CN115924034B

CN115924034B - Multi-navigation state composite driving underwater robot control system and control method thereof

Info

Publication number: CN115924034B
Application number: CN202211110908.9A
Authority: CN
Inventors: 田雪虹; 祁正鸿; 翁宸宇; 张桂雄; 张科
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2023-08-01
Anticipated expiration: 2042-09-13
Also published as: CN115924034A

Abstract

The invention discloses a multi-navigation state composite driving underwater robot control system and a control method thereof, wherein the control system comprises a lower computer main control module, an execution module and an information acquisition module, wherein the lower computer main control module is used for receiving data of an on-board communication module and an underwater sensor information acquisition module and issuing the data to the execution module; the host computer main control module, namely an onshore PC, issues instructions to the lower computer main control module; the navigation module is used for detecting the flatness of the seabed and positioning the seabed after the seabed is floated on the water surface; the underwater sensor information acquisition module is used for acquiring picture information, depth information, speed information, nitrogen gas information, gas flow information, water leakage detection information and ranging information; the airborne communication module is used for communicating the lower computer main control module with the upper computer monitoring module; the execution module comprises a propeller, an electromagnetic valve, a rodless cylinder and a wing cylinder, and the corresponding device acts after receiving a motion instruction of the lower computer main control module, so that the motion control of the multi-navigation state composite driving underwater robot is achieved.

Description

Multi-navigation state composite driving underwater robot control system and control method thereof

Technical Field

The invention belongs to the technical field of multi-attitude control of an underwater robot, and particularly relates to a multi-attitude composite driving underwater robot control system and a control method thereof.

Background

The underwater autonomous robot is an unmanned or remote-controlled robot capable of autonomous navigation under water, and is mainly divided into a full-drive autonomous underwater robot and an under-drive autonomous underwater robot in a driving mode, wherein the main difference between the full-drive autonomous underwater robot and the under-drive autonomous underwater robot is that the number of propeller-type propellers erected for providing thrust is not substantially the same. However, for the fully-driven autonomous underwater robot, under the support of the shore power supply system, the cruising ability of the fully-driven autonomous underwater robot is greatly influenced, and the fully-driven underwater robot only needs to rely on a propeller as a power source, once one or more propellers in the fully-driven autonomous underwater robot fail, the autonomous control of the fully-driven autonomous underwater robot is greatly influenced, even the control of the fully-driven autonomous underwater robot is lost, and secondly, for the under-driven autonomous underwater robot, the currently-designed under-driven robot on the market can only realize simple control and cannot realize great depth change by utilizing the only propellers, and meanwhile, the underwater robot needs a large closed space to place energy storage equipment due to the large power required by the propellers during operation, and meanwhile, the selection of a battery is also challenging. Secondly, most underactuated underwater glide robots (underwater glider, UG) on the market at present are in a simple single torpedo shape, and most unmanned underwater vehicles with wings which are propelled by means of the balance relation between the gravity and the buoyancy of the unmanned underwater vehicles do not adopt propeller type propellers or the like as main propulsion devices, so that the unmanned underwater vehicles move slowly.

Disclosure of Invention

The invention aims at solving the defects in the prior art, combines the respective advantages of a full-driven autonomous underwater robot, an under-driven autonomous underwater robot and an under-driven underwater gliding robot, designs a novel multi-navigation-state composite driving underwater robot, develops based on the robot, performs gas circuit control by adopting a plurality of electromagnetic valves according to the characteristics of the robot, and designs a tail vane component which can be used as one of power sources of a single propeller and can be used as a directional control application and a power source. In addition, a pair of guide plate assemblies capable of rotating around shafts fixed on wings at two sides are further arranged, the wings carry guide plates and solar panels, and the defect that the current underwater autonomous robot is small in endurance is overcome, and meanwhile autonomous movement in multiple sailing states can be achieved. Furthermore, the robot designed by the invention carries the gas storage tank for storing high-pressure gas, and utilizes the principle that the under-actuated underwater gliding robot glides under water, so that the gliding action of the underwater gliding robot can be completely realized. In general, the control system and the control method of the multi-navigation state composite driving underwater robot can realize more motion and gesture control of the robot corresponding to the control system, and in addition, the control system and the control method are matched with more reasonable program design, so that the designed robot can realize multi-degree-of-freedom motion without too many propellers and larger electric storage equipment while carrying out five degrees-of-freedom motion under water, and can adapt to more underwater application scenes. In general, the designed control system and control method are unique, and can realize better control on the corresponding robot.

In order to achieve the above purpose, the invention adopts the following technical scheme:

a multi-navigation state composite driving underwater robot control system and a control method thereof comprise an upper computer monitoring module, an airborne communication module, a lower computer main control module, an underwater sensor information acquisition module, a navigation module and an execution module;

the lower computer main control module is used for receiving the data of the airborne communication module and the underwater sensor information acquisition module and transmitting the data to the execution module;

the upper computer main control module is used for monitoring the moving state picture of the underwater robot and transmitting a moving instruction to the lower computer main control module through the airborne communication module;

the navigation module is used for detecting the flatness at the water bottom and positioning the robot by the airborne communication module after the robot leaves the water surface;

the underwater sensor information acquisition module is used for acquiring underwater robot motion state picture information, depth information, bottom surface flatness information, speed information, nitrogen gas information, gas flow information, water leakage detection information and ranging information;

the airborne communication module is used for communicating the lower computer main control module with the upper computer monitoring module;

and the execution module is used for receiving the motion instruction of the host control module of the lower computer and controlling the underwater robot to move according to the motion instruction.

The control system and the control method of the multi-navigation state composite driving underwater robot provided by the invention have the following beneficial effects:

the control system of the invention can realize a plurality of movement modes of the underwater robot in water by matching with the control method, and comprises the following steps: an underwater glider movement mode, a water surface movement mode and a submarine hiding mode.

The underwater glider movement mode can drive the underwater robot in a combined way to realize the movement mode that the underwater glider continuously floats up and down to move forward. In addition, the solar panel can be used for charging through each time of floating out of the water, and the cruising ability and the moving ability of the solar panel are improved to a certain extent by matching with the control mode of the solar panel, and the solar panel can sink at a small angle and move forward for a long distance depending on the structure of the solar panel.

Compared with the traditional underwater robot carrying a single propeller type, the underwater robot has better endurance, can start to charge a battery under the assistance of a solar panel when the electric power is insufficient, and starts to slowly move forward by using the continuous swing of the tail vane, and starts to start the propeller to quickly move forward after the battery is full, and can also use the tail vane as a direction control in the process.

The submarine latency mode of the invention can realize a long-time silent motion mode of the underwater robot by the compound drive, and can quickly sink and float by utilizing the floating and sinking principle of the submarine, thereby carrying out long-time latency on the submarine. When the submarine is, the camera can be used for continuously collecting the needed submarine information and the like, storing the data, after the silence time is reached, inflating the hollow inflator assembly to enable the hollow inflator assembly to float upwards rapidly, charging the hollow inflator assembly on the water surface by the solar panel, sending packaged video data to the upper computer monitoring module by the airborne communication module, and after waiting for the completion of the above two works, starting to execute sinking movement, so that the latency mode can be continuously executed.

Drawings

FIG. 1 is a schematic block diagram of the system of the present invention.

FIG. 2 is a gas circuit diagram of the overall structure of the control system-execution module of the present invention.

Fig. 3 is a partially enlarged schematic view showing a state of the rotary wing assembly in step S1, which is a movement mode of the underwater glider according to the present invention.

Fig. 4 is a schematic diagram showing the motion mode of the underwater glider according to the present invention, namely, the overall state of steps S1 to S3.

Fig. 5 is a schematic diagram of the motion mode of the underwater glider according to the present invention, namely, the state of the whole machine in step S4.

Fig. 6 is an enlarged partial schematic view of the rotary wing assembly of the present invention in step S12, which is a mode of motion of the underwater glider.

Fig. 7 is a schematic diagram of the motion mode of the underwater glider according to the present invention, namely, the state of the whole machine in step S12.

Fig. 8 is a schematic diagram of the whole structure of the present invention.

FIG. 9 is a schematic view of a main body assembly of the present invention 1;

FIG. 10 is a schematic view of a main body assembly of the present invention 2;

FIG. 11 is a schematic illustration of the parts of the main body assembly;

FIG. 12 is a schematic view of a hollow cylinder assembly of the present invention in a construction 1;

FIG. 13 is a schematic view of a hollow cylinder assembly of the present invention shown in FIG. 2;

FIG. 14 is a schematic view of the hollow cylinder assembly of the present invention in a schematic view 3;

FIG. 15 is a schematic view of the hollow cylinder assembly of the present invention in a configuration of FIG. 4;

FIG. 16 is a schematic view of the hollow cylinder assembly of the present invention in a schematic view 5;

FIG. 17 is a schematic view of the internal cross-section of the cartridge of the hollow cartridge assembly of the present invention;

FIG. 18 is an overall front side elevational view of the hollow cylinder assembly of the present invention;

FIG. 19 is a schematic view 1 of the overall structure of the tail vane assembly of the present invention;

FIG. 20 is a schematic view 2 of the overall structure of the tail vane assembly of the present invention;

fig. 21 is a schematic diagram 1 of a steering engine connecting rod structure of a tail vane assembly of the invention;

fig. 22 is a schematic view 2 of the steering engine connecting rod structure of the tail vane assembly of the present invention;

FIG. 23 is a schematic view of a single part of the steering engine base of the tail vane assembly of the present invention;

FIG. 24 is a schematic view of a single part of the lower tail vane of the tail vane assembly of the present invention;

FIG. 25 is a schematic view of a single part of the tail vane assembly of the present invention;

FIG. 26 is a schematic diagram of the mating of the upper and lower tail rudders of the tail rudder assembly of the present invention;

FIG. 27 is a diagonal side view of a magnetically coupled rodless cylinder of the present invention;

FIG. 28 is a schematic view of a cylinder assembly-hollow cylinder assembly combination in accordance with the present invention;

FIG. 29 is a schematic cross-sectional view of a mating side of the cylinder assembly inflator assembly of the present invention;

FIG. 30 is an overall deployed front side view of the rotatable wing assembly of the present invention;

FIG. 31 is a top view of the integrally extended rear side of the rotary wing assembly of the present invention;

FIG. 32 is a front elevational top view 1 of the rotary wing assembly of the present invention fully closed as a whole;

FIG. 33 is a front elevational top view 2 of the rotary wing assembly of the present invention fully closed as a whole;

FIG. 34 is a schematic view of a rotating structure assembly fixture base of the present invention;

FIG. 35 is a schematic view of a cylinder assembly of the rotary wing assembly of the present invention 1;

FIG. 36 is a schematic view of a cylinder assembly of the rotary wing assembly of the present invention, FIG. 2;

FIG. 37 is a schematic view of a cylinder assembly-stationary base mating in a rotary wing assembly of the present invention;

FIG. 38 is a schematic view of a rotating structure assembly-lower four-bar linkage-support frame in a rotating wing assembly of the present invention;

FIG. 39 is a schematic diagram showing the assembly of a rotary structure in a rotary wing assembly, a lower four-bar linkage, a support frame, and a number 2 lower link in accordance with the present invention;

FIG. 40 is a schematic view of the overall structure of a lower four-bar linkage, a rotating structural assembly in a rotating wing assembly according to the present invention;

FIG. 41 is a fully expanded view of the lower four-bar-stationary base engagement of the rotating structural assembly of the rotary wing assembly of the present invention;

FIG. 42 is a schematic view of the lower four link structure-stationary base mating contraction of a rotating structural assembly of the rotary wing assembly of the present invention;

FIG. 43 is a schematic view of a rotary structure assembly-wing main structure-wafer latch in a rotary wing assembly of the present invention;

FIG. 44 is a schematic view of a rotating structure assembly-an upper four-bar linkage structure-a support frame in the rotating wing assembly of the present invention;

FIG. 45 is a schematic view of the overall structure of a rotary structure assembly-upper four-bar linkage assembly of the rotary wing assembly of the present invention, shown in FIG. 1;

FIG. 46 is a schematic view of the overall structure of the rotary structure assembly-upper four-bar linkage assembly of the rotary wing assembly of the present invention, shown in FIG. 2;

FIG. 47 is a fully expanded view of the upper four bar linkage-stationary base engagement of the rotating structure assembly of the present invention;

FIG. 48 is a fully expanded view of the upper four bar linkage-stationary base engagement of the rotating structure assembly of the present invention;

FIG. 49 is an enlarged schematic view of a portion of the rotary assembly-upper four-bar linkage structure of the rotary wing assembly of the present invention;

FIG. 50 is a schematic view of a fully deployed configuration of a rotating structural assembly of the rotary wing assembly of the present invention;

FIG. 51 is a schematic view of the overall retraction of the upper and lower four link structure of the rotating structure assembly of the rotary wing assembly of the present invention, FIG. 1;

FIG. 52 is a schematic view of the overall retraction of the upper and lower four link structures of the rotating structure assembly of the rotary wing assembly of the present invention, FIG. 2;

FIG. 53 is a schematic view of the overall retraction of the upper and lower four link structures of the rotating structure assembly of the rotary wing assembly of the present invention;

FIG. 54 is a schematic view of the overall contraction of the upper and lower four bar linkage of the rotary structure assembly of the present invention, FIG. 4;

FIG. 55 is a top plan view of the rotary structure assembly of the present invention, fully closed with the upper and lower four bar linkages in their entirety, schematic FIG. 1;

FIG. 56 is a top plan view of the rotary structure assembly of the present invention with the upper and lower four-bar linkages fully closed in their entirety;

FIG. 57 is a schematic view of a main wing structure E3 of the rotary wing assembly of the present invention, FIG. 1;

FIG. 58 is a schematic view of a wing main structure E3 of the rotary wing assembly of the present invention, FIG. 2;

FIG. 59 is a schematic view of a wing main structure E3 of the rotary wing assembly of the present invention, FIG. 3;

FIG. 60 is an enlarged schematic view 1 of a portion of the main wing structure E3 of the rotary wing assembly of the present invention;

FIG. 61 is an enlarged schematic view of a portion of the main wing structure E3 of the rotary wing assembly of the present invention;

FIG. 62 is a schematic illustration of a wing main structure-rotating structure assembly-cylinder assembly configuration of a rotating wing assembly of the present invention, FIG. 1;

FIG. 63 is a schematic view of a wing main structure-rotating structure assembly-cylinder assembly configuration of the rotating wing assembly of the present invention in accordance with FIG. 2;

FIG. 64 is a schematic view of a wing main structure-rotating structure assembly-cylinder assembly configuration of the rotating wing assembly of the present invention, FIG. 3;

FIG. 65 is an enlarged schematic view of the main parts of the wing main structure-rotating structure assembly-cylinder assembly of the rotating wing assembly of the present invention;

FIG. 66 is a schematic view of the structure of a solar panel E6 in the rotary wing assembly of the present invention;

FIG. 67 is a schematic view of a wing primary structure-rotating structure assembly-cylinder assembly-solar panel configuration in a rotating wing assembly of the present invention;

FIG. 68 is a schematic view of the overall structure of the deflector assembly of the rotary wing assembly of the present invention, shown in FIG. 1;

FIG. 69 is a schematic view of the overall structure of the deflector assembly of the rotary wing assembly of the present invention shown in FIG. 2;

FIG. 70 is an enlarged partial schematic view of a deflector assembly of the rotary wing assembly of the present invention;

FIG. 71 is a schematic view of the overall structure of a deflector assembly of the rotary wing assembly of the present invention, shown in FIG. 1;

FIG. 72 is a schematic view of the overall structure of a deflector assembly of the rotary wing assembly of the present invention, shown in FIG. 2;

FIG. 73 is a schematic diagram of a steering engine control system for a deflector assembly in a rotary wing assembly in accordance with the present invention;

FIG. 74 is a schematic view of the structural components of a deflector assembly of the rotary wing assembly of the present invention;

FIG. 75 is a schematic view of a single part structure of a deflector assembly of the rotary wing assembly of the present invention, FIG. 1;

FIG. 76 is a schematic view of a single component structure of a deflector assembly of the rotary wing assembly of the present invention, FIG. 2;

FIG. 77 is a schematic view of a single part construction of a deflector assembly of the rotary wing assembly of the present invention, FIG. 3;

FIG. 78 is a schematic view of the structure of a single part of a baffle assembly of the rotary wing assembly of the present invention, FIG. 4;

FIG. 79 is an enlarged schematic view of a wing primary structure-rotating structure assembly-cylinder assembly-deflector assembly-solar panel assembly in accordance with the present invention;

FIG. 80 is a schematic view of a gas reservoir according to the present invention;

FIG. 81 is a schematic view of a tank module-front section tank module of the present invention, FIG. 1;

FIG. 82 is a schematic illustration of a tank module-front tank module of the present invention, FIG. 2;

FIG. 83 is an enlarged partial schematic view of a tank compartment assembly-front tank compartment of the present invention;

FIG. 84 is a schematic view of the tank module of the present invention-rear tank module of FIG. 1;

FIG. 85 is a schematic view of the tank module of the present invention-rear tank module 2;

FIG. 86 is a schematic view of a tank module-hemispherical camera hatch of the present invention;

FIG. 87 is a schematic view of a single link bend stiffener structure of the present invention 1;

FIG. 88 is a schematic view of a single link bend stiffener structure of the present invention;

FIG. 89 is a schematic view of the present invention propulsion assembly-tail vane assembly configuration 1;

FIG. 90 is a schematic view of the present invention propulsion assembly-tail vane assembly configuration 2;

FIG. 91 is a schematic view of the present invention propulsion assembly-tail vane assembly configuration of FIG. 3;

FIG. 92 is a schematic view of the present invention propulsion assembly-tail vane assembly configuration 1;

FIG. 93 is a schematic view of the main body assembly-tank module assembly configuration of the present invention, shown in FIG. 1;

FIG. 94 is a schematic illustration of the main body assembly-tank module assembly interface of the present invention, shown in FIG. 2;

FIG. 95 is a schematic view of the main body assembly-tank module assembly interface of the present invention, shown in FIG. 3;

FIG. 96 is a schematic diagram 1 of the cooperation of a main body assembly, a storage tank assembly, a hollow air cylinder assembly and a leveling slip table air cylinder assembly;

FIG. 97 is a schematic diagram 2 of the cooperation of the main body assembly, the storage tank assembly, the hollow air cylinder assembly and the leveling slipway air cylinder assembly;

FIG. 98 is a schematic view 1 of the main body assembly, the storage tank assembly, the hollow air cylinder assembly, the leveling slipway air cylinder assembly and the tail vane assembly of the present invention;

FIG. 99 is a schematic diagram 2 of the cooperation of a main body assembly, a storage tank assembly, a hollow air cylinder assembly, a leveling slipway air cylinder assembly and a tail vane assembly;

FIG. 100 is a schematic diagram of the cooperation of a main body assembly, a storage tank cabin assembly, a hollow air cylinder assembly, a leveling slipway air cylinder assembly and a tail vane assembly in the invention 3;

FIG. 101 is a schematic view 1 showing the whole structure of a multi-attitude composite driving underwater robot-a rotatable guide wing assembly fully developed according to the present invention;

FIG. 102 is a schematic view of the entire structure of the multi-attitude composite drive underwater robot of the present invention-a fully extended view of a rotatable deflector wing assembly 2;

FIG. 103 is a fully extended schematic view of the entire structure of the multi-attitude composite drive underwater robot of the present invention-a rotatable deflector wing assembly;

FIG. 104 is a schematic illustration of a fully closed view of a rotatable deflector wing assembly of a multi-attitude composite drive underwater robot of the present invention;

FIG. 105 is a schematic diagram of a multi-attitude composite drive underwater robot overall structure-rotatable deflector wing assembly fully closed 2 of the present invention;

FIG. 106 is a schematic view of the entire structure of the multi-attitude composite drive underwater robot of the present invention, showing the rotatable deflector wing assembly fully closed;

FIG. 107 is a schematic diagram of a multi-attitude composite drive underwater robot overall structure-rotatable inducer wing assembly fully closed of the present invention 4;

wherein, A1, reinforcing structure, A2, middle storage tank cabin, A3, front end inflator concentrate water-passing pipe interface, A4, equipment control cabin cover position, A5, rear end inflator concentrate water-passing pipe interface, A6, two sides bolt holes of equipment control cabin, A7, double-layer sealing ring groove of equipment control cabin, A8, concentrate air vent interface, A9, thick wall hollow pipe, A10, concentrate water-passing hole interface, A11, equipment control cabin cover, A11-1, equipment control cabin cover air vent, A12, base bracket, A12-1, base bracket fixed orifices;

B1, front cabin water pipe, B2, middle cabin cylinder water pipe, B3, rear Duan Qitong water pipe, B4, centralized ventilation pipeline, B5, front cabin water pipe, B6, middle cabin water pipe, B7, rear cabin water pipe, B8, centralized ventilation pipeline, B9, upper end single-link bending structure fixing base, B10, lower end single-link bending structure fixing base, B11, front end outer bolt hole of the air cylinder, B12, front end inner bolt hole of the air cylinder, B13, rear end rodless air cylinder fixing hole, B14, rear end rodless air cylinder ventilation pipe hole, B15, air cylinder inner square pipe groove, B16, double-layer sealing ring groove, B17, air cylinder rear end fixing bolt hole, B18, front cabin, B19, middle cabin, B20, rear cabin, B21, air cabin rear baffle, B22, air cabin front baffle, B23, air guide cover, B24 and air guide cover bolt hole;

the steering engine comprises a C1, a waterproof steering engine, a C2, a first steering engine connecting rod, a C3, a second steering engine connecting rod, a C4, a tail rudder connecting rod, a C5, a tail rudder base, a C6, a tail rudder supporting connecting rod, a C7, a tail rudder supporting frame, a C8, an upper tail rudder, a C9, a lower tail rudder, a C10/C11 and a connecting rod bolt hole;

c5-1, a base bolt hole, C5-2, a tail vane connecting rod fixing hole, C5-3, an upper tail vane fixing hole, C5-4, a lower tail vane fixing hole, C5-5 and an adjusting hole;

C8-1, a main body of an upper tail rudder, C8-2 and a bolt hole of the upper tail rudder;

c9-1, lower tail rudder bolt holes, C9-2, lower tail rudder baffles, C9-3, lower tail rudder limit stops, C9-4 and lower tail rudder main bodies;

d1, a rodless cylinder, D2, a rodless cylinder sliding block, D3, a rodless cylinder front end vent hole, D4, a rodless cylinder rear end vent hole, D5, a rodless cylinder front end threaded rod, D6, a rodless cylinder rear end threaded rod, D7, an air cylinder inner cabin cover, D8, an air cylinder inner cabin cover vent hole, D9, an air cylinder inner cabin cover fixing hole;

e1, a cylinder assembly, E2, a fixed base, E3, a wing main structure, E4, a guide plate assembly, E5, a lower four-link structure, E6, a solar panel, E7 and an upper four-link structure;

e1-1, a cylinder main body, E1-2, a vent hole at the lower end of a cylinder, E1-3, a vent hole at the upper end of a cylinder, E1-4, a cylinder push rod, E1-5, a cylinder double-fork bracket, E1-6, a cylinder fixing bracket, E1-7, a cylinder rotating shaft lock, E1-8, a cylinder double-fork bracket fixing hole, E1-9, a cylinder fulcrum rotating shaft mounting hole, E1-10, a cylinder rotating shaft lock fixing bolt hole, E1-11, a cylinder fixing bracket fixing bolt hole, E1-12, a cylinder triangular bracket fixing bolt hole, E1-13 and a cylinder triangular bracket;

e2-1, a rotating shaft is fixed at the front end of the base, E2-2, a rotating shaft is fixed at the rear end of the base, E2-3, a fixed groove, E2-4 and a base bolt hole;

E3-1, a wafer bolt sliding groove, E3-2, a main structure fixing hole, E3-3, a guide plate middle rotating shaft fixing position, E3-4, a main structure guide plate steering engine fixing hole, E3-5, an additional solar plate, E3-6, a steering engine cover, E3-7, a main structure steering engine cover wedge block, E3-8, a main structure solar plate mounting concave area, E3-9, a wafer bolt, E3-9-1 and a wafer bolt fixing hole;

e4-1, a baffle upper long plate, E4-2, a baffle upper short plate, E4-3, a baffle lower long plate, E4-4, a baffle lower short plate, E4-5, a baffle rotating shaft, E4-6, a baffle inner rotating bracket, E4-7, a baffle connecting shaft, E4-8, a baffle steering engine, E4-8-1, a baffle steering engine threaded hole, E4-9, an O-shaped steering engine connecting rod, E4-10, a baffle steering engine cover, E4-10-1, a baffle steering engine cover fixing hole, E4-10-2 and a baffle steering engine cover wedge-shaped groove;

e5-1, no. 1 lower connecting rod, E5-1-1, no. 1 lower connecting rod fixed rotation hole, E5-2, no. 2 lower connecting rod, E5-3, no. 3 lower connecting rod, E5-4, no. 4 lower connecting rod, E5-5, no. 5 lower connecting rod, E5-5-1, no. 5 lower connecting rod fixed rotation hole, E5-6, lower connecting rod support frame, E5-6-1, lower connecting rod front end support base, E5-6-2, lower connecting rod rear end support base, E5-7, lower connecting rod support frame bolt hole, E5-8, no. 3-4-5 lower connecting rod rotation hole, E5-9, no. 1-4 lower connecting rod rotation axis, E5-10, no. 1-2 lower connecting rod rotation axis;

E7-1, no. 1 upper connecting rod, E7-1-1, no. 1 upper connecting rod fixed rotation hole, E7-1-2, no. 1 upper connecting rod threaded hole, E7-2, no. 2 upper connecting rod, E7-3, no. 3 upper connecting rod, E7-4, no. 4 upper connecting rod, E7-5, no. 5 upper connecting rod, E7-5-1, no. 5 upper connecting rod fixed rotation hole, E7-6, upper connecting rod support frame, E7-6-1, upper connecting rod front end support base, E7-6-2, upper connecting rod rear end support base, E7-7, upper connecting rod support frame bolt hole, E7-8, no. 3-4-5 upper connecting rod rotation hole, E7-9, no. 1-4 upper connecting rod rotation shaft, E7-10, no. 2-3 upper connecting rod rotation shaft, E7-11, threaded fixing pin;

f1, a gas storage tank, F2 and a gas storage tank vent hole;

g1, a front-section storage tank cabin, G2, a rear-section storage tank cabin, G3, a hemispherical camera cabin cover, G4 and a single-connecting-rod bending and reinforcing structure;

g1-1, a double-layer sealing ring groove at the rear part of a front-stage storage tank cabin, G1-2, a single-connecting-rod bending structure fixing base at the upper part of the front-stage storage tank cabin, G1-3, a single-connecting-rod bending structure fixing base at the lower part of the front-stage storage tank cabin, G1-4, a bolt hole at the rear part of the front-stage storage tank cabin, G1-5, an air bag mounting groove, G1-5-1, an air bag inlet and outlet, G1-5-2, an air bag vent hole, G1-5-3 and an air bag sealing hole; g1-6, a bolt hole at the front part of the front-section storage tank cabin, G1-7, and a double-layer sealing ring groove at the front part of the front-section storage tank cabin;

G2-1, a rear double-layer sealing ring groove of a rear storage tank compartment, G2-2, a single-link bending structure fixing base at the upper part of the rear storage tank compartment, G2-3, a single-link bending structure fixing base at the lower part of the rear storage tank compartment, G2-4, a rear bolt hole of the rear storage tank compartment, G2-5, a front bolt hole of the rear storage tank compartment, G2-6 and a front double-layer sealing ring groove of the rear storage tank compartment;

g3-1, a hemispherical camera hatch cover bolt hole, G3-2, a hemispherical camera hatch cover double-layer sealing ring groove;

g4-1, a single connecting rod bending reinforcing structure fixing hole;

h1, a propeller, H2, a battery compartment, H2-1, a double-layer sealing ring groove of the battery compartment, H2-2, a through line hole, H2-3, a through line hole at the front end of the battery compartment, H2-4, a bolt hole at the front end of the battery compartment, H3 and a battery compartment cover;

f2, a gas flow detection sensor, f1, a centralized gas supply electromagnetic valve, a1, a centralized vent electromagnetic valve, a2, a nitrogen sensor, a3, a centralized water through hole electromagnetic valve, a4 and a centralized water through Kong Danqi sensor;

b1, a front left side air cylinder, b1-1, a front left side air cylinder front cabin, b1-2, a front left side air cylinder middle cabin, b1-3, a front left side air cylinder rear cabin; b2, a front end right side air cylinder, b2-1, a front end right side air cylinder front cabin, b2-2, a front end right side air cylinder middle cabin, b2-3, a front end right side air cylinder rear cabin;

b3, a rear left side air cylinder, b3-1, a rear left side air cylinder front cabin, b3-2, a rear left side air cylinder middle cabin, b3-3, a rear left side air cylinder rear cabin; b4, a rear right side air cylinder, b4-1, a rear right side air cylinder front cabin, b4-2, a rear right side air cylinder middle cabin, b4-3, a rear right side air cylinder rear cabin;

b1-q, a front end left side air cylinder ventilation electromagnetic valve, b2-q, a front end right side air cylinder ventilation electromagnetic valve, b3-h, a rear end left side air cylinder ventilation electromagnetic valve, b4-h and a rear end right side air cylinder ventilation electromagnetic valve;

b1-1-1, a front end left side inflator front cabin ventilation electromagnetic valve, b1-1-2, a front end left side inflator front cabin ventilation electromagnetic valve;

b1-2-1, a cabin ventilation electromagnetic valve in the front left side air cylinder, b1-2-2, and a cabin water ventilation electromagnetic valve in the front left side air cylinder;

b1-3-1, a front end right side inflator rear cabin ventilation electromagnetic valve, b1-3-2, a front end left side inflator rear cabin ventilation electromagnetic valve;

b2-1-1, a front end right side inflator front cabin ventilation electromagnetic valve, b2-1-2, a front end right side inflator front cabin ventilation electromagnetic valve;

b2-2-1, a cabin ventilation electromagnetic valve in the front end right side air cylinder, b2-2-2, and a cabin water ventilation electromagnetic valve in the front end right side air cylinder;

b2-3-1, a ventilation electromagnetic valve of a rear cabin of the front-end right-side air cylinder, b2-3-2, and a water ventilation electromagnetic valve of the rear cabin of the front-end right-side air cylinder;

b3-1-1, a rear left side inflator front cabin ventilation electromagnetic valve, b3-1-2, a rear left side inflator front cabin ventilation electromagnetic valve;

b3-2-1, a cabin ventilation electromagnetic valve in the rear-end left-side air cylinder, b3-2-2, and a cabin water ventilation electromagnetic valve in the rear-end left-side air cylinder;

b3-3-1, a rear cabin ventilation electromagnetic valve of the rear-end right-side air cylinder, b3-3-2, and a rear cabin water ventilation electromagnetic valve of the rear-end left-side air cylinder;

b4-1-1, a ventilation electromagnetic valve of a front cabin of the rear-end right-side air cylinder, b4-1-2, and a water ventilation electromagnetic valve of the front cabin of the rear-end right-side air cylinder;

b4-2-1, a cabin ventilation electromagnetic valve in the rear-end right-side inflator, b4-2-2, and a cabin water ventilation electromagnetic valve in the rear-end right-side inflator;

b4-3-1, a rear cabin ventilation electromagnetic valve of the rear right air cylinder, b4-3-2, and a rear cabin ventilation electromagnetic valve of the rear right air cylinder;

qb1, a front end left rodless cylinder ventilation control electromagnetic valve, qb2, a front end right rodless cylinder ventilation control electromagnetic valve;

qb3, a rear end left rodless cylinder ventilation control electromagnetic valve, qb4, a rear end right rodless cylinder ventilation control electromagnetic valve;

e1, an electromagnetic valve of a wing cylinder;

and g1, an airbag ventilation electromagnetic valve.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.

Embodiment 1, referring to fig. 1, the multi-avionic compound drive underwater robot control system of the present solution, the control system components include: the system comprises an upper computer monitoring module, an airborne communication module, a lower computer main control module, an underwater sensor information acquisition module, a navigation module and an execution module;

the lower computer main control module is respectively connected with the airborne communication module, the underwater sensor information acquisition module, the navigation module and the execution module, and is connected with the upper computer monitoring module through the airborne communication module.

Specifically, the lower computer main control module is used for receiving the data of the on-board communication module and the underwater sensor information acquisition module and then transmitting the data to the execution module;

the upper computer main control module is used for monitoring the moving state picture of the whole underwater robot and issuing a moving instruction;

the navigation module is used for detecting the flatness at the water bottom and positioning the robot by using sensors such as a self-carried GPS (global positioning system) and the like through the airborne communication module after the robot leaves the water surface;

the underwater sensor information acquisition module comprises a camera, a sonar sensor, a depth sensor, a gyroscope, a nitrogen gas sensor, a gas flow detection sensor, a water leakage detection sensor and an ultrasonic ranging sensor, wherein the camera is arranged in a hemispherical camera hatch G3, the depth sensor, the sonar sensor and the ultrasonic ranging sensor are fixed outside the whole machine, the nitrogen gas sensor refers to a centralized water-supply Kong Danqi sensor a4 and a nitrogen sensor a2, the gas flow detection refers to a gas flow detection refer to a sensor f 2, and the sensors are all arranged in corresponding gas paths and waterway pipelines, in addition, the water leakage detection sensor is arranged in an idle area inside two equipment control cabins and a storage tank cabin assembly, and the specific corresponding positions refer to FIG. 2;

the execution module comprises electromagnetic valves which are used for controlling the air path and the water path of each air cabin and a waterproof steering engine, a propeller, a guide plate steering engine and an illuminating lamp which are used for providing driving for each action execution.

The underwater robot control system collects information of the underwater sensors, the information is transmitted to the lower computer main control module, the lower computer main control module processes the information of all the underwater sensors, then different motion gesture control is executed, and emergency danger avoidance is carried out under the accident condition.

The main motion modes that the underwater robot can realize are: an underwater glider movement mode, a water surface movement mode and a water bottom hiding mode; the composite driving mode is divided into a tail steering engine driving mode and a propeller driving mode, and further comprises the step of needing to rotate the guide plates on the wings to reversely rotate to drive the whole machine to rotate in situ in the submarine hiding mode without power, and the specific reference embodiment 2 is provided.

The volume of the underwater robot air storage tank F1 is limited, air with good compression performance is required to be adopted, physical properties are required to be indissolvable in water, based on the fact, nitrogen is selected as compressed air of the air storage tank F1, an air flow detection sensor F2 and a centralized air supply electromagnetic valve F1 are installed in an air pipeline connected with an air storage tank vent F2 and used for detecting the volume of air flowing out of the air storage tank F1, the volume of water in each cabin can be obtained through the measured outflow volume to provide reference, in addition, two electromagnetic valves are additionally arranged in each air cabin (12 air cabins in total), and the air flow detection sensor F2 and the centralized air supply electromagnetic valve F1 are arranged in an idle area inside an air storage tank cabin assembly.

The centralized vent hole interface A8 on the main body component of the underwater robot is connected with the centralized vent hole electromagnetic valve a2, a centralized vent hole nitrogen sensor A1 is added on a pipeline of the centralized vent hole electromagnetic valve, the centralized water through hole interface A10 on the main body component is connected with the centralized water through hole electromagnetic valve a3, and a centralized water through Kong Danqi sensor a4 is added on a pipeline of the centralized water through hole electromagnetic valve a4.

Furthermore, for all pontoons and their corresponding cabins (total 12 cabins). Referring to fig. 11, the four cylinders are divided into a front left cylinder b1, a front right cylinder b2, a rear left cylinder b3, and a rear right cylinder b4. Wherein the front left side air cylinder b1 is divided into a front left side air cylinder front cabin b1-1, a front left side air cylinder middle cabin b1-2 and a front left side air cylinder rear cabin b1-3; the front right air cylinder b2 is divided into a front right air cylinder front cabin b2-1, a front right air cylinder middle cabin b2-2 and a front right air cylinder rear cabin b2-3; the rear left side air cylinder b3 is divided into a rear left side air cylinder front cabin b3-1, a rear left side air cylinder middle cabin b3-2 and a rear left side air cylinder rear cabin b3-3; the rear right air cylinder b4 is further divided into a rear right air cylinder front chamber b4-1, a rear right air cylinder middle chamber b4-2 and a rear right air cylinder rear chamber b4-3.

Referring to fig. 2, one vent solenoid valve is provided for each of the three chambers of each hollow cylinder, and 4 solenoid valves are provided in total. The front end left side air cylinder ventilation electromagnetic valve b1-q, the front end right side air cylinder ventilation electromagnetic valve b2-q, the rear end left side air cylinder ventilation electromagnetic valve b3-h and the rear end right side air cylinder ventilation electromagnetic valve b4-h are respectively provided with electromagnetic valves for controlling each of 3 electromagnetic valves, wherein each of the two chambers is respectively provided with two chambers, the front end mainly comprises a front end left side air cylinder front chamber ventilation electromagnetic valve b1-1-1, a front end left side air cylinder front chamber ventilation electromagnetic valve b1-1-2, a front end left side middle chamber ventilation electromagnetic valve b1-2-1, a front end left side air cylinder middle chamber ventilation electromagnetic valve b1-2-2, a front end right side air cylinder rear chamber ventilation electromagnetic valve b1-3-1, a front end left side air cylinder rear chamber ventilation electromagnetic valve b1-3-2, a front end right side front chamber ventilation electromagnetic valve b2-1-2, a front end right side air cylinder front chamber ventilation electromagnetic valve b 2-2-2-1, a front end right side middle chamber ventilation electromagnetic valve b2-2-1, a front end left side air cylinder middle chamber ventilation electromagnetic valve b 2-2-1-1, a front end left side air cylinder middle chamber ventilation electromagnetic valve b 2-1-1-1-air cylinder ventilation electromagnetic valve b 2-1-air cylinder ventilation electromagnetic valve b, a front end left side air cylinder ventilation electromagnetic valve b 2-1-air cylinder; the rear end comprises a rear left side air cylinder front cabin ventilation electromagnetic valve b3-1-1, a rear left side air cylinder front cabin ventilation electromagnetic valve b3-1-2, a rear left side air cylinder middle cabin ventilation electromagnetic valve b3-2-1, a rear right side air cylinder rear cabin ventilation electromagnetic valve b3-3-1, a rear left side air cylinder rear cabin ventilation electromagnetic valve b3-3-2, a rear right side air cylinder front cabin ventilation electromagnetic valve b4-1-1, a rear right side air cylinder front cabin ventilation electromagnetic valve b4-1-2, a rear right side air cylinder middle cabin ventilation electromagnetic valve b4-2-1, a rear right side air cylinder middle cabin ventilation electromagnetic valve b4-2-2, a rear right side air cylinder rear cabin ventilation electromagnetic valve b4-3-1 and a rear right side air cylinder rear ventilation electromagnetic valve b4-3-2, and electromagnetic valves are uniformly arranged in a side equipment control cabin.

Each rodless cylinder (four in total) is provided with an electromagnetic valve, four electromagnetic valves are respectively a front-end left rodless cylinder ventilation control electromagnetic valve qb1, a front-end right rodless cylinder ventilation control electromagnetic valve qb2, a rear-end left rodless cylinder ventilation control electromagnetic valve qb3 and a rear-end right rodless cylinder ventilation control electromagnetic valve qb4, under the condition that no power is applied, the sliding block is kept stationary at the side close to the equipment control cabin, and the electromagnetic valves are arranged at the air cabin rear baffle plate at the air cylinder port at the side close to the equipment control cabin.

A common wing cylinder solenoid valve E1 is provided for the cylinder assemblies E1 of the two wings, it being noted that in the un-ventilated condition the cylinders will remain fully contracted, i.e. the wings are in a fully closed condition and can remain undisturbed without being pushed by the cylinders. Secondly, two airbag mounting grooves G1-5 are formed in two sides of a front-section tank compartment G1 of the tank compartment assembly G, a foldable airbag is placed in the airbag mounting grooves G1-5, the two airbags are controlled jointly through an airbag ventilation electromagnetic valve G1, and the electromagnetic valve is arranged in an idle area of the tank compartment assembly G.

Embodiment 2, the control method of the multi-attitude composite driving underwater robot control system of the present embodiment includes: an underwater glider movement mode, a water surface movement mode and a submarine hiding mode.

Wherein, the motion mode of the underwater glider comprises the following steps:

s1, referring to FIG. 3, opening a wing cylinder electromagnetic valve e1, opening a rotary wing, controlling four guide plate steering engines on two wings to act simultaneously, and enabling the guide plate steering engines to drive guide plates on two sides to tilt downwards, wherein the tilting angle is smaller than 45 degrees, so that the guide plate steering engines are enabled to submerge faster;

s2, referring to FIG. 4, a concentrated water hole electromagnetic valve a3, a front left air cylinder rear cabin water electromagnetic valve b1-3-2, a front right air cylinder rear cabin water electromagnetic valve b2-3-2, a rear left air cylinder rear cabin water electromagnetic valve b3-3-2, a rear right air cylinder rear cabin water electromagnetic valve b4-3-2 are opened, then the front left air cylinder rear cabin air electromagnetic valve b1-3-1 is opened in a delayed manner, the front right air cylinder rear cabin air electromagnetic valve b2-3-1, the rear left air cylinder rear cabin air electromagnetic valve b3-3-1 and the rear right air cylinder rear cabin air electromagnetic valve b4-3-1 are opened, and then the concentrated air hole electromagnetic valve a1 is opened. Judging whether the data of the depth sensor is displayed to start sinking or not, starting to close all the ventilation electromagnetic valves b1-3-1, b2-3-1, b3-3-1 and b4-3-1 when the data is obviously sinking, then closing the concentrated water through hole electromagnetic valve a3, and simultaneously closing all the water through valves b1-3-2, b2-3-2, b3-3-2 and b4-3-2; it should be noted that, in general, when the tanks of the four rear cabins are filled with water, the buoyancy of the underwater robot must not be greater than the gravity thereof, that is, the underwater robot must move downward at this time, and the step S3 is started to be executed;

S3, referring to FIG. 4, opening a rodless cylinder ventilation control electromagnetic valve qb1 on the left side of the front end and a rodless cylinder ventilation control electromagnetic valve qb2 on the right side of the front end, wherein a rodless cylinder sliding block D2 in two air cylinders at the front end slides forwards at the moment, so that the center of gravity of the whole machine body moves forwards, the whole machine body tilts forwards and downwards, and executing a step S4;

s4, referring to FIG. 5, controlling four guide plate steering engines on two wings to act simultaneously, so that the guide plate steering engines drive guide plates on two sides to tilt upwards, but the tilting angle is smaller than 45 degrees, and the underwater robot does unpowered downward gliding movement at the moment;

s5, after the actions are completed, opening the tail propeller H1, closing the front-end left-side rodless cylinder ventilation control electromagnetic valve qb1 and the front-end right-side rodless cylinder ventilation control electromagnetic valve qb2, enabling the rodless cylinder to return to the original initial position, enabling the gravity center of the whole machine to return to be close to the geometric center position, enabling the whole machine to perform rapid underwater gliding movement at the moment, and then executing the step S6;

s6, after waiting for a plurality of seconds, closing the propeller H1, and opening the front-end left rodless cylinder ventilation control electromagnetic valve qb1 and the front-end right rodless cylinder ventilation control electromagnetic valve qb2 so as to carry out gravity center adjustment again;

s7, judging whether the depth data of the depth sensor reach the maximum sinking depth which can be reached by the underwater robot, if not, executing the step S4, and if so, starting the whole machine to execute floating movement at the moment, and executing the step S8;

S8, closing a front-end left-side rodless cylinder ventilation control electromagnetic valve qb1 and a front-end right-side rodless cylinder ventilation control electromagnetic valve qb2, and opening a rear-end left-side rodless cylinder ventilation control electromagnetic valve qb3 and a rear-end right-side rodless cylinder ventilation control electromagnetic valve qb4, wherein a rodless cylinder sliding block D2 in two rear-end air cylinders slides forwards at the moment, so that the center of gravity of the whole machine body is backwards;

s9, opening a centralized air supply electromagnetic valve f1, and opening a front left air cylinder ventilation electromagnetic valve b1-q, a front right air cylinder ventilation electromagnetic valve b2-q, a rear left air cylinder ventilation electromagnetic valve b3-h and a rear right air cylinder ventilation electromagnetic valve b4-h; the inflation into each chamber is started. Opening a front left air cylinder rear cabin water-passing electromagnetic valve b1-3-2, a front right air cylinder rear cabin water-passing electromagnetic valve b2-3-2, a rear left air cylinder rear cabin water-passing electromagnetic valve b3-3-2 and a rear right air cylinder rear cabin water-passing electromagnetic valve b4-3-2 after a delay time of a few seconds, and then opening a concentrated water-passing hole electromagnetic valve a3 after a delay time; step S10 is executed to start the water draining operation of each rear cabin, wherein the operation is to open the rear cabin corresponding to each inflator at the front and rear ends to drain water and charge air, so that the buoyancy of the rear cabin is gradually increased, and the whole machine starts to float upwards;

S10, judging whether the depth data of the depth sensor starts to be obviously reduced, if not, continuing to execute the step S9, and if so, executing the step S11;

s11, closing a front left side air cylinder rear cabin water passing electromagnetic valve b1-3-2, a front right side air cylinder rear cabin water passing electromagnetic valve b2-3-2, a rear left side air cylinder rear cabin water passing electromagnetic valve b3-3-2 and a rear right side air cylinder rear cabin water passing electromagnetic valve b4-3-2, then closing a centralized water passing hole electromagnetic valve a3 in a delayed mode, closing a centralized air supply electromagnetic valve f1, closing a front left side air cylinder ventilation electromagnetic valve b1-q, a front right side air cylinder ventilation electromagnetic valve b2-q, a rear left side air cylinder ventilation electromagnetic valve b3-h and a rear right side air cylinder ventilation electromagnetic valve b4-h, and starting to float up by the whole machine, and executing S12;

s12, referring to fig. 6 and 7, controlling four guide plate steering engines on two wings to act simultaneously, so that the guide plate steering engines drive guide plates on two sides to incline downwards, and the underwater robot performs unpowered upward gliding movement at the moment;

s13, after the actions are completed, opening the tail propeller H1, closing the rear end left rodless cylinder ventilation control electromagnetic valve qb3 and the rear end right rodless cylinder ventilation control electromagnetic valve qb4, and enabling the gravity center of the whole machine to return to the geometric center of the whole machine, wherein the whole machine can perform rapid underwater gliding movement;

S14, after waiting for a plurality of seconds, closing the propeller H1, and opening a rear-end left-side rodless cylinder ventilation control electromagnetic valve qb3 and a rear-end right-side rodless cylinder ventilation control electromagnetic valve qb4;

s15, judging whether the depth data of the depth sensor reaches the minimum sinking depth which can be reached by the underwater robot, if the depth data does not reach the minimum sinking depth, continuing to repeat from S12, and if the depth data reaches the minimum sinking depth, indicating that the water surface is reached, and executing the step S16;

s16, closing a rear end left rodless cylinder ventilation control electromagnetic valve qb3 and a rear end right rodless cylinder ventilation control electromagnetic valve qb4;

s17, judging whether the power reserve of the whole machine is sufficient, if so, executing the step S18, if not, floating the whole machine out of the water surface, starting to charge by using the solar panel, then opening a tail steering engine to start to drive the tail to swing continuously, driving the whole machine to creep forward on the water surface, and executing the step S18 after the battery voltage is detected to be full;

s18, judging whether the pressure of the air storage tank is enough, if so, starting to circularly execute from S2 to S17, and if the pressure reaches the lower limit value, executing the step S19;

s19, starting to float on the water surface, starting a propeller H1 by using the power provided by a solar panel and a battery, and starting to search a replenishing station by using an onboard communication module to replenish air by communicating with an upper computer;

In the whole motion control process, water leakage detection is needed in the machine body, and once the machine body is found to be leaked, all ventilation and water-through electromagnetic valves are started to be closed, and the air bag ventilation electromagnetic valve g1 is opened, so that the air bag immediately drives the whole machine to float towards the water surface.

The water surface movement mode specifically comprises the following steps:

t1, in order to reduce wind resistance and enable the rotatable wing to be completely closed, as the direction of the guide plates can influence the contraction of the wing, whether the guide plate steering engines on two sides are at an initial middle position or not needs to be judged firstly, if not, the steering engines are controlled to return to the initial position, and if the steering engines are already at the initial position, the step T2 is executed;

t2, judging whether the wing is in an open state, if so, closing a wing cylinder electromagnetic valve e1, and closing the rotary wing;

t3, if the whole machine is in wireless control, the on-board communication module starts to receive the motion command from the upper computer monitoring module, the propeller and the tail steering engine start to execute the motion control command, if the control is in wired control, the control is directly performed through the upper computer monitoring module, manual control can be realized, and meanwhile, the fixed motion command can be sent;

Because the water surface moves at this time, the information of the navigation module is sent to the upper computer, and the position of the underwater robot related to the invention is sent to the upper computer monitoring module through the fixed frequency, so that the track planning and the track tracking movement can be realized at this time.

The submarine latency mode specifically comprises the following steps:

p1, in order to improve concealment, at this time, the rotatable wing is required to be completely closed, and as the direction of the guide plates can affect the contraction of the wing, whether the guide plate steering engines on two sides are at the initial intermediate position or not needs to be judged first, if not, the steering engines are controlled to return to the initial position, and if the initial position is reached, the step P2 is executed;

it should be noted that, because the interface of the deflector is larger, if the deflector is not at the initial position, the situation that the deflector component collides with the rotating structure component can occur when the wing is directly contracted at this time, so that the wing is damaged;

p2, judging whether the wing is in an open state, if so, closing a wing cylinder electromagnetic valve e1, closing the rotary wing, and executing a step P3;

p3, opening the concentrated water passing hole electromagnetic valve a3, opening the front left air cylinder rear cabin water passing electromagnetic valve b1-3-2, opening the front left air cylinder rear cabin water passing electromagnetic valve b1-2-2, opening the front right air cylinder rear cabin water passing electromagnetic valve b2-3-2, opening the front right air cylinder rear cabin water passing electromagnetic valve b2-2-2, opening the rear left air cylinder rear cabin water passing electromagnetic valve b3-3-2, opening the rear left air cylinder rear cabin water passing electromagnetic valve b3-2-2, opening the rear right air cylinder rear cabin water passing electromagnetic valve b4-3-2, opening the rear right air cylinder cabin water passing electromagnetic valve b4-2-2, then, opening the front left side air cylinder rear cabin ventilation electromagnetic valve b1-3-1, the front left side air cylinder middle cabin ventilation electromagnetic valve b1-2-1, the front right side air cylinder rear cabin ventilation electromagnetic valve b2-3-1, the front right side air cylinder middle cabin ventilation electromagnetic valve b2-2-1, the rear right side air cylinder rear cabin ventilation electromagnetic valve b3-3-1, the front right side air cylinder rear middle cabin ventilation electromagnetic valve b3-2-1, the rear right side air cylinder rear cabin ventilation electromagnetic valve b4-3-1 and the rear right side air cylinder middle cabin ventilation electromagnetic valve b4-2-1 in a delayed manner, and then opening the concentrated vent electromagnetic valve a1, wherein the aim is to open respective middle cabins and rear cabins of the four air cylinders to enable the buoyancy of the whole machine to be smaller than gravity, and beginning sinking, and executing the step P4;

P4, judging the display value of a centralized vent nitrogen sensor a2 on a pipeline behind the centralized vent electromagnetic valve a1, and executing a step P5 if the centralized vent nitrogen sensor a2a2 is detected to display that no nitrogen exists in the air pipe, namely when the displayed value of the nitrogen content tends to zero, indicating that each compartment opened at the moment is filled with water; if the data does not tend to zero, continuing to circularly execute the step P3 until the data detected by the nitrogen gas sensor is zero, and executing the step P5;

p5, judging whether the data of the depth sensor is sinking or not, if so, starting to execute the step P6, wherein the step P is required to show that all the electromagnetic valves and other instruments are detected before the water is discharged, so that the situation that the electromagnetic valves are damaged before sinking can not occur in the step;

p6, closing the centralized vent solenoid valve a1, then closing the front left side cartridge rear chamber vent solenoid valve b1-3-1, the front left side cartridge middle chamber vent solenoid valve b1-2-1, the front right side cartridge rear chamber vent solenoid valve b2-3-1, the front right side cartridge middle chamber vent solenoid valve b2-2-1, the rear right side cartridge rear chamber vent solenoid valve b3-3-1, the front right side cartridge rear middle chamber vent solenoid valve b3-2-1, the rear right side cartridge rear chamber vent solenoid valve b4-3-1, the rear right side cartridge middle chamber vent solenoid valve b4-2-1, the front end left side air cylinder rear cabin water passing electromagnetic valve b1-3-2, the front end left side air cylinder rear cabin water passing electromagnetic valve b1-2-2, the front end right side air cylinder rear cabin water passing electromagnetic valve b2-3-2, the front end right side air cylinder rear cabin water passing electromagnetic valve b2-2, the rear end left side air cylinder rear cabin water passing electromagnetic valve b3-3-2, the rear end left side air cylinder rear cabin water passing electromagnetic valve b3-2-2, the rear end right side air cylinder rear cabin water passing electromagnetic valve b4-3-2 and the rear end right side air cylinder cabin water passing electromagnetic valve b4-2-2 are closed, and finally the centralized water passing electromagnetic valve a3 is closed, at this time, the whole machine starts to sink rapidly.

Acquiring data of an ultrasonic ranging sensor in real time in the sinking process, and executing a step P8 when the distance between the whole machine and the seabed reaches a set upper limit distance;

p8, opening a wing cylinder electromagnetic valve e1, and opening a rotary wing, wherein the aim is to increase the water resistance, slow down the sinking speed and prepare for landing;

it should be noted that part of this movement pattern refers to the action of the balk capturing the game from the air down, where opening the rotating wing corresponds to the balk capturing, similar to the behavior of the balk slowing down when opening the wing as it approaches the ground.

P9, opening the central air supply electromagnetic valve f1, and opening the front left side air cylinder ventilation electromagnetic valve b1-q, the front right side air cylinder ventilation electromagnetic valve b2-q, the rear left side air cylinder ventilation electromagnetic valve b3-h and the rear right side air cylinder ventilation electromagnetic valve b4-h; the inflation into each chamber is started. Opening a front left air cylinder rear cabin water passing electromagnetic valve b1-3-2, a front left air cylinder rear cabin water passing electromagnetic valve b1-2-2, a front right air cylinder rear cabin water passing electromagnetic valve b2-3-2, a front right air cylinder rear cabin water passing electromagnetic valve b2-2, a rear left air cylinder rear cabin water passing electromagnetic valve b3-3-2, a rear left air cylinder rear cabin water passing electromagnetic valve b3-2-2, a rear right air cylinder rear cabin water passing electromagnetic valve b4-3-2 and a rear right air cylinder cabin water passing electromagnetic valve b4-2-2 in a time delay, and then opening a concentrated water passing hole electromagnetic valve a3; starting the water draining operation of each rear cabin, and starting to execute the step P10;

It is to be noted that, because when the submerging depth of the complete machine reaches the upper limit of the set distance to the seabed depth, the buoyancy needs to be adjusted, so as to achieve the purpose of decelerating or playing a role, if the submerging speed is too high at this time, the submerged robot can be impacted greatly when contacting the seabed, and if the submerged robot encounters the uneven seabed, fragile parts such as an inflator and the like can be damaged;

p10, judging whether the depth data of the depth sensor starts to change slightly and the movement direction of the whole machine is downward, if the depth data starts to change downwards and the depth increasing speed is slow as described above, indicating that the gravity and the buoyancy are relatively close at the moment, executing the step S11, and if the depth data changes too fast and the depth continuously increases, continuing to execute the step P9;

it is to be noted that, because the designed underwater robot needs to ensure that the buoyancy of the whole machine is greater than the gravity of the whole machine when the chambers of all the hollow air cylinders of the whole machine are filled with air, and the buoyancy is necessarily less than the gravity of the whole machine when the four rear chambers of the four hollow air cylinder assemblies are completely filled with water. However, as the underwater robot continuously submerges under water and the depth continuously changes, the water pressure outside the underwater robot gradually increases, and because the water pressure influence factors are more, the specific pressure and buoyancy relation cannot be calculated according to a theoretical formula, the buoyancy can only be roughly judged according to the change rate of the depth sensor data, and the water pressure can be used as a signal for stopping the whole water drainage work when the depth change rate is obviously reduced.

P11, closing the centralized air supply electromagnetic valve f1 and the centralized water through hole electromagnetic valve a3; then closing the front left-side air cylinder ventilation solenoid valve b1-q, the front right-side air cylinder ventilation solenoid valve b2-q, the rear left-side air cylinder ventilation solenoid valve b3-h and the rear right-side air cylinder ventilation solenoid valve b4-h, the front left-side air cylinder rear cabin water ventilation solenoid valve b1-3-2, the front left-side air cylinder middle cabin water ventilation solenoid valve b 1-2-q, the front right-side air cylinder rear cabin water ventilation solenoid valve b2-3-2, the front right-side air cylinder middle cabin water ventilation solenoid valve b2-2-2, the rear left-side air cylinder rear cabin water ventilation solenoid valve b3-3-2, the rear left-side air cylinder middle cabin water ventilation solenoid valve b4-3-2, the rear right-side air cylinder middle cabin water ventilation solenoid valve b4-2-2, closing the centralized air supply solenoid valve f 1-q, the front right-side air cylinder rear cabin water ventilation solenoid valve b 2-2-2-q, the rear left-side air cylinder middle cabin water ventilation solenoid valve b 3-3-2-2, the rear left air cylinder rear cabin water ventilation solenoid valve b 3-3-2-2, the rear left air cylinder ventilation solenoid valve b 4-3-2-2 and the rear left air cylinder ventilation solenoid valve b, the rear left air cylinder left cabin ventilation solenoid valve b 4-3-2-2;

p12, judging to collect data of the ultrasonic ranging sensor in real time, and starting to execute the step P13 when the distance between the ultrasonic ranging sensor and the seabed is detected to be not up to the set lower limit distance;

P13, judging whether the ground in the range right below the robot is flat or not according to the data detected by the sonar sensor, if so, starting to execute the step P14, and if not, starting to execute the step P17;

and P14, if the propeller is opened, closing the propeller at the moment, then opening the tail rudder steering engine to keep the tail rudder steering engine in one direction, and simultaneously opening 4 guide plate steering engines, wherein the rotation directions of the guide plate steering engines at two sides are opposite. It is to be noted that the steering engines of the guide plates on two sides rotate in opposite directions, the guide plate assemblies on the rotating wings can rotate 360 degrees on the wings, so that the guide plates on two sides rotate in different directions, the function of reducing the rotation radius of the machine body can be achieved, the tail vane is utilized to provide auxiliary guiding function, the underwater robot is driven to do inner spiral line movement above a proper landing place, gradually sink into the sea floor, and the step P15 is executed;

and P15, judging whether the ship is about to reach the sea floor, if so, opening a front-end left-side rodless cylinder ventilation control electromagnetic valve qb1 and a front-end right-side rodless cylinder ventilation control electromagnetic valve qb2 to enable the gravity center of the whole machine to incline forward, and enabling the whole machine to start sinking and inclining forward by means of self inertia so as to enable the front part of the whole machine to be in contact with the ground, so that the rear tail rudder can be protected, and when the whole machine is in contact with the sea floor, the tail rudder can automatically retract redundant parts. Simultaneously opening a concentrated water through hole electromagnetic valve a3, a front left air cylinder rear cabin water through electromagnetic valve b1-3-2, a front left air cylinder middle cabin water through electromagnetic valve b1-2-2, a front right air cylinder rear cabin water through electromagnetic valve b2-3-2, a front right air cylinder middle cabin water through electromagnetic valve b2-2-2, a rear left air cylinder rear cabin water through electromagnetic valve b3-3-2, a rear left air cylinder middle cabin water through electromagnetic valve b3-2-2, a rear right air cylinder rear cabin water through electromagnetic valve b4-3-2 and a rear right air cylinder middle cabin water through electromagnetic valve b4-2-2, then, a front end left side air cylinder rear cabin ventilation electromagnetic valve b1-3-1, a front end left side air cylinder middle cabin ventilation electromagnetic valve b1-2-1, a front end right side air cylinder rear cabin ventilation electromagnetic valve b2-3-1, a front end right side air cylinder middle cabin ventilation electromagnetic valve b2-2-1, a rear end right side air cylinder rear cabin ventilation electromagnetic valve b3-3-1, a front end right side air cylinder rear middle cabin ventilation electromagnetic valve b3-2-1, a rear end right side air cylinder rear cabin ventilation electromagnetic valve b4-3-1 and a rear end right side air cylinder middle cabin ventilation electromagnetic valve b4-2-1 are opened, and then a concentrated ventilation hole electromagnetic valve a1 is opened, wherein the aim is to open respective middle cabins and rear cabins of the four air cylinders to enable the cabins filled with air to carry out water filling and air discharging, and sinking is started, and step P16 is executed;

And P16, judging a concentrated vent nitrogen sensor a2 connected to a pipeline behind the concentrated vent electromagnetic valve a1, judging whether the nitrogen sensor a2 displays the content of nitrogen in the air pipe at the moment, and when the content of the nitrogen approaches zero, indicating that all the tanks opened at the moment are filled with water. And closing the wing cylinder electromagnetic valve e1, and closing the rotary wing. According to the steps, the whole underwater latency mode sinking process is finished, and a specific latency task is started to be executed by utilizing the self-carried sensor and the illuminating lamp. When the task execution such as data collection is finished and the floating is to be carried out, starting to execute and open the centralized air supply electromagnetic valve f1, and opening the front left side air cylinder ventilation electromagnetic valve b1-q, the front right side air cylinder ventilation electromagnetic valve b2-q, the rear left side air cylinder ventilation electromagnetic valve b3-h and the rear right side air cylinder ventilation electromagnetic valve b4-h; the inflation into each chamber is started. Opening a front left air cylinder rear cabin water passing electromagnetic valve b1-3-2, a front left air cylinder rear cabin water passing electromagnetic valve b1-2-2, a front right air cylinder rear cabin water passing electromagnetic valve b2-3-2, a front right air cylinder rear cabin water passing electromagnetic valve b2-2, a rear left air cylinder rear cabin water passing electromagnetic valve b3-3-2, a rear left air cylinder rear cabin water passing electromagnetic valve b3-2-2, a rear right air cylinder rear cabin water passing electromagnetic valve b4-3-2 and a rear right air cylinder cabin water passing electromagnetic valve b4-2-2 in a time delay, and then opening a concentrated water passing hole electromagnetic valve a3; the water draining operation of each rear cabin and each middle cabin is started, whether the depth data of the depth sensor starts to change rapidly is judged, the movement direction of the whole machine starts to be upward, namely the gravity is smaller than the buoyancy at the moment, and the closing of the centralized air supply electromagnetic valve f1 and the centralized water through hole electromagnetic valve a3 is started; then, the front left side air cylinder ventilation solenoid valve b1-q, the front right side air cylinder ventilation solenoid valve b2-q, the rear left side air cylinder ventilation solenoid valve b3-h, the rear right side air cylinder ventilation solenoid valve b4-h, the front left side air cylinder rear cabin water passing solenoid valve b1-3-2, the front left side air cylinder middle cabin water passing solenoid valve b1-2-2, the front right side air cylinder rear cabin water passing solenoid valve b2-3-2, the front right side air cylinder middle cabin water passing solenoid valve b2-2-2, the rear left side air cylinder rear cabin water passing solenoid valve b3-3-2, the rear left side air cylinder middle cabin water passing solenoid valve b3-2-2, the rear right side rear cabin water passing solenoid valve b4-3-2, and the rear right side middle cabin water passing solenoid valve b4-2-2 are closed, and the water discharging operation of the respective rear cabins and the middle cabin is started. The sinking and floating movements of the whole latency process are finished, and the whole latency process is finished at one time, and if the whole latency process is repeatedly executed, the execution can be continued from the step P1.

P17, controlling four guide plate steering engines on two wings to act simultaneously, enabling the guide plate steering engines to drive guide plates on two sides to tilt upwards, opening a propeller to travel around, and detecting the seabed on the front relatively flat ground by using a sonar sensor until a proper landing place is found;

it is to be noted that the whole underwater robot needs to judge the depth from the seabed in real time when moving around to find a proper landing position, when the lower limit of the seabed safety depth is reached, a smoother seabed is not found yet, the step P18 is started to be executed, and if the lower limit of the seabed safety depth is found, the step P14 is returned to be executed;

p18, opening the central air supply electromagnetic valve f1, and opening the front left side air cylinder ventilation electromagnetic valve b1-q, the front right side air cylinder ventilation electromagnetic valve b2-q, the rear left side air cylinder ventilation electromagnetic valve b3-h and the rear right side air cylinder ventilation electromagnetic valve b4-h; the inflation into each chamber is started. Opening a front left-side air cylinder rear cabin water-passing electromagnetic valve b1-3-2, a front right-side air cylinder rear cabin water-passing electromagnetic valve b2-3-2, a rear left-side air cylinder rear cabin water-passing electromagnetic valve b3-3-2 and a rear right-side air cylinder rear cabin water-passing electromagnetic valve b4-3-2 after a delay time of a few seconds, and then opening a concentrated water-passing hole electromagnetic valve a3 after a delay time; starting the water draining operation of each rear cabin, and executing the step P19;

P19, judging whether the depth sensor data is reduced or not, starting the underwater robot to float upwards, and if the depth sensor data shows that the underwater robot starts to float upwards, executing a step P20;

p20, closing the central air supply electromagnetic valve f1, the front left air cylinder ventilation electromagnetic valve b1-q, the front right air cylinder ventilation electromagnetic valve b2-q, the rear left air cylinder ventilation electromagnetic valve b3-h, the rear right air cylinder ventilation electromagnetic valve b4-h, the front left air cylinder rear cabin water ventilation electromagnetic valve b1-3-2, the front right air cylinder rear cabin water ventilation electromagnetic valve b2-3-2, the rear left air cylinder rear cabin water ventilation electromagnetic valve b3-3-2, the rear right air cylinder rear cabin water ventilation electromagnetic valve b4-3-2 and the central water ventilation hole electromagnetic valve a3, and starting to execute the step P21;

p21, controlling four guide plate steering engines on two wings to act simultaneously, enabling the guide plate steering engines to drive guide plates on two sides to tilt upwards, opening a propeller to move around, detecting a place which is relatively smooth in front by using a sonar sensor until a proper landing place is found, and indicating whether the floating depth exceeds the safety depth upper limit value or not in real time in the process, if the floating depth does not reach the safety depth upper limit value, continuing to execute the step, and if the floating depth exceeds the safety depth upper limit value, starting to execute the step P14; if the safety depth upper limit is reached, starting to execute the step P22;

P22, open and concentrate the water hole solenoid valve a3, front end left side inflator rear cabin and lead to water solenoid valve b1-3-2, front end right side inflator rear cabin and lead to water solenoid valve b2-3-2, rear end left side inflator rear cabin and lead to water solenoid valve b3-3-2 and rear end right side inflator rear cabin and lead to water solenoid valve b4-3-2, then delay open front end left side inflator rear cabin and lead to air solenoid valve b1-3-1, front end right side inflator rear cabin and lead to air solenoid valve b2-3-1, rear end right side inflator rear cabin and lead to air solenoid valve b3-3-1 and rear end right side inflator rear cabin and lead to air solenoid valve b4-3-1, then open and concentrate air solenoid valve a1 again, this part purpose is to open the respective rear cabin of four inflator and begin to exhaust and fill, let the buoyancy of the complete machine be less than gravity, begin sinking, carry out step P10 at this moment.

Embodiment 3, referring to fig. 9 to 107, the multi-state composite driving underwater robot of the present embodiment specifically includes:

the device comprises a main engine body assembly, a hollow air cylinder assembly, a rodless air cylinder assembly, a tail vane assembly, a rotary wing assembly, an air storage tank assembly, a storage tank cabin assembly and a propeller assembly;

specifically, each cartridge of the hollow cartridge assembly has three compartments, four cartridges in total, 12 compartments, each of which requires the connection of two solenoid valves, one for controlling the aeration and the other for controlling the water. The rodless cylinder assembly has 8 ventilation holes, each cylinder is connected with an electromagnetic valve to control the sliding of the sliding block at the upper end of the sliding table cylinder, so that the gravity center of the whole machine is adjusted, and in addition, the movement of the cylinder in the cylinder assembly in the rotary wing assembly is controlled by 1 electromagnetic valve. Meanwhile, for safety, a pressure or flow detection sensor is properly added in the air path, and an electromagnetic valve is also needed to control the ventilation of the air bag.

The main machine body assembly comprises a middle storage tank cabin, a left equipment control cabin and a right equipment control cabin which are positioned at two sides of the middle storage tank cabin;

a hollow air cylinder assembly comprising four air cylinders and four fairings; two air cylinders are arranged at two ends of the left equipment control cabin, and the other two air cylinders are arranged at two ends of the right equipment control cabin; the four air guide covers are respectively arranged at the front ends of the air cylinders of the four air cylinders;

the rodless cylinder assembly comprises four rodless cylinders which are respectively embedded in square tube grooves in the four air cylinders, and each rodless cylinder is provided with a rodless cylinder sliding block with adjustable weight;

a rotary wing assembly comprising two rotary deflector wings; the two rotary guide wings are respectively arranged on the left equipment control cabin and the right equipment control cabin;

the air storage tank assembly comprises two air storage tanks which are arranged in the storage tank cabin assembly; the storage tank cabin assembly is arranged on the middle storage tank cabin;

a propeller assembly comprising a propeller and a battery compartment; the propeller is arranged at the lower end of the battery compartment and is connected with a battery in the battery compartment; the battery compartment is arranged on the storage tank compartment assembly, and a tail vane assembly is arranged on the battery compartment.

The control system component comprises an upper computer monitoring module, an airborne communication module, a lower computer main control module, an underwater sensor information acquisition module, a navigation module and an execution module. The upper computer detection module is an onshore computer, and the airborne passing module, the lower computer main control module and the navigation module are all arranged in the equipment control cabin at two sides; the execution modules are all positioned outside the whole machine; in addition, the underwater sensor information acquisition module comprises a camera, a sonar sensor, a depth sensor, a gyroscope, a nitrogen gas sensor, a gas flow detection sensor, a water leakage detection sensor and an ultrasonic ranging sensor, wherein the camera is arranged in a hemispherical camera hatch G3, the depth sensor, the sonar sensor and the ultrasonic ranging sensor are fixed outside the whole machine, the nitrogen gas sensor refers to a centralized water-supply Kong Danqi sensor a4 and a nitrogen sensor a2, the gas flow detection refers to a sensor f 2, and the gas flow detection sensor and the water leakage detection sensor are all arranged in corresponding gas paths and waterway pipelines, and in addition, the water leakage detection sensor is arranged in idle areas inside two equipment control cabins and a storage tank cabin assembly, and the specific corresponding positions refer to FIG. 2;

Referring to fig. 9, 10 and 11, the main body assembly of the present embodiment is for providing support and bearing functions for an underwater robot, and specifically includes:

the device comprises a reinforcing structure A1, a middle storage tank cabin A2, a front-end air cylinder centralized water-passing pipe interface A3, left and right device control cabin cover positions A4, a rear-end air cylinder centralized water-passing pipe interface A5, device control cabin two-side bolt holes A6, a device control cabin double-layer sealing ring groove A7, a centralized air vent interface A8, a thick-wall hollow pipe A9, a centralized water-passing hole interface A10, a device control cabin cover A11 and a base bracket A12;

thick-wall hollow pipes A9 are respectively connected between the left equipment control cabin and the middle storage tank cabin A2 and between the right equipment control cabin and the middle storage tank cabin A2; the thick-wall hollow pipe A9 enables the equipment control cabins on two sides to be communicated with the cabin body in the middle, so that a circuit and an air circuit can be conveniently connected with each other.

A centralized vent hole interface A8 is designed right above the middle section storage tank cabin A2, and a centralized water through hole interface A10 is designed right below the middle section storage tank cabin A2 and is used for discharging redundant air and redundant water of all hollow air cylinders, and meanwhile, the centralized water through holes have the function of water inflow. The periphery of the thick-wall hollow pipe A9 is provided with a plurality of reinforcing structures A1, in addition, the upper parts of equipment control cabins on two sides are cut off, left and right equipment control cabin cover positions A4 are reserved, on one hand, a fixing base E2 and a fixing support A12 of a rotatable diversion wing assembly are conveniently installed, secondly, the plane is designed, the rotatable diversion wing assembly is conveniently sealed through an equipment control cabin cover A11, the connection mode of the cabin cover is a bolt connection, the upper end of the cabin cover is connected with a base support A12 through a bolt, two groups of equipment control cabin cover vent holes A11-1 and 3 are arranged in each equipment control cabin, and ventilation pipelines of each air cabin are connected into the equipment control cabin to perform centralized control.

The base bracket fixing hole A12-1 is connected with the base bolt hole E2-4. In the embodiment, the whole main body component is of an integral structure except for the equipment hatch cover a11 and the base bracket a12, and in practical application, because the mechanism is relatively complex, the whole main body component is required to be integrally manufactured in a 3D printing mode and the like.

Referring to fig. 12 to 18, the hollow air cylinder assembly of the present embodiment includes four air cylinders with inner and outer circles and four air guide covers, one air cylinder is installed at each of the front and rear sides of the left equipment control cabin, and the other two air cylinders are installed at both ends of the right equipment control cabin and are connected by bolts.

To enable the sectional multi-function control of the gas, each gas cylinder is divided into three chambers, a front chamber B18, a middle chamber B19, a rear chamber B20, as a whole. The upper end and the lower end of the front cabin B18 are provided with a front cabin ventilation pipe B1 and a front cabin water pipe B5, the upper end and the lower end of the middle cabin are provided with a middle cabin ventilation pipe B2 and a middle cabin water pipe B6, the upper end and the lower end of the rear cabin B20 are provided with a rear front cabin ventilation pipe B3 and a front cabin water pipe B7, the front cabin ventilation pipe B1, the middle cabin ventilation pipe B2 and the rear cabin ventilation pipe B3 are upwards connected into a centralized ventilation pipeline B4, and the centralized ventilation pipeline B4 sequentially extends the gas pipelines of the three cabins to the upper end of an equipment control cabin cover A11 through three pipelines and is connected into a left equipment control cabin and a right equipment control cabin through an equipment control cabin cover ventilation hole A11-1 for centralized control. The air cylinders at the front end and the rear end of the left equipment control cabin and the right equipment control cabin extend the water pipelines of the three cabins to the lower end of the equipment control cabin in sequence through the three pipelines of the centralized water pipeline B8 respectively, and the pipelines are led into the side equipment control cabins through the centralized water pipeline interface A5 of the rear-end air cylinders and the centralized water pipeline interface A3 of the front-end air cylinders respectively. The centralized water through holes and the centralized vent holes of the middle-section storage tank cabin are connected to the centralized water through hole interface A10 and the centralized vent hole interface A8 of the middle-section storage tank cabin A2 after passing through control system components. The rear end rodless cylinder fixing hole B13 and the rear end rodless cylinder vent hole B14 are reserved on the air cabin rear baffle B21, the rear end rodless cylinder fixing hole B13 is connected with a rodless cylinder rear end threaded rod D6 through a nut, and the purpose of the rear end rodless cylinder vent pipe hole B14 is to penetrate an air pipe of the rodless cylinder rear end vent hole D4 out of the square pipe groove B15 in the air cylinder and guide the air pipe into the side equipment cabin for control. The front end of the air cylinder assembly is provided with an air cabin back baffle B21, and an air cylinder front end internal threaded hole B12 for connecting an air cylinder inner cabin cover D7 is arranged on the air cabin back baffle B21. The guide cover bolt holes B24 of the four guide covers B23 are respectively butted with the outer bolt holes B11 at the front ends of the air cylinders of the four air cylinders and are fixed through bolts.

19-26, the tail vane assembly of the present embodiment includes a waterproof steering engine C1, a first steering engine connecting rod C2, a second steering engine connecting rod C3, a tail vane connecting rod C4, a tail vane base C5, a tail vane support connecting rod C6, a tail vane support frame C7, an upper tail vane C8, and a lower tail vane C9;

specifically, waterproof steering wheel C1 is fixed in the battery compartment H2 below of propeller subassembly, and waterproof steering wheel C1 rotation axis rotatable 360 degrees. The rotating shaft of the waterproof steering engine C1 is provided with a first steering engine connecting rod C2, the first steering engine connecting rod C2 is connected with a second steering engine connecting rod C3 through a bolt connecting hole C12, the second steering engine connecting rod C3 is connected with a tail vane connecting rod C4 through a bolt connecting hole C10, and the tail vane connecting rod C4 is fixed in a tail vane connecting rod fixing hole C5-2 of a tail vane base C5. The tail vane base C5 is fixed with one end of the tail vane support connecting rod C6 provided with a bolt hole through a base bolt hole C5-1 and can rotate around the base bolt hole C5-1.

One end of the tail rudder support connecting rod C6 is fixed behind the battery compartment H2, two ends of the tail rudder support connecting rod C6 are reinforced through the triangular tail rudder support frame C7, and the triangular tail rudder support frame C7 and the tail rudder support connecting rod C6 are fixed at the same horizontal position of the battery compartment.

In practical application, the waterproof steering engine C1 drives the first steering engine connecting rod C2, the second steering engine connecting rod C3 and the tail rudder connecting rod C4 to swing through circular motion, and the tail rudder connecting rod C4 and the tail rudder base C5 are fixed together, so that the tail rudder base C5 is driven to do circular motion around the base bolt hole C5-1, and the left-right swing of the tail rudder is realized. The whole design of the tail rudder refers to the structure of the fish tail and is formed by connecting an upper tail rudder C8 and a lower tail rudder C9. The two thin plates of the lower tail rudder C9 can clamp the upper tail rudder in the middle, and the lower tail rudder bolt hole C9-1 is used as a rotation shaft to slide upwards along the upper tail rudder.

The upper tail rudder C8 comprises an upper tail rudder main body C8-1; the upper tail rudder body C8-1 is clamped by two thin plates of the lower tail rudder C9; an upper tail rudder bolt hole is reserved on the upper tail rudder main body C8-1, and a lower tail rudder bolt hole C9-1 is reserved on the lower tail rudder main body C9-4 of the lower tail rudder C9; the upper tail rudder bolt hole C8-2 and the lower tail rudder bolt hole C9-1 are respectively matched with an upper tail rudder fixing hole C5-3 and a tail rudder fixing hole on the tail rudder base C5; the tail vane base C5 is also provided with an adjusting hole C5-5.

The waterproof steering engine C1 of tail vane connecting rod of this embodiment passes through an adjustable tail vane of stock connection, and adjustable tail vane passes through tail vane support frame to be fixed, can rotate around the support frame rotation axis, and the effect of the adjustable tail vane of design is when contacting seabed or robot bottom and contacting hard thing, in order to avoid the tail vane too big, leads to damaging, and the tail vane lower extreme can upwards shrink.

Referring to fig. 27 to 29, the rodless cylinder assembly of the present embodiment includes four magnetically coupled rodless cylinders respectively fitted in the square tube grooves B15 in each of the air cylinders, a weight-adjustable rodless cylinder slider D2 mounted on each of the rodless cylinders D1, a rodless cylinder front end vent hole D3 and a rodless cylinder front end threaded rod D5 provided at the front end thereof, and a rodless cylinder rear end vent hole D4 and a rodless cylinder front end threaded rod D6 provided at the rear end thereof.

The threaded rod D5 at the front end of the rodless cylinder passes through the fixing hole D9 of the air cabin cover of the air cabin front baffle B22 to be fixed, and the air cabin cover D7 is provided with an air hole of the air cabin cover; the rear end threaded rod D6 of the rodless cylinder is fixed through the rear end rodless cylinder fixing hole. The rodless cylinder slide block D2 can slide left and right on the cylinder under the pushing of compressed gas, when the vent hole D3 at the front end of the rodless cylinder is ventilated, the slide block moves to the side close to the side equipment control cabin under the condition that the vent hole D4 at the rear end of the rodless cylinder is not ventilated, and when the vent hole D4 at the front end of the rodless cylinder is ventilated, the slide block moves to the side close to the guide cover.

The rotary wing assembly of the embodiment comprises a left rotatable guide wing and a right rotatable guide wing, and each rotary wing comprises a rotary structure assembly, a guide plate assembly E5, a cylinder assembly E1 and a solar panel E6.

The rotating structure component comprises a fixed base E2, a wing main structure E3, an upper four-link structure E7 and a lower four-link structure E5;

the cylinder assembly mainly comprises a cylinder and a cylinder supporting and fixing frame;

the deflector assembly E5 comprises two short plates, two long plates, a solid fixed rotating shaft, three solid connecting shafts, two deflector steering gears, two O-shaped steering gear connecting rods, a front end steering gear cover and a rear end steering gear cover.

30-33, the whole structure of the rotatable wing assembly is shown as two ends of the rotatable wing assembly are flat, and the middle of the rotatable wing assembly is relatively bulged, so that the rotatable wing assembly has better water resistance reduction performance no matter when the rotatable wing is fully unfolded, contracted or fully closed. The various components of the rotatable wing assembly will be described in detail below. The rotary wing assembly fixing base E2 is connected with a base support fixing hole A12-1 of a base support A12 connected with the upper end of the bottom cabin cover through a base bolt hole E2-4, the whole cylinder assembly E1 is fixed through a fixing groove E2-3, two rotating shafts E2-1 and E2-2 are arranged on the rotary wing assembly fixing base, and the upper four-link structure wing main structure is fixed through the two rotating shafts.

Referring to fig. 34, for the fixed base E2 of the rotating structure assembly, the base bolt hole E2-4 of the fixed base E2 is correspondingly connected with the base bracket fixing hole a12-1, two fixed rotating shafts are provided at the front and rear ends, one is the base rear end fixed rotating shaft E2-2 presenting a single shaft, for connecting and fixing the lower connecting rod fixing rotating hole E5-1-1 and the upper connecting rod fixing rotating hole E7-1-1 of No. 1, and the other is the base front end fixed rotating shaft E2-1 presenting a double shaft, for connecting and fixing the lower connecting rod fixing rotating holes E5-5-1 and the upper connecting rod fixing rotating hole E7-5-1 of No. 5, it is to be noted that the fixed base E2 and the upper and lower connecting rods of No. 1 and the upper and lower connecting rods of No. 5 are mutually rotated around the two rotating shafts, but the specific fixing and constraining modes of one end of the four rods and the two shafts are not represented in the drawings, but the illustration does not emphasize the practical application that the basic moving connection mode of the whole structure does not represent the final presenting results.

The fixing grooves E2-3 are two sections of square grooves which are parallel to each other, so that the cylinder triangular bracket E1-13 is connected with the fixing base E2 through the cylinder triangular bracket fixing bolt holes E1-12, the single bolt holes are not formed in the fixing base E2, the cylinder triangular bracket E1-13 is fixed through the fixing grooves E2-3, the accurate position of the cylinder assembly relative to the fixing base E2 can be flexibly adjusted, and the position of the cylinder assembly on the fixing base can finally influence the effective supporting difficulty of the whole cylinder assembly on the upper four-link structure E5, so that the best supporting position is required to be found through multiple adjustments when the cylinder assembly is installed.

Referring to fig. 35 to 37, the cylinder assembly E1 is mainly composed of one cylinder body E1-1 and its fixing structure. The cylinder main body E1-1 is respectively provided with an air hole E1-3 at the upper end and the lower end of the cylinder and an air hole E1-2 at the lower end, the cylinder push rod E1-4 which can shrink and extend up and down is arranged in the cylinder main body, one end of the cylinder push rod E1-4 which is shown outside is fixed with the cylinder double-fork bracket E1-5 through the cylinder double-difference bracket fixing hole E1-8, the cylinder double-fork bracket E1-5 is provided with two cylinder fulcrum rotating shaft mounting holes E1-9, the cylinder main body E1-1 is clamped through two semicircular cylinder fixing brackets E1-6, the two cylinder fixing brackets E1-6 are distributed in a mirror image mode, one end of the cylinder fixing bracket E1-6 is provided with a cylinder, the two cylinder fixing brackets E1-6 are integrated together to form a pair of coaxial cylinders, the cylinder is arranged in a semicircular groove at the bottom of the V-shaped cylinder triangular bracket E1-13, the cylinder rotating shaft lock E1-7 is buckled at the bottom of the V-shaped cylinder triangular bracket E1-13 through a cylinder rotating shaft lock 7, and the cylinder rotating shaft lock bracket E1-13 can be fixed with the cylinder fixing holes E1-6 at the bottom of the cylinder triangular bracket E1-13 in a certain position, and the space can be satisfied. The cylinder tripod fixing bolt holes E1-12 will be fixed in the fixing grooves E2-3. Part of the cylinder assembly will pass through the fixing base E2 fixing slot mid-void area to provide support for the upper four-bar linkage E7.

Referring to fig. 38-43, a detailed structural illustration of the lower four-bar linkage E5 of the rotating structural assembly is shown.

The lower four-bar linkage E5 mainly comprises five connecting bars and a supporting frame.

The lower connecting rod supporting frame E5-6 consists of a cross rod and three vertical forks, wherein a lower connecting rod front end supporting base E5-6-1 and a lower connecting rod rear end supporting base E5-6-2 which are high in height are arranged on the cross rod and used for connecting and fixing the No. 2 lower connecting rod E5-2, and secondly, a certain distance is kept between the lower connecting rod supporting frame E5-6 and an upper four-bar connecting rod structure E7 in space, so that interference and collision are avoided. The lower connecting rod support frame bolt holes E5-7 are formed in the cross rod and the three vertical forks of the lower connecting rod support frame E5-6 and are distributed in parallel in space, the purpose is to be used for connecting the disc bolts E3-9, the thinner end of each disc bolt E3-9 is inlaid in each lower connecting rod support frame bolt hole E5-7 and is fixed through each disc bolt fixing hole E3-9-1, and then the lower connecting rod support frame E5-6 is connected with the wing main structure E3. The length of the No. 1 lower connecting rod E5-1, the No. 2 lower connecting rod E5-2, the No. 3 lower connecting rod E5-3 and the No. 4 lower connecting rod E5-4 enclose a parallelogram area in the crossing area, and the length of the No. 3 lower connecting rod E5-3 is equal to the distance between two axes of the No. 1-2 lower connecting rod rotating shafts E5-10 and the No. 1-4 lower connecting rod rotating shafts. The purpose of the lower connecting rod E5-5 is to match with other four connecting rods, and the overall movement track of the lower four-connecting-rod structure E5 is influenced by the length of the lower connecting rod E5-5 of the 5 th and the length of each side of the parallelogram surrounded by the other four connecting rods. It should be noted that, in order to keep the whole lower link capable of completely contracting, the sum of the axial center distances of the rotating shafts E5-9 of the lower link No. 1-4 and the rotating shafts E5-10 of the lower link No. 1-2 and the axial center distances of the fixing holes at the two ends of the lower link No. 4E 5-4 is equal to the axial center distance of the two fixing holes of the lower link No. 1E 5-1. The lower connecting rod rotating shaft E5-10 of the No. 1-2 and the lower connecting rod rear end supporting base E5-6-2 are fixed in a bolt mode, the lower connecting rod rotating shaft E5-9 of the No. 1-4 is arranged in the middle of the lower connecting rod E5-1 in a protruding mode, and a supporting is provided for one end rotating hole of the lower connecting rod E5-4 of the No. 4. A bulge is arranged in the middle of the lower connecting rod E5-5, so that the situation that the lower connecting rod E5-5 and the lower connecting rod rotating shaft E5-9 of the No. 1-4 collide in space in the process of completely closing the lower four-bar structure E5 is avoided. The No. 1 lower connecting rod fixed rotating hole E5-1-1 penetrates through the base rear end fixed rotating shaft E2-2, the lower connecting rod fixed rotating hole E5-5-1 penetrates through the base front end fixed rotating shaft E2-1, and the whole lower four-connecting-rod assembly E5 is structurally contracted and expanded around the two fixed rotating shafts. Eventually, the motion of the entire rotatable assembly will remain spatially synchronized with the motion of the lower link support E5-6 and the lower link E5-2 No. 2, and the lower link support E5-6 and the upper link support E7-6 remain parallel to each other.

It should be noted that the whole lower link structure E5 is not fixedly connected with the wing main structure E3 in the whole structure, but the movement of the whole upper four link structure E7 is driven according to the sliding of the wafer latch in the prescribed position in the wafer latch sliding groove E3-1, that is, the follow-up movement.

The purpose of arranging the lower four-bar structure E5 is to provide a higher strength support for the wing main structure E3, because the wing main structure E3 is longer, if a set of upper four-bar structure E7 is used alone, the supporting force required by the whole wing main structure E3 in expansion and contraction can not be born, therefore, the design of the invention needs to be shown to design two sets of four-bar structures and distribute the four-bar structures up and down in space, in addition, the lengths of the bars of the two four-bar structures are not completely the same, and the purpose is to form dislocation in the moving process of the two sets of four-bar structures, namely, the situation of the two sets of four-bar structures is presented in front and back in space level, so that the supporting area is increased, and the supporting range is improved. It should be further noted that the structural design of the lower link supporting frame is also for the purpose of increasing the supporting area.

Referring to fig. 44-49, a detailed structural illustration of the four-bar linkage E5 on the rotating structural assembly is shown. The upper four-link structure E7 mainly consists of five links and a supporting frame.

The upper connecting rod supporting frame E7-6 consists of a cross rod and three vertical forks, and an upper connecting rod front end supporting base E7-6-1 and a lower connecting rod rear end supporting base E7-6-2 are arranged on the cross rod and used for connecting and fixing the No. 2 upper connecting rod E7-2. Secondly, it should be noted that the heights of the upper link support E7-6 of the upper four-link structure E7 and the lower link support E5-6 of the lower four-link structure E5, which are finally shown in space, should be kept identical, and for this purpose, a plurality of grooves are formed in the cross bar of the lower link support E5-6 to place the upper link support E7-6. The upper connecting rod supporting frame bolt holes E7-7 are arranged on a cross rod and three vertical forks of the upper connecting rod supporting frame E7-6 and are distributed in parallel in space, so that the upper connecting rod supporting frame E7-6 is used for connecting a wing main structure E3 and is fixed with the main structure fixing holes E3-2 through bolts. The length of the No. 1 upper connecting rod E7-1, the No. 2 upper connecting rod E7-2, the No. 3 upper connecting rod E7-3 and the No. 4 upper connecting rod E7-4 are equal to the axle center distance between the No. 1 lower connecting rod rotating shaft E5-9 and the No. 1 upper connecting rod fixed rotating hole in the crossed area, and meanwhile, the No. 1-4 lower connecting rod rotating shaft E5-9 is arranged in the center position of the whole No. 1 upper connecting rod, so that the lengths of all sides of the parallelograms of the formed crossed area are equal. The purpose of the upper connecting rod E7-5 is to match with other four connecting rods, and the overall movement track of the upper four-connecting-rod structure E7 is influenced by the length of the upper connecting rod E7-5 of the 5 th and the length of each side of the parallelogram surrounded by the other four connecting rods. The rotating shaft E7-10 of the No. 2-3 upper connecting rod is arranged on the No. 2 upper connecting rod E7-2 in a protruding mode, and supports are provided for one end rotating hole of the No. 3 upper connecting rod E7-3. The rotating shaft E7-9 of the No. 1-4 upper connecting rod is arranged on the No. 1 upper connecting rod E7-1 in a protruding mode, and supports are provided for one end rotating hole of the No. 4 upper connecting rod E7-4. A bulge is arranged in the middle of the No. 5 upper connecting rod E7-5, so that the situation that the No. 5 upper connecting rod E7-5 collides with the No. 1-4 upper connecting rod rotating shaft E7-9 in space in the process of completely closing the upper four-bar structure E7 is avoided. The upper end of the No. 1 upper connecting rod, one end of the No. 2 upper connecting rod E7-2 and the upper connecting rod bracket E7-6-2 are coaxially connected and fixed through pins. The upper connecting rod fixed rotating hole E7-1-1 penetrates through the base rear end fixed rotating shaft E2-2, the upper connecting rod fixed rotating hole E7-5-1 penetrates through the base front end fixed rotating shaft E2-1, and the whole upper four-connecting-rod structure E7 is structurally contracted and expanded around the two fixed rotating shafts. Eventually, the motion of the entire rotatable assembly will remain spatially synchronized with the motion of the upper link support E7-6 and the upper link E7-2 No. 2. It should be noted that the whole upper link structure E7 and the wing main structure E3 are fixedly connected in the whole structure. The purpose of the upper four-bar linkage E7 is to provide a main supporting moment for the main wing structure E3, and since the main wing structure E3 is long, if one set of upper four-bar linkage E7 is used alone, the supporting force required by the whole main wing structure E3 in expansion and contraction cannot be borne, therefore, it is required to indicate that the design of the present invention is to design two sets of four-bar linkage structures and distribute the two sets of four-bar linkage structures up and down in space.

The rear end of a No. 1-4 upper connecting rod rotating shaft E7-9 of a No. 1 upper connecting rod E7-1 is provided with a No. 1 upper connecting rod threaded hole for installing a threaded fixing pin E7-11, one end of a cylinder fulcrum rotating shaft installing hole E1-9 penetrates through the No. 1-4 upper connecting rod rotating shaft E7-9, and the other end penetrates through a cylinder of the threaded fixing pin E7-11, so that the No. 1 upper connecting rod E7-1 and the No. 4 upper connecting rod E7-4 are fixed together with a cylinder assembly E1 and move in a linkage mode.

Referring to fig. 50-56, three positions of the fully extended, retracted, and fully closed configuration of the rotating structure assembly of the rotary wing assembly are illustrated. It should be noted that the whole structure is not limited to the three states shown, and the structural changes of the links in the whole movement process are not repeated.

The cylinder assembly E1 generates moment through a cylinder push rod, the No. 1 upper connecting rod E7-1 in the upper four-connecting rod structure E7 is connected with the cylinder double-fork support E1-5, and then the moment provided by the cylinder assembly is output to the No. 1 upper connecting rod E7-1 to drive the No. 1 upper connecting rod E7-1 to rotate around the fixed rotating shaft E2-2 at the rear end of the base, so that the whole upper four-connecting rod structure E7 is driven to move, and the space movement of the upper connecting rod support E7-6 projected to the tail end is in expansion change of 0-90 degrees. The upper connecting rod supporting frame E7-6 and the wing main structure E3 are integrated, the telescopic change of 0-90 degrees is presented in the same direction, and in the telescopic process, the disc bolt moves in a planned disc bolt sliding groove, so that the lower connecting rod supporting frame E5-6 is driven to stretch, and the lower connecting rod supporting frame E5-6 stretches to drive the whole lower four-connecting-rod structure E5 to stretch. It should be further noted that the main purpose of the lower four-bar linkage E5 is to provide the wing main structure E3 with a supporting force in a direction perpendicular to the surface of the entire wing main structure, so as to prevent the wing from breaking due to too small supporting force during rotation. Further, the upper link supporting frame E7 and the fixed base E2 will have a positional relationship of 90 degrees when fully extended, i.e. perpendicular to each other, and the upper link supporting frame E7 and the fixed base E2 will have a positional relationship of 0 degrees when fully closed, i.e. parallel to each other. Meanwhile, the upper connecting rod supporting frame E7-6 and the lower connecting rod supporting frame E5-6 always keep a parallel relation in the whole telescopic process.

57-67, the wing main structure mainly comprises a wafer bolt sliding groove E3-1, a main structure fixing hole E3-2, a guide plate middle rotating shaft fixing position E3-3, a main structure guide plate steering engine fixing position E3-4, an additional solar plate, a steering engine cover threaded hole E3-6, a main structure steering engine cover wedge-shaped block E3-7, a main structure solar plate mounting concave area E3-8 and a wafer bolt E3-9.

The main structure fixing holes E3-2 are connected with the upper connecting rod supporting frame bolt holes E7-7 in a one-to-one correspondence mode, the wing main structure is made of materials with high rigidity and light weight, and it is required to indicate that the additional solar panel E3-5 in the whole wing main structure is an independent solar panel and is required to be manufactured and fixed on the wing main structure E3, in addition, the wafer bolts E3-9 are independent parts, and other contained contents of the main structure are integral. Six wafer bolt sliding grooves E3-1 are symmetrically distributed in pairs, the shape design of the wafer bolt sliding grooves E3-1 considers the movement track of bolt holes of each lower connecting rod supporting frame on the lower connecting rod supporting frame E5-7, and meanwhile, a deeper groove is formed in a concave area E3-8 of the installation of the main structure solar panel for the wafer bolt E3-9, the deeper groove is divided into an un-penetrated area and a completely penetrated area, and the width design of the completely penetrated area meets the diameter of a cylinder at the thinner end of the bolt sliding groove E3-1 and simultaneously meets the condition that the bolt sliding groove E3-2 cannot fall from the penetrated area. It should be noted that the width of the disk pin sliding groove E3-1 in all directions should be greater than or equal to the diameter of the disk at the disk end of the disk pin E3-9. In addition, it should be noted that the installation of the bolts of the main structure fixing holes E3-2 should not affect the flatness of the main structure solar panel installation concave area E3-8, which is the installation area of the solar panel E6. Further, other structural design purposes at the aft end of the wing main structure E3 are to install the baffle assembly E4.

The main structure guide plate steering engine fixing position E3-4 is four oval through holes and is used for corresponding to guide plate steering engine bolt holes E4-8-1 on the guide plate steering engine E4-8, the main structure steering engine cover wedge-shaped block E3-7 is used for butting the guide plate steering engine cover wedge-shaped groove E4-10, and in addition, the steering engine cover threaded holes are used for butting guide plate steering engine cover fixing holes E4-10-1 on the guide plate steering engine cover E4-10. The two fixed positions E3-3 of the middle rotating shaft of the guide plate are used for fixing the guide plate connecting shaft E4-7 at the forefront end of the diamond guide plate.

68-79, the deflector assembly of the rotary wing assembly comprises a deflector upper long plate E4-1, a deflector upper short plate E4-2, a deflector lower long plate E4-3, a deflector lower short plate E4-4, a deflector rotating shaft E4-5, a deflector inner rotating bracket E4-6, a deflector connecting shaft E4-7, a deflector steering engine E4-8, a deflector steering engine threaded hole E4-8-1, an O-shaped steering engine connecting rod E4-9, a deflector steering engine cover E4-10, a deflector steering engine cover fixing hole E4-10-1 and a deflector steering engine cover wedge groove E4-10-2.

The appearance of the guide plate assembly presents a regular rhombus, the front end is a guide plate upper short plate E4-2 and a guide plate lower short plate E4-4, the guide plate upper long plate E4-1 and the guide plate lower long plate E4-3 are connected through a guide plate connecting shaft E4-7, in addition, the rear end two long plates, the front end two short plates and one end of a guide plate inner rotating bracket E4-6 are connected through two guide plate connecting shafts E4-7. Four guide plate internal rotating brackets E4-6 are arranged in total, are combined together in pairs, and the included angle between the spatial combination is kept between 20-60 degrees. One end of each of the two guide plate inner rotating brackets E4-6 is clamped between the guide plate upper short plate E4-2 and the guide plate upper long plate E4-1, and one end of each of the other two guide plate inner rotating brackets E4-6 is clamped between the guide plate lower short plate E4-4 and the guide plate lower long plate E4-3. Meanwhile, the other ends of the four guide plate inner rotating brackets E4-6 are coaxially connected through guide plate rotating shafts E4-5, the guide plate rotating shafts E4-5 are fixed in guide plate middle rotating shaft fixing positions E3-3, two guide plate steering engines E4-8 are distributed at two ends of the guide plates, one end of an O-shaped steering engine connecting rod E4-9 is connected with the guide plate steering engines, the other end of the O-shaped steering engine connecting rod is connected with a guide plate connecting shaft E4-7 at the front end of the guide plate, and the purpose of the steering engine connecting rod adopting the O-shaped rather than the single connecting rod is to avoid the condition that the guide plate connecting rod is easy to break due to the use of the single connecting rod. And the guide plate steering engine cover E-10 is used for protecting the steering engine. It should be noted that, except for the different placement orientations of the lower baffle plate E4-4 and the upper baffle plate E4-2, the external structures are identical, and in use, the upper baffle plate E4-1 and the lower baffle plate E4-3 are also identical in structure and are connected end to end. In the up-and-down swinging process of the guide plate, the appearance of the guide plate is in a changed quadrangular shape, and the structure of the front end of the integral structure, which is divergent, is presented, so that a better shunting effect is achieved.

Referring to fig. 80, the air tank assembly of the present embodiment: the gas tank assembly consists of two gas tanks, is arranged in the three-section tank cabin and is closed by taking the hemispherical camera cabin cover G3 as a cabin cover.

Referring to fig. 81 to 88, the tank compartment assembly includes a front tank compartment G1, a rear tank compartment G2, a hemispherical camera hatch G3, and a single link bending reinforcement structure G4.

The front end of the front-section storage tank cabin G1 is connected with a hemispherical camera cabin cover G3, namely, the front bolt hole G1-6 of the front-section storage tank cabin is connected with the hemispherical camera cabin cover bolt hole joint G3-1, and the rear end of the front-section storage tank cabin G1 is connected with the front end of the middle-section storage tank cabin A2. The front end of the rear storage tank cabin G2 is connected with the front end of the battery cabin H2, namely a front bolt hole G2-5 of the rear storage tank cabin is connected with a battery cabin bolt hole H2-4, and the rear end of the rear storage tank cabin G2 is connected with the rear end of the middle storage tank cabin A2.

It should be noted that all the cabins are connected by bolts, the radius of the cabin body is large, and the rest of the space can be used for arranging the circuit and the air path. The two airbag mounting grooves G1-5 are arranged in total, the compressed airbag is placed through the airbag inlet and outlet G1-5-1, and the airbag is communicated with high-pressure gas provided by the gas storage tank F1 through the airbag vent hole G1-5-2. In addition, the airbag gateway G1-5-1 is sealed by an elastic net structure, and the net structure is fixed by airbag sealing holes G1-5-3. The purpose of setting up the air bag is, when taking place the critical situation, like in the cabin intake or rupture etc. can fill the high-pressure gas of gas holder F1 to the air bag immediately put, and the air bag will break through the net seal structure that has elasticity to be bad, provides sufficient buoyancy for whole organism immediately, and the protection complete machine can not sink into the water.

The hemispherical camera hatch cover G3 is not only a hatch cover of the whole storage tank cabin, but also an area for placing cameras, in use, after the two air storage tanks F1 are sequentially placed into the storage tank cabin, the hemispherical camera hatch cover G3 is used as a seal, and according to the sizes of different air storage tanks F1, other objects can be used for filling the gap part of the whole cabin body. Further, the single connecting rod bending reinforcement structures G4 are paired in pairs and are fixed through the single connecting rod bending reinforcement structure fixing holes, the single connecting rod bending reinforcement structures G4 are in cross connection, and the single connecting rod bending reinforcement structures G4 are respectively connected with the core inflator assemblies and the bolt holes on the single connecting rod bending structure fixing bases of the front section storage tank cabin and the rear section storage tank cabin through the bolt holes at the two ends of the single connecting rod bending reinforcement structures G4, so that the whole structure can be reinforced.

Referring to fig. 89-92, the propeller assembly includes a propeller H1 and a battery compartment H2.

The battery compartment H2 is semi-cylindrical, the front end is provided with a battery compartment bolt hole H2-4 which is connected with a front bolt hole G2-5 of the rear storage tank compartment, and a battery compartment through hole H2-3 is reserved, so that the energy storage battery is interconnected with the front end control system element and each circuit through the battery compartment through hole H2-3. When the batteries of the three equipment cabins are dead or the batteries are placed in no space, the batteries in the battery cabin H2 can be used for providing power for all control equipment at the front end, and meanwhile, the power generated by the solar panel can be stored in the batteries in the battery cabin. The rear end is provided with a battery compartment cover H3 for sealing the empty battery compartment, a propeller H1 is arranged in the middle of the bottom of the battery compartment H2, and a power supply circuit of the propeller H1 and the waterproof steering engine C1 is led into the battery compartment through a wire through hole H2-2. The lower part of the rear end of the battery compartment is used for fixing a tail rudder support C7 and a tail rudder supporting connecting rod C6 in the tail rudder assembly, one corner of the battery compartment is designed to be concave, and a concave area is used for placing and fixing a waterproof steering engine C1.

Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, it should not be construed as limiting the scope of protection of the present patent. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the patent described in the claims.

Claims

1. The control method of the multi-navigation state composite driving underwater robot control system is characterized in that the control system comprises an upper computer monitoring module, an airborne communication module, a lower computer main control module, an underwater sensor information acquisition module, a navigation module and an execution module;

the lower computer main control module is used for receiving the data of the on-board communication module and the underwater sensor information acquisition module and transmitting the data to the execution module;

the upper computer monitoring module is used for monitoring the moving state picture of the underwater robot and transmitting a moving instruction to the lower computer main control module through the airborne communication module;

the underwater sensor information acquisition module is used for acquiring moving state picture information, depth information, speed information, nitrogen gas information, gas flow information, water leakage detection information and ranging information of the underwater robot;

the execution module is used for executing the motion instruction of the lower computer main control module and controlling the motion of the underwater robot by controlling the propeller, the electromagnetic valve, the rodless cylinder and the wing cylinder;

the underwater sensor information acquisition module comprises a camera, a depth sensor, a gyroscope, a nitrogen gas sensor, a gas flow sensor, a water leakage detection sensor and an ultrasonic ranging sensor; the gas flow sensor and the centralized gas supply electromagnetic valve are arranged in a gas pipeline connected with a gas storage tank vent hole;

the centralized vent hole interface on the main body component of the underwater robot is connected with a centralized vent hole electromagnetic valve, and a centralized vent hole nitrogen sensor is arranged on a pipeline of the centralized vent hole electromagnetic valve; the centralized water hole interface on the main body component is connected with a centralized water hole electromagnetic valve, and a centralized water Kong Danqi sensor is arranged on a pipeline of the centralized water hole electromagnetic valve;

an air cylinder is arranged in the underwater robot and is divided into three cabins, and each cabin is provided with two electromagnetic valves; the device comprises a front-end left-side air cylinder front cabin ventilation electromagnetic valve, a front-end left-side air cylinder middle cabin ventilation electromagnetic valve, a front-end left-side air cylinder rear cabin ventilation electromagnetic valve, a front-end right-side air cylinder front cabin ventilation electromagnetic valve, a front-end right-side air cylinder middle cabin ventilation electromagnetic valve, a front-end right-side air cylinder rear cabin ventilation electromagnetic valve and a right-side air cylinder rear cabin ventilation electromagnetic valve;

A rear left side air cylinder front cabin ventilation electromagnetic valve, a rear left side air cylinder middle cabin ventilation electromagnetic valve, a rear right side air cylinder rear cabin ventilation electromagnetic valve, a rear left side air cylinder rear cabin ventilation electromagnetic valve, a rear right side air cylinder front cabin ventilation electromagnetic valve, a rear right side air cylinder middle cabin ventilation electromagnetic valve, a rear right side air cylinder rear cabin ventilation electromagnetic valve and a rear right side air cylinder rear cabin ventilation electromagnetic valve;

four rodless cylinders are arranged in the underwater robot, and each rodless cylinder is provided with an electromagnetic valve, and the electromagnetic valve comprises a front left rodless cylinder ventilation control electromagnetic valve, a front right rodless cylinder ventilation control electromagnetic valve, a rear left rodless cylinder ventilation control electromagnetic valve and a rear right rodless cylinder ventilation control electromagnetic valve;

the underwater robot is provided with rotary wings, each rotary wing comprises a rotary structure assembly, a guide plate assembly, a cylinder assembly and a solar panel, wherein a wing cylinder is arranged in the cylinder assembly, and is controlled by a wing cylinder electromagnetic valve;

The underwater robot is also provided with a storage tank cabin assembly; two safety air bag mounting grooves are formed in the two sides of the front section of the storage tank cabin assembly, foldable safety air bags are placed in the safety air bag mounting grooves, and the two safety air bags are synchronously controlled through safety air bag ventilation electromagnetic valves;

the control method comprises an underwater glider movement mode, a water surface movement mode and a submarine hiding mode of the underwater robot;

wherein, the underwater glider motion mode of the underwater robot comprises the following steps:

s1, opening an electromagnetic valve of a wing cylinder, opening a rotary wing, controlling four guide plate steering engines on two wings to act simultaneously, and driving guide plates on two sides to tilt downwards;

s2, opening a concentrated water hole electromagnetic valve, a front left air cylinder rear cabin water electromagnetic valve, a front right air cylinder rear cabin water electromagnetic valve, a rear left air cylinder rear cabin water electromagnetic valve and a rear right air cylinder rear cabin water electromagnetic valve;

opening the front left side air cylinder rear cabin ventilation electromagnetic valve, the front right side air cylinder rear cabin ventilation electromagnetic valve, the rear left side air cylinder rear cabin ventilation electromagnetic valve and the rear right side air cylinder rear cabin ventilation electromagnetic valve in a time delay manner; then the centralized vent solenoid valve is opened, namely, the rear cabins corresponding to the air cylinders at the front end and the rear end are opened for exhausting and filling water, so that the buoyancy of the air cylinders is gradually reduced, and the whole machine begins to sink;

Judging whether the sinking is started or not according to the data of the depth sensor, starting to close all the ventilation electromagnetic valves when the sinking is obvious, closing the centralized water through hole electromagnetic valves, and closing all the water through valves at the same time;

s3, opening a front-end left rodless cylinder ventilation control electromagnetic valve and a front-end right rodless cylinder ventilation control electromagnetic valve, wherein rodless cylinder sliding blocks in two front-end air cylinders slide forwards, and the center of gravity of the whole machine body is forwards;

s4, controlling four guide plate steering engines on the two wings to act simultaneously, and driving the guide plates on the two sides to tilt upwards, so that the underwater robot does unpowered downward gliding movement;

s5, opening the tail propeller, closing the front end left rodless cylinder ventilation control electromagnetic valve and the front end right rodless cylinder ventilation control electromagnetic valve, enabling the rodless cylinder to return to the original initial position, enabling the gravity center of the underwater robot to return to a position close to the geometric center, and enabling the underwater robot to perform rapid underwater gliding movement;

s6, closing the propeller at intervals, opening a ventilation control electromagnetic valve of the rodless cylinder at the left side of the front end and a ventilation control electromagnetic valve of the rodless cylinder at the right side of the front end, and adjusting the gravity center of the whole machine forwards again;

s7, judging whether the depth data of the depth sensor reach the maximum sinking depth of the underwater robot, if not, executing the step S4, and if so, starting the underwater robot to execute the floating movement;

S8, closing a front left rodless cylinder ventilation control electromagnetic valve and a front right rodless cylinder ventilation control electromagnetic valve, opening a rear left rodless cylinder ventilation control electromagnetic valve and a rear right rodless cylinder ventilation control electromagnetic valve, and enabling rodless cylinder sliding blocks in two rear air cylinders to slide forwards, wherein the gravity center of an underwater robot body is backwards;

s9, opening the centralized air supply electromagnetic valve, the front-end left-side air cylinder ventilation electromagnetic valve, the front-end right-side air cylinder ventilation electromagnetic valve, the rear-end left-side air cylinder ventilation electromagnetic valve and the rear-end right-side air cylinder ventilation electromagnetic valve to start to charge air into each cabin;

the front end left side inflator rear cabin water-passing electromagnetic valve, the front end right side inflator rear cabin water-passing electromagnetic valve, the rear end left side inflator rear cabin water-passing electromagnetic valve and the rear end right side inflator rear cabin water-passing electromagnetic valve are opened in a time-delay manner, and then the centralized water-passing hole electromagnetic valve is opened in a time-delay manner; the water draining operation of each rear cabin is started, namely, the rear cabins corresponding to the air cylinders at the front end and the rear end are opened for water draining and air charging, the buoyancy is gradually increased, and the underwater robot starts to float upwards;

s10, judging whether the depth data of the depth sensor starts to be reduced, if not, continuing to execute the step S9; if the reduction is started, executing step S11;

S11, closing a front left air cylinder rear cabin water-passing electromagnetic valve, a front right air cylinder rear cabin water-passing electromagnetic valve, a rear left air cylinder rear cabin water-passing electromagnetic valve and a rear right air cylinder rear cabin water-passing electromagnetic valve, closing a centralized water through hole electromagnetic valve in a delayed mode, closing a centralized air supply electromagnetic valve, a front left air cylinder air-passing electromagnetic valve, a front right air cylinder air-passing electromagnetic valve, a rear left air cylinder air-passing electromagnetic valve and a rear right air cylinder air-passing electromagnetic valve, namely closing drainage, and enabling the underwater robot complete machine to float upwards;

s12, controlling four guide plate steering engines on two wings to act simultaneously, driving guide plates on two sides to incline downwards, and enabling the underwater robot to do unpowered upward gliding movement;

s13, opening the tail propeller, closing the rear end left rodless cylinder ventilation control electromagnetic valve and the rear end right rodless cylinder ventilation control electromagnetic valve, and enabling the gravity center of the whole underwater robot to return to a position close to the geometric center, wherein the whole underwater robot can perform rapid underwater gliding movement;

s14, closing the propeller at intervals, and opening a rear end left rodless cylinder ventilation control electromagnetic valve and a rear end right rodless cylinder ventilation control electromagnetic valve;

S15, judging whether the depth data of the depth sensor reaches the minimum sinking depth which can be reached by the underwater robot, if not, starting to circularly execute from S12, and if the minimum sinking depth is reached, indicating that the water surface is reached, and executing step S16;

s16, closing the rear end left rodless cylinder ventilation control electromagnetic valve and the rear end right rodless cylinder ventilation control electromagnetic valve;

s17, judging whether the power reserve of the whole machine is larger than a threshold value, and if so, executing a step S18; if the voltage is smaller than the threshold value, the whole underwater robot floats out of the water surface, a solar panel is used for charging, a tail steering engine is opened to drive a tail to swing, the whole underwater robot is driven to creep forward on the water surface until the battery voltage is full, and step S18 is executed;

s18, judging the pressure of the air storage tank, if the pressure value is larger than a threshold value, executing the steps S2 to S17 in a circulating mode, and if the pressure reaches a lower limit value, executing the step S19;

and S19, the underwater robot floats on the water surface, the propeller is started by utilizing the solar panel and the electric power provided by the battery, and the onboard communication module is used for communicating with the upper computer to search a replenishing station for replenishing air.

2. The control method of a multi-attitude composite driving underwater robot control system according to claim 1, wherein the water surface movement pattern of the underwater robot comprises the steps of:

T1, judging whether steering engines of guide plates on two sides are positioned at an initial middle position, if not, controlling the steering engines to return to the initial position, and if the steering engines reach the initial position, executing a step T2;

t2, judging whether the wing is in an open state, if so, closing a wing cylinder electromagnetic valve, and closing the rotary wing;

and T3, if the whole machine is in wireless control, starting to receive the motion instruction from the upper computer monitoring module by using the onboard communication module, starting to execute the motion control instruction by using the propeller and the tail steering engine, and if the control is in wired control, directly controlling by using the upper computer monitoring module, so that manual control can be realized, and meanwhile, the appointed motion instruction can be sent.

3. The control method of a multi-attitude composite driving underwater robot control system according to claim 1, wherein the underwater latency mode of the underwater robot comprises the steps of:

p1, judging whether steering engines of guide plates on two sides are at an initial middle position or not, if not, controlling the steering engines to return to the initial position, and if the steering engines reach the initial position, executing the step P2;

p2, judging whether the wing is in an open state, if so, closing a wing cylinder electromagnetic valve, and rotating the wing to be closed;

P3, opening a concentrated water hole electromagnetic valve, a front left air cylinder rear cabin water passing electromagnetic valve, a front left air cylinder middle cabin water passing electromagnetic valve, a front right air cylinder rear cabin water passing electromagnetic valve, a front right air cylinder middle cabin water passing electromagnetic valve, a rear left air cylinder rear cabin water passing electromagnetic valve, a rear left air cylinder middle cabin water passing electromagnetic valve, a rear right air cylinder rear cabin water passing electromagnetic valve and a rear right air cylinder middle cabin water passing electromagnetic valve;

the method comprises the steps of opening a front left side air cylinder rear cabin ventilation electromagnetic valve, a front left side air cylinder middle cabin ventilation electromagnetic valve, a front right side air cylinder rear cabin ventilation electromagnetic valve, a front right side air cylinder middle cabin ventilation electromagnetic valve, a rear right side air cylinder rear cabin ventilation electromagnetic valve, a front right side air cylinder rear middle cabin ventilation electromagnetic valve, a rear right side air cylinder rear cabin ventilation electromagnetic valve, a rear right side air cylinder middle cabin ventilation electromagnetic valve, opening a centralized ventilation electromagnetic valve, opening respective middle cabins and rear cabins of four air cylinders to enable the buoyancy of the whole machine to be smaller than gravity, and enabling an underwater robot to start sinking; p4, judging a concentrated vent nitrogen sensor connected to a pipeline behind the concentrated vent electromagnetic valve, judging the content of nitrogen in the pipeline, when the content of the nitrogen is zero, indicating that each opened cabin is filled with water, executing the step P5, and if the content of the nitrogen is not zero, continuing executing the step P3 until the data detected by the nitrogen gas sensor is zero;

P5, judging data of the depth sensor, and if the underwater robot begins to sink, executing a step P6;

p6, closing the centralized vent solenoid valve, closing the front left air cylinder rear cabin ventilation solenoid valve, the front left air cylinder middle cabin ventilation solenoid valve, the front right air cylinder rear cabin ventilation solenoid valve, the front right air cylinder middle cabin ventilation solenoid valve, the rear right air cylinder rear cabin ventilation solenoid valve, the front right air cylinder rear middle cabin ventilation solenoid valve, the rear right air cylinder rear cabin ventilation solenoid valve, the rear right air cylinder middle cabin ventilation solenoid valve, the front left air cylinder rear cabin ventilation solenoid valve, the front left air cylinder middle cabin ventilation solenoid valve, the front right air cylinder rear cabin ventilation solenoid valve, the front right air cylinder middle cabin ventilation solenoid valve, the rear left air cylinder rear cabin ventilation solenoid valve, the rear right air cylinder middle cabin ventilation solenoid valve and the rear right air cylinder middle cabin ventilation solenoid valve, and finally closing the centralized water vent solenoid valve, and at the moment, the underwater robot begins to sink rapidly;

p7, acquiring data of an ultrasonic ranging sensor in real time in the sinking process of the underwater robot, and executing a step P8 when the distance between the whole underwater robot and the seabed reaches a set upper limit distance;

P8, opening a wing cylinder electromagnetic valve, and opening a rotary wing;

p9, opening the centralized air supply electromagnetic valve, the front-end left-side air cylinder ventilation electromagnetic valve, the front-end right-side air cylinder ventilation electromagnetic valve, the rear-end left-side air cylinder ventilation electromagnetic valve and the rear-end right-side air cylinder ventilation electromagnetic valve to charge air into each cabin;

the front end left side air cylinder rear cabin water-passing electromagnetic valve, the front end left side air cylinder middle cabin water-passing electromagnetic valve, the front end right side air cylinder rear cabin water-passing electromagnetic valve, the front end right side air cylinder middle cabin water-passing electromagnetic valve, the rear end left side air cylinder rear cabin water-passing electromagnetic valve, the rear end left side air cylinder middle cabin water-passing electromagnetic valve, the rear end right side air cylinder rear cabin water-passing electromagnetic valve and the rear end right side air cylinder middle cabin water-passing electromagnetic valve are opened in a time-delay manner, and then the centralized water-passing hole electromagnetic valve is opened for drainage of each rear cabin;

p10, if the underwater robot moves downwards and the depth increasing speed is slow, executing the step P11, and if the depth increasing speed is large and the depth is continuously increased, executing the step P9;

p11, closing the centralized air supply electromagnetic valve and the centralized water through hole electromagnetic valve; closing a front left side air cylinder ventilation electromagnetic valve, a front right side air cylinder ventilation electromagnetic valve, a rear left side air cylinder ventilation electromagnetic valve, a rear right side air cylinder ventilation electromagnetic valve, a front left side air cylinder rear cabin ventilation electromagnetic valve, a front left side air cylinder middle cabin ventilation electromagnetic valve, a front right side air cylinder rear cabin ventilation electromagnetic valve, a front right side air cylinder middle cabin ventilation electromagnetic valve, a rear left side air cylinder rear cabin ventilation electromagnetic valve, a rear left side air cylinder middle cabin ventilation electromagnetic valve, a rear right side air cylinder rear cabin ventilation electromagnetic valve, a rear right side air cylinder middle cabin ventilation electromagnetic valve, closing a central air supply air cylinder ventilation electromagnetic valve, and starting to stop the water discharge work of the front left side air cylinder ventilation electromagnetic valve, the front right side air cylinder ventilation electromagnetic valve, the rear left side air cylinder ventilation electromagnetic valve and the rear right side air cylinder ventilation electromagnetic valve;

P12, judging that data of the ultrasonic ranging sensor are acquired in real time, and if the distance between the underwater robot and the seabed does not reach the set lower limit distance, executing a step P13;

p13, judging whether the ground in the range right below the robot is flat or not according to the data detected by the sonar sensor, if so, executing the step P14, and if not, executing the step P17;

p14, if the propeller is opened, closing the propeller; opening the tail rudder steering engine to enable the tail rudder steering engine to keep in one direction, and simultaneously opening 4 guide plate steering engines, wherein the rotation directions of the guide plate steering engines at two sides are opposite, providing auxiliary guiding function by utilizing the tail rudder, enabling the underwater robot to do inner spiral line movement above a proper landing place, gradually sinking into the sea floor, and executing the step P15;

p15, judging whether the underwater robot is about to reach the seabed, if so, opening a front left rodless cylinder ventilation control electromagnetic valve and a front right rodless cylinder ventilation control electromagnetic valve, tilting the gravity center of the whole machine forwards, starting sinking and tilting forwards by means of self inertia of the underwater robot whole machine, when the gravity center tilts forwards, automatically retracting part of the tail rudder when the underwater robot contacts the seabed, simultaneously opening a concentrated water through hole electromagnetic valve, a front left air cylinder rear cabin water through electromagnetic valve, a front left air cylinder middle cabin water through electromagnetic valve, a front right air cylinder rear cabin water through electromagnetic valve, a front right air cylinder middle cabin water through electromagnetic valve, a rear left air cylinder rear cabin water through electromagnetic valve, a rear left air cylinder middle cabin water through electromagnetic valve, a rear right air cylinder rear cabin water through electromagnetic valve, then, opening the front left side air cylinder rear cabin ventilation electromagnetic valve, the front left side air cylinder middle cabin ventilation electromagnetic valve, the front right side air cylinder rear cabin ventilation electromagnetic valve, the front right side air cylinder middle cabin ventilation electromagnetic valve, the rear right side air cylinder rear cabin ventilation electromagnetic valve, the front right side air cylinder rear middle cabin ventilation electromagnetic valve, the rear right side air cylinder rear cabin ventilation electromagnetic valve and the rear right side air cylinder middle cabin ventilation electromagnetic valve in a time delay manner, then opening the centralized ventilation hole electromagnetic valve, namely opening respective middle cabins and rear cabins of the four air cylinders to enable the cabin filled with air to carry out water filling and air discharging, reducing the external pressure born by the whole machine during latency, and executing the step P16;

P16, judging a concentrated vent nitrogen sensor connected to a pipeline behind the concentrated vent electromagnetic valve, judging the content of nitrogen in the air pipe, and filling water into each opened cabin when the content of the nitrogen is zero; closing a wing cylinder electromagnetic valve, closing a rotary wing, and ending the sinking process of the underwater latency mode of the underwater robot;

when the task execution is finished, floating upwards, opening a centralized air supply electromagnetic valve, a front-end left-side air cylinder ventilation electromagnetic valve, a front-end right-side air cylinder ventilation electromagnetic valve, a rear-end left-side air cylinder ventilation electromagnetic valve and a rear-end right-side air cylinder ventilation electromagnetic valve, and starting to charge air into each cabin; the method comprises the steps of opening a front left air cylinder rear cabin water passing electromagnetic valve, a front left air cylinder middle cabin water passing electromagnetic valve, a front right air cylinder rear cabin water passing electromagnetic valve, a front right air cylinder middle cabin water passing electromagnetic valve, a rear left air cylinder rear cabin water passing electromagnetic valve, a rear left air cylinder middle cabin water passing electromagnetic valve, a rear right air cylinder rear cabin water passing electromagnetic valve and a rear right air cylinder middle cabin water passing electromagnetic valve in a time delay manner, and opening a concentrated water passing hole electromagnetic valve; the water draining operation of each middle cabin and each rear cabin is started, whether the depth data of the depth sensor starts to change or not is judged, the movement direction of the whole machine starts to be upward, namely, the gravity is smaller than the buoyancy at the moment, and the centralized air supply electromagnetic valve and the centralized water through hole electromagnetic valve are closed; then closing a front left side air cylinder ventilation electromagnetic valve, a front right side air cylinder ventilation electromagnetic valve, a rear left side air cylinder ventilation electromagnetic valve and a rear right side air cylinder ventilation electromagnetic valve, a front left side air cylinder rear cabin water ventilation electromagnetic valve, a front left side air cylinder middle cabin water ventilation electromagnetic valve, a front right side air cylinder rear cabin water ventilation electromagnetic valve, a front right side air cylinder middle cabin water ventilation electromagnetic valve, a rear left side air cylinder rear cabin water ventilation electromagnetic valve, a rear left side air cylinder middle cabin water ventilation electromagnetic valve, a rear right side air cylinder rear cabin water ventilation electromagnetic valve and a rear right side air cylinder middle cabin water ventilation electromagnetic valve, starting to stop draining work of each middle cabin and rear cabin, and finally automatically floating out of the water by means of a buoyancy underwater robot, wherein the sinking and floating movement of the whole hiding process are finished;

P17, controlling four guide plate steering engines on two wings to act simultaneously, driving guide plates on two sides to tilt upwards, opening a propeller to travel around, detecting a front smooth seabed by adopting a sonar sensor, and searching a landing place;

when the user moves around to find a proper landing position, the depth from the seabed needs to be judged in real time, when the lower limit of the safety depth from the seabed is reached, if the user does not find a smoother seabed yet, the step S18 is executed, and if the user does find the flatter seabed, the step S14 is executed;

p18, opening the centralized air supply electromagnetic valve, the front-end left-side air cylinder ventilation electromagnetic valve, the front-end right-side air cylinder ventilation electromagnetic valve, the rear-end left-side air cylinder ventilation electromagnetic valve and the rear-end right-side air cylinder ventilation electromagnetic valve to start to charge air into each cabin; the front end left side inflator rear cabin water-passing electromagnetic valve, the front end right side inflator rear cabin water-passing electromagnetic valve, the rear end left side inflator rear cabin water-passing electromagnetic valve and the rear end right side inflator rear cabin water-passing electromagnetic valve are opened in a time delay of a few seconds, and then the centralized water-passing hole electromagnetic valve is opened in a time delay manner; starting the water draining work of each rear cabin;

p19, judging whether the underwater robot starts to float up when the depth sensor data is reduced, and if the depth sensor data shows that the underwater robot starts to float up, executing a step P20;

P20, closing a centralized air supply electromagnetic valve, a front-end left-side air cylinder ventilation electromagnetic valve, a front-end right-side air cylinder ventilation electromagnetic valve, a rear-end left-side air cylinder ventilation electromagnetic valve, a rear-end right-side air cylinder rear cabin water ventilation electromagnetic valve, a front-end right-side air cylinder rear cabin water ventilation electromagnetic valve, a rear-end left-side air cylinder rear cabin water ventilation electromagnetic valve, a rear-end right-side air cylinder rear cabin water ventilation electromagnetic valve and a centralized water ventilation hole electromagnetic valve;

p21, controlling four guide plate steering engines on two wings to act simultaneously, driving guide plates on two sides to tilt upwards, opening a propeller to travel around, and detecting the front smooth seabed by using a sonar sensor until a landing place is found;

in the process, detecting whether the floating depth exceeds the safety depth upper limit value in real time, if the floating depth does not reach the safety depth upper limit value, starting to execute the step P14, and if the floating depth does not reach the safety depth upper limit value, starting to execute the step P22;

p22, open and concentrate the water vent solenoid valve, front end left side inflator back cabin and lead to water solenoid valve, front end right side inflator back cabin and lead to water solenoid valve, rear end left side inflator back cabin and lead to water solenoid valve, rear end right side inflator back cabin and lead to water solenoid valve, then delay open front end left side inflator back cabin and lead to the water solenoid valve, front end right side inflator back cabin and lead to the water solenoid valve, rear end right side inflator back cabin and lead to the water solenoid valve and rear end right side inflator back cabin and lead to the water solenoid valve, open and concentrate the air vent solenoid valve again, open four inflator respective back cabins and begin to exhaust and fill promptly, underwater robot complete machine buoyancy is less than gravity, begin to sink, begin to carry out step P10.