common for quad-rotor underwater vehicle 100 to design the trajectory of the guideway when switching between the first attitude and the second attitude, and it is also possible to design the trajectory of the guideway primarily based on the trajectory of movement of center of gravity 42 when switching between the first attitude and the second attitude.

In one embodiment, the guide rails include a first guide rail 21 and a second guide rail 22, the first guide rail 21 is disposed perpendicular to the second guide rail 22, the counterweight module includes a first counterweight module 24 and a second counterweight module 25, and the first counterweight module 24 and the second counterweight module 25 are disposed on the first guide rail 21 and the second guide rail 22, respectively. Further, when the quad-rotor underwater vehicle 100 is switched from the first posture to the second posture, the driving device drives the first counterweight module 24 and the second counterweight module 25 to move on the first guide rail 21 and the second guide rail 22 respectively. Such that the position of the center of gravity 42 is adjusted below center of buoyancy 41 as the quad-rotor underwater vehicle 100 is translated into a horizontal attitude. Referring to fig. 6 and 7, it can be seen that when the quad-rotor underwater vehicle 100 is converted from the first attitude to the second attitude, the center of gravity 42 is changed in both X2 coordinates and Y2 coordinates in the second coordinate system when the position of the center of gravity 42 is not adjusted by the center of gravity adjustment device. Therefore, in order to achieve the effect of adequately adjusting the position of center of gravity 42, quad-rotor underwater vehicle 100 is provided with first counterweight module 24, second counterweight module 25, and two first rail 21, second rail 22 for movement of the counterweight modules. To achieve the effect of changing the position of the center of gravity 42 in both directions. It should be noted that the first guide rail 21 and the second guide rail 22 are not arranged in parallel, and an extension line of the first guide rail 21 and an extension line of the second guide rail 22 form an included angle. In one embodiment, first rail 21 is disposed perpendicular to second rail 22 to achieve the effect of substantially adjusting the position of center of gravity 42.

Referring to fig. 2 and 3, in an embodiment, the quad-rotor underwater vehicle 100 further includes a stabilizing assembly disposed inside the housing, the stabilizing assembly includes at least one stabilizing rail, the stabilizing rail is fixedly connected to the housing, each stabilizing rail is provided with at least one sliding block, the counterweight module is fixedly connected to the sliding block, and when the counterweight module moves, the sliding block moves along with the counterweight module. Further, the first weight module 24 and the second weight module 25 are both fixedly connected to at least one of the sliders 26. Whereas the operating environment of quad-rotor underwater vehicle 100 is in the water and requires propulsion motion underwater. Stability inside the quad-rotor underwater vehicle 100 is particularly important. In order to ensure the stability of the quad-rotor underwater vehicle 100, the first counterweight module 24 and the second counterweight module 25 cannot be suspended inside the housing and are fixed only by the first guide rail 21 and the second guide rail 22, which is not sufficient in stability. However, since the first and

second weight modules

24, 25 need to be moved within the housing to adjust the position of the center of gravity 42, the first and

second weight modules

24, 25 cannot be directly secured to the housing. In order to increase the stability inside the quad-rotor underwater vehicle 100, the present invention proposes a stabilizing assembly for increasing the stability of the first and

second weight modules

24 and 25, and specifically, the stabilizing assembly includes a plurality of stabilizing rails, each of which has two ends fixedly connected to the housing, and each of the stabilizing rails has a sliding block 26, and the sliding block 26 is fixedly connected to the first or

second weight module

24 or 25 and moves together with the movement of the first or

second weight module

24 or 25. Specifically, the stabilizing guide rails include a first stabilizing guide rail 23a, a second stabilizing guide rail 23b, and a third stabilizing guide rail 23 c. Wherein the first and second stabilizing

rails

23a, 23b are respectively disposed on both sides of the first counterweight module 24. And the first stabilizer rail 23a, the second stabilizer rail 23b and the first rail 21 are arranged in parallel. Two sliding blocks 26 are respectively arranged on the first stabilizing guide rail 23a and the second stabilizing guide rail 23b, and each sliding block 26 is fixedly connected with the first counterweight module 24, so that when the first counterweight module 24 moves, the sliding blocks 26 also move along the first stabilizing guide rail 23a or the second stabilizing guide rail 23b along with the first counterweight module 24. Further, a third stabilizing rail 23c is disposed parallel to the second rail 22, and a slider 26 fixedly connected to the second weight module 25 is disposed on the third stabilizing rail 23 c.

Referring to fig. 3, in an embodiment, the quad-rotor underwater vehicle 100 further includes a bracket disposed inside the housing, the bracket is fixedly connected to the housing, and the stabilizing rail and the driving device are fixed to the bracket. Specifically, the bracket includes a first bracket 16 and a second bracket 17, and the housing includes a front shell 11, a housing body 12, and a rear shell 13. The bracket is provided to facilitate the securing of the various components within the quad-rotor underwater vehicle 100 and the assembly of the quad-rotor underwater vehicle 100. During assembly of quad-rotor underwater vehicle 100, third stability rail 23c is secured to forward hull 11 by first bracket 16. Further, both ends of the third stabilizing rail 23c are connected to the first bracket 16, and the first bracket 16 is fixedly connected to the front case. The first and second stabilizing

rails

23a and 23b are fixedly connected to the rear housing 13 via the second bracket 17. Specifically, the second bracket 16 includes a front second bracket and a rear second bracket, two ends of the first stabilizing guide rail and the second stabilizing guide rail are respectively connected with the front second bracket and the rear second bracket, and the rear second bracket is fixedly connected with the rear housing. In one embodiment, quad-rotor underwater vehicle 100 includes a first drive 27 for driving first weight module 24, and a second drive 28 for driving second weight module 25. The first driving device 27 is fixed on the second bracket 17, the second driving device 28 is fixed on the first bracket 16, and the first driving device 27 and the second driving device 28 are respectively connected with the first guide rail 21 and the second guide rail 22. In this way, the front case 11 and the rear case 13 are fixedly connected to the respective members by the first bracket 16 and the second bracket 17, respectively, and then the case body 12 is assembled. I.e. the front shell 11 and the rear shell 13 are respectively connected with the openings at the two ends of the shell body 12. In this manner, the assembly of the capsule body 10 in the quad-rotor underwater vehicle 100 is completed.

Referring to fig. 2, in an embodiment, the quad-rotor underwater vehicle 100 further includes a vision device 18, the vision device 18 is fixed to the bracket, and the housing is provided with a transparent portion for exposing the vision device 18. Further, the quad-rotor underwater vehicle 100 is often used for exploration, research, experimentation, and the like. Thus, the quad-rotor underwater vehicle 100 is provided with a viewing device 18 for performing the functions described above. Further, since the observation device 18 needs to observe the outside, the observation device 18 is a relatively precise instrument and is easily damaged when directly exposed to water. The observation device 18 is provided inside the casing, and the casing is provided with a transparent portion from which the observation device 18 is exposed. Optionally, the observation device 18 is a binocular camera.

Referring to fig. 2, in an embodiment, the housing includes a front housing 11, a housing body 12, and a rear housing 13, two ends of the housing body 12 are respectively connected to the front housing 11 and the rear housing 13 in a sealing manner, the front housing 11 is a transparent housing, and the observation device 18 is disposed facing the front housing 11. Since the quad-rotor underwater vehicle 100 performs underwater operation, the quad-rotor underwater vehicle 100 is provided with a capsule body 10 having good sealability, and waterproof parts such as a gravity center adjusting device, a stabilizing assembly, an observation device 18, and the like are provided inside the capsule body 10. The housing of the capsule body 10 comprises a front shell 11, a shell body 12 and a rear shell 13. The shell body 12 is hermetically connected with the front shell 11 and the rear shell 13. In one embodiment, the housing body 12 is connected to the front and

rear housings

11 and 13 by first and

second seals

14 and 15, respectively. In one embodiment, the first seal 14 and the second seal 15 are both O-ring seals. Meanwhile, the outside of the capsule body 10 is also provided with a thruster 32, and the thruster 32 is connected to a watertight connector 34 provided on the rear case 13 via a thruster cable 33. The propeller 32 is used to drive the vehicle in motion. Further, the quad-rotor underwater vehicle 100 further comprises a main body frame 31, and the main body frame 31 is arranged outside the hull 12 and plays a role in reinforcement.

Referring to fig. 2 and 3, in an embodiment, the front shell 11 is disposed in a hemispherical shape. During the process of the propeller 32 driving the four-rotor underwater vehicle 100 to move, the front shell 11 is located at the front end of the underwater navigation movement direction, i.e. the front shell 11 is subjected to large resistance. To alleviate this resistance, the front case 11 is formed in a hemispherical shape. In addition, the front case 11 may be provided in other shapes with less resistance. So that the quad-rotor underwater vehicle 100 is streamlined overall.

Referring to fig. 2, in an embodiment, the quad-rotor underwater vehicle 100 further includes a control device and a battery, the control device and the battery are disposed inside the capsule housing, the control device and the battery are integrally disposed with the first counterweight module, or the first counterweight includes a control device and a battery. In one embodiment, the control device is a power electronic control module. When the control device is integrated with the first counterweight module 24, i.e. fixed to the first counterweight. Alternatively, the control device and the battery can also directly act as the first counterweight, i.e. the control device and the battery are arranged on the first guide rail 21, the weight of which itself acts to adjust the center of gravity 42. In another embodiment, the control device and the first weight module 24 may be two separate pieces, and the control device is disposed inside the housing and fixedly connected to the housing. The control device is used for receiving external signals and controlling the movement of the four-rotor underwater vehicle 100 according to the external signals. Optionally, the control device is connected to the driving device for controlling the movement of the first and

second weight modules

24, 25.

Referring to fig. 1, 6, and 7, in one embodiment, the quad-rotor underwater vehicle 100 further includes 4 thrusters 32, where the 4 thrusters 32 are disposed outside the hull, and the 4 thrusters 32 are symmetrically disposed along the outer periphery of the hull. The conventional four-rotor underwater vehicle 100 which can flexibly maneuver in six degrees of freedom generally needs 8 propellers 32 arranged in vectors, the number of the propellers 32 is large, the fluid appearance is not easy to optimize, the sailing resistance is large, and due to the vector arrangement of the propellers 32, when the vehicle moves in a certain direction, the thrusts of the propellers 32 in other directions can be mutually offset, so that the energy consumption is high. The present invention thus proposes a quad-rotor underwater vehicle 100 with only 4 propellers 32. The four-rotor underwater vehicle 100 has excellent control performance in the full degree of freedom, thrust cannot be counteracted mutually, the propulsion efficiency is higher, and the control theory is mature. Further, to facilitate control of the quad-rotor underwater vehicle 100, the 4 propellers 32 are spaced apart along the periphery of the hull 12 at a uniform distance. Further, 4 thrusters 32 are installed on the main body frame 31, and the 4 thrusters 32 are disposed symmetrically two by two. And the thrusters 32, the thruster cables 33, and the watertight connectors 34 are provided in one-to-one correspondence. The propeller cable 33 has one end connected to the recommender 32 and the other end extending into the interior of the housing through a watertight connector 34 for connection to the control means. The arrangement of the watertight connector 34 ensures the tightness of the underwater propeller, i.e. the connection between the propeller cable 33 and the watertight connector is also sealed, thereby ensuring the sealing and waterproof properties of the capsule body 10.

Referring to fig. 6 and 7, in an embodiment, the 4 thrusters 32 and the center of buoyancy 41 of the quad-rotor underwater vehicle 100 are disposed on the same plane. In this manner, smart motion of the quad-rotor underwater vehicle 100 in full degrees of freedom may be achieved. Further, when the quad-rotor underwater vehicle 100 and the floating center 41 are located on the same plane, the motion of the quad-rotor underwater vehicle 100 is less influenced by the buoyancy, the motion of the quad-rotor underwater vehicle 100 is more flexible, unnecessary energy consumption can be further reduced, and the propulsion efficiency of the quad-rotor underwater vehicle 100 is improved.

In one embodiment, the first guide rail 21 and the second guide rail 22 are both ball screws, and the first counterweight module 24 and the second counterweight module 25 are both provided with ball nuts cooperating with the ball screws; alternatively, the first guide rail 21 and the second guide rail 22 are electric push rods. The ball screw, also known as ball screw, is the most commonly used transmission element in tool machines and precision machines, and has the main function of converting rotary motion into linear motion or converting torque into axial repeated acting force, and has the characteristics of high precision, reversibility and high efficiency. Ball screws are widely used in various industrial equipments and precision instruments due to their small frictional resistance. The electric push rod is also called a linear driver, is a novel linear actuating mechanism mainly composed of a motor push rod, a control device and other mechanisms, and can be considered as an extension of a rotating motor in the aspect of structure. In addition, the first rail 21, the second rail 22, and the driving device may be other devices that can drive the first counterweight module 24 and the second counterweight module 25 to move along the rails.

In one embodiment, the driving device is a motor or a cylinder. The first rail 21 and the second rail 22 may be driven by a first driving device 27 and a second driving device 28, respectively, or may be driven by one driving device. The driving device may be a motor, an air cylinder, or other driving devices capable of driving the first counterweight module 24 and the second counterweight module 25 to move along the first guide rail 21 and the second guide rail 22, respectively.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A quad-rotor underwater vehicle, comprising:

a capsule housing;

the gravity center adjusting device is arranged inside the sealed cabin shell and comprises a driving device and a counterweight module;

the four-rotor underwater vehicle is provided with a gravity center and a floating center, the floating center of the four-rotor underwater vehicle is O1, the gravity center is O2, the O1 is used as an origin, the axis of the sealed cabin shell is a Y1 axis, a straight line perpendicular to the Y1 axis is an X1 axis, a first coordinate system is established, a second coordinate system is used as a geodetic coordinate system, the geodetic coordinate system is a Y2 axis in the opposite direction of the gravity direction, and a straight line perpendicular to the Y2 axis is an X2 axis;

the quad-rotor underwater vehicle has a first attitude in which the axis Y1 and the axis Y2 are parallel, and a second attitude in which the axis O1 is above the axis O2 and the axis line O1O2 is parallel to the axis Y1, and when the quad-rotor underwater vehicle is switched from the first attitude to the second attitude, the axis Y1 is perpendicular to the axis Y2, the driving device drives the counterweight module to move, thereby changing the position of the axis O2 within the first coordinate system, so that in the second coordinate system, the axis O1 is still above the axis O2 and the axis line O1O2 is still parallel to the axis Y2;

the gravity center adjusting device further comprises a guide rail, the counterweight module is arranged on the guide rail, and the driving device drives the counterweight module to move along the guide rail;

the guide rail includes first guide rail and second guide rail, first guide rail perpendicular to the second guide rail sets up, first guide rail with Y1 axle coincidence, the second guide rail perpendicular to Y1 axle sets up, the counter weight module includes first counter weight module and second counter weight module, first counter weight module the second counter weight module set up respectively in first guide rail on the second guide rail.

2. The quad-rotor underwater vehicle of claim 1 further comprising a control device and a battery, the control device and battery being disposed inside the capsule housing, the control device, the battery, and the first counterweight module being integrally disposed; alternatively, the first and second electrodes may be,

the first counterweight module includes a control device and a battery.

3. The quad-rotor underwater vehicle of claim 1 wherein the track is a ball screw, and the counterweight module has a ball nut disposed thereon that engages the ball screw; alternatively, the first and second electrodes may be,

the guide rail is an electric push rod.

4. The quad-rotor underwater vehicle of claim 1 further comprising a stabilizing assembly disposed inside the capsule housing, the stabilizing assembly comprising at least one stabilizing rail, the stabilizing rails each being fixedly attached to the capsule housing, at least one slider disposed on each stabilizing rail, the counterweight module and the slider being fixedly attached, and the slider moving with the counterweight module as the counterweight module moves.

5. The quad-rotor underwater vehicle of claim 4 further comprising a cradle disposed within the capsule housing, the cradle being fixedly attached to the capsule housing, the stabilizing rail and the drive mechanism being secured to the cradle.

6. The quad-rotor underwater vehicle of claim 5 further comprising a vision device secured to the cradle, the capsule housing being provided with a transparent portion for exposing the vision device.

7. The quad-rotor underwater vehicle of claim 6 wherein the capsule housing comprises a front shell, a body, and a rear shell, wherein the two ends of the body are respectively connected with the front shell and the rear shell in a sealing manner, the front shell is transparent, and the observation device is disposed facing the front shell.

8. The quad-rotor underwater vehicle of claim 7 wherein the forward hull is semi-spherical in configuration.

9. The quad-rotor underwater vehicle of claim 1 wherein the drive means is a motor or a cylinder.

10. The quad-rotor underwater vehicle of any of claims 1-9 further comprising 4 thrusters, wherein the 4 thrusters are disposed outside the capsule housing and the 4 thrusters are symmetrically disposed about the circumference of the capsule housing.

11. The quad-rotor underwater vehicle of claim 10 wherein the 4 thrusters and the center of buoyancy of the quad-rotor underwater vehicle are disposed on the same plane.