WO2021139578A1

WO2021139578A1 - Underwater vehicle and control method thereof

Info

Publication number: WO2021139578A1
Application number: PCT/CN2020/141312
Authority: WO
Inventors: 张洵; 朱明陵; 王哲; 王思奥; 马翔; 刘威; 熊淦
Original assignee: 深圳潜行创新科技有限公司
Priority date: 2020-01-08
Filing date: 2020-12-30
Publication date: 2021-07-15
Also published as: CN111232167B; CN111232167A

Abstract

An underwater vehicle and a control method thereof. The underwater vehicle comprises a cabin part (1), an overall support part (2), and a propeller part. The cabin part (1) and the propeller part are fixed to the overall support part (2) and are connected to each other by means of a cable. The propeller part is composed of eight propellers, the propeller part has a symmetry plane I, a symmetry plane II and a symmetry plane III, every two of the symmetry plane I, the symmetry plane II and the symmetry plane III are orthogonal, and the rotating directions of blades of adjacent propellers are opposite. The device and the method can implement actions of full-degree-of-freedom movement of front-back, left-right and up-down movement and overturning of the underwater vehicle.

Description

Underwater submarine and its control method

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office with an application number of 202010019006.9 on January 8, 2020. The entire content of this application is incorporated into this application by reference.

Technical field

This application relates to the technical field of Remote Operated Vehicles (ROV), for example, to an underwater submersible and a control method thereof.

Background technique

The submarine uses underwater thrusters to provide power to achieve underwater navigation. The number and layout of the thrusters determine the navigation direction that the submarine can achieve and the degree of attitude stability that can be achieved.

Patent CN201710547507.2 discloses an underwater submersible equipped with 4 propellers, of which 2 horizontal propellers are located at the rear of the casing, and the propulsion direction is parallel to the horizontal plane. By changing the forward and reverse rotation of the motor, the submarine provides advancement. , Retreat and turn propulsion; the other two vertical thrusters are located in the front middle of the fuselage, and the propulsion direction is perpendicular to the horizontal plane. By changing the forward and reverse rotation of the motor, the submersible provides propulsion for floating, diving, and rolling, so that The submarine can move forward, backward, float, dive, turn left/right, turn left/right, and shoot at fixed depth, but it cannot realize movement such as left and right pan, pitch, and forward and backward.

In order to meet the needs of users, the patent CN201810564943.5 adds a vertical thruster to the rear end of the longitudinal axis of the submarine on the basis of 4 thrusters, passing the conditions of the rotation speed and steering of the three vertical thrusters , Can make the submarine increase pitch, front and back flip, hovering (maintain at the target depth at a certain angle) posture actions on the basis of the original four propellers, and cannot achieve left and right translation. In actual use, the submarine needs to continuously adjust the speed of the thruster through software to compensate for the torque imbalance caused by the placement of the thruster. The response of the program will have a certain lag, which makes the stability of the submarine Poor, resulting in poor shooting effect of equipment during underwater operations, making it difficult to carry out underwater operations.

Summary of the invention

The present application provides an underwater submarine and a control method thereof, which solves the problem that the submarine cannot achieve full-degree-of-freedom attitude navigation, and at the same time solves the problem of poor stability of the submarine caused by the imbalance of the moment generated by the propeller arrangement.

This application adopts the following technical solutions: an underwater submarine, including a cabin body part, a whole machine support part and a propeller part, the cabin body part and the propeller part are fixed on the whole machine support part, the cabin body part and the propeller The components are connected by cables; the propeller component includes eight propellers, the propeller component has a symmetry plane I, a symmetry plane II, and a symmetry plane III, and the symmetry plane I, the symmetry plane II, and the symmetry plane III are orthogonal to each other. The blades of adjacent propellers rotate in opposite directions.

Optionally, the acute angle between the central axis of each propeller and the symmetry plane I is in the range of 15°～75°, and the acute angle between the central axis of each propeller and the symmetry plane II is 15°～75 In the range of °, the acute angle formed by the central axis of each propeller and the symmetry plane III is in the range of 15°～75°.

Optionally, the thruster component is composed of a first thruster, a second thruster, a third thruster, a fourth thruster, a fifth thruster, a sixth thruster, a seventh thruster, and an eighth thruster , Where the first thruster, the second thruster, the third thruster, and the fourth thruster are located at the front end of the support part of the whole machine, and the fifth thruster, the sixth thruster, the seventh thruster, and the eighth thruster are located in the whole The rear end of the machine support part; the first thruster, the fourth thruster, the fifth thruster, and the eighth thruster are located on the right side of the whole machine support part, the second thruster, the third thruster, the sixth thruster, The seventh thruster is located on the left side of the frame part of the whole machine; the first thruster, the second thruster, the fifth thruster, and the sixth thruster are located above the cabin part, and the third thruster, the fourth thruster, and the The seventh thruster and the eighth thruster are located below the cabin parts; the first thruster and the second thruster are symmetrical with the fifth thruster and the sixth thruster about the plane of symmetry I, respectively, the third thruster and the fourth thruster They are symmetrical with the seventh and eighth propellers about the plane of symmetry I; the first propeller and the second propeller are symmetrical with the third and fourth propellers about the plane of symmetry II respectively. The fifth and sixth propellers are symmetrical with respect to the plane of symmetry II. The propellers are symmetrical with the seventh and eighth propellers about the plane of symmetry II; the first propeller and the fourth propeller are symmetrical with the second and third propellers about the plane of symmetry III, respectively. The fifth propeller, The eighth propeller is symmetrical to the sixth propeller and the seventh propeller about the symmetry plane III, respectively.

Optionally, the compartment part includes a control compartment part and a battery compartment part, the control compartment of the control compartment part is provided with a lens and a control main board, the battery compartment of the battery compartment part is provided with a battery pack, and the control compartment The body is detachably plugged into the battery compartment body, the side wall of the control compartment body is provided with a watertight connector, the first end of the watertight connector is connected with the thruster part by a cable, and the second end of the watertight connector Connect with the control board through a cable.

Optionally, the whole machine support component is composed of a front end support, a tail support, a first connecting rod and a second connecting rod, and the first end and the second end of the first connecting rod are respectively fixed to the front end support and the tail support; The first end and the second end of the two connecting rods are respectively fixed to the front end support and the tail support; the control cabin, the first thruster, the second thruster, the third thruster and the fourth thruster are all fixed to the front end support On the upper side, the front end bracket is provided with a lens giving way hole and a plurality of fixing holes for a plurality of lighting lamps, and the plurality of lighting lamps are fixed in the plurality of fixing holes and distributed on the first side and the second side of the control cabin; The fifth thruster, the sixth thruster, the seventh thruster, and the eighth thruster are all fixed on the tail bracket, and the rear bracket is provided with a battery compartment body giving way, and the battery compartment components can be movably fixed on the tail bracket.

Optionally, the number of the first connecting rods is multiple and the first connecting rods are evenly arranged around the longitudinal axis of the underwater submarine, and the battery compartment fixing frame and the control compartment fixing frame are provided on the first connecting rod, The battery compartment fixing frame and the control compartment fixing frame are both ring-shaped and both have fixing holes. The battery compartment fixing frame and the control compartment fixing frame are inserted into the first connecting rod through the fixing holes.

Optionally, the number of the second connecting rods is multiple and the multiple second connecting rods are distributed on the first side and the second side of the cabin body part, and the middle part of the second connecting rod is fixed with a handle. The outer side wall extends outward and is bent to form a wiring groove, and the cable is clamped in the wiring groove.

Optionally, a global positioning system (Global Positioning System, GPS) module is arranged on the top of the front-end bracket, the position of the GPS module is the highest position of the underwater submarine, and the GPS module is signally connected to the control main board.

The present application may also be a control method of an underwater submarine, wherein the eight propellers of the underwater submersible are completely symmetrically arranged, and the blades of adjacent propellers have different rotation directions, and the submersible can complete forward and backward directions. , Floating, diving, left/right translation, left/right turn, left/right tilt flip, low/head-up rotation and fixed-depth hovering posture actions to realize the full degree of freedom of the underwater vehicle's front, back, left, and right, up and down movements and flips Movement: Forward: The first thruster, the second thruster, the third thruster, and the fourth thruster generate forward thrust, and the fifth thruster, sixth thruster, seventh thruster, and eighth thruster generate reverse thrust. Thrust, the speed of the eight thrusters is the same, the underwater submarine is forward; backward: the first thruster, the second thruster, the third thruster, and the fourth thruster produce reverse thrust, the fifth thruster and the sixth thruster The thruster, the seventh thruster, and the eighth thruster generate forward thrust. The speed of the eight thrusters is the same, and the underwater submarine retreats; shift to the right: the second thruster, the third thruster, the sixth thruster, and the seventh thruster. The thruster generates forward thrust, the first thruster, the fourth thruster, the fifth thruster, and the eighth thruster generate reverse thrust. The rotational speeds of the eight thrusters are the same, and the underwater submarine moves to the right; shifts to the left: The second thruster, the third thruster, the sixth thruster, and the seventh thruster generate reverse thrust, and the first thruster, the fourth thruster, the fifth thruster, and the eighth thruster generate forward thrust, eight The speed of the propeller is the same, and the underwater submarine moves to the left; floating: the first propeller, the second propeller, the fifth propeller, and the sixth propeller generate positive thrust, the third propeller, the fourth propeller, The seventh thruster and the eighth thruster produce reverse thrust. The rotation speed of the eight thrusters is the same, and the underwater submarine moves upward; diving: the first thruster, the second thruster, the fifth thruster, and the sixth thruster The third, fourth, seventh, and eighth thrusters generate forward thrust. The speeds of the eight thrusters are the same, and the underwater submarine moves downward; turn left: No. A thruster, a fourth thruster, a sixth thruster, and a seventh thruster generate forward thrust; the second thruster, third thruster, fifth thruster, and eighth thruster generate reverse thrust, and eight thrusters The speed of the underwater vehicle is the same, the underwater vehicle turns left; turn right: the first thruster, the fourth thruster, the sixth thruster, and the seventh thruster generate reverse thrust, the second thruster, the third thruster, The fifth thruster and the eighth thruster produce positive thrust. The speed of the eight thrusters is the same, and the underwater submarine turns to the right; heads down rotation: the third thruster, the fourth thruster, the fifth thruster, and the sixth thruster. The thruster generates forward thrust, the first thruster, the second thruster, the seventh thruster, and the eighth thruster generate reverse thrust. The speeds of the eight thrusters are the same, and the lens of the underwater submarine rotates downward; head up Rotation: The third thruster, the fourth thruster, the fifth thruster, and the sixth thruster generate reverse thrust, and the first thruster, the second thruster, the seventh thruster, and the eighth thruster generate forward thrust. The rotation speed of the eight propellers is the same, the lens of the underwater submarine rotates upward; the left tilt flip: the first propeller, the third propulsion Propeller, fifth propeller, seventh propeller produce forward thrust, second propeller, fourth propeller, sixth propeller, and eighth propeller produce reverse thrust. The rotational speeds of the eight propellers are the same, underwater The submarine rotates to the left; tilts to the right: the first thruster, the third thruster, the fifth thruster, and the seventh thruster generate positive thrust, the second thruster, the fourth thruster, the sixth thruster, and the The eight propellers produce reverse thrust, the speed of the eight propellers is the same, and the underwater submarine rotates to the right.

Optionally, the underwater submarine has a one-key return to home function: when the underwater submarine enters the water, the GPS module analyzes the initial position of the underwater submarine, and feeds back the initial position of the underwater submarine to the control main board, and the control main board Record the initial position of the underwater submarine; the operator sends out a one-key return instruction, controls the main board to receive the one-key return instruction, and controls the underwater submarine to float to the surface of the GPS module at the maximum speed, and control the underwater through the GPS module's position signal The submarine automatically returns to the initial position or the position designated by the operator.

Description of the drawings

Figure 1 is a schematic diagram of the structure of a submarine in an embodiment of the application;

Figure 2 is a schematic diagram of the structure of the thruster component in the embodiment of the application;

Figure 3a is a schematic diagram of the thrust distribution of the four thrusters at the front end of the submarine in the XZ plane when the submarine is advancing;

Figure 3b is a schematic diagram of the thrust distribution of the four thrusters on the left side of the submarine in the YZ plane when the submarine is advancing;

Figure 3c is a schematic diagram of the distribution of the thrust of the four thrusters above the submarine in the XY plane when the submarine is advancing;

Figure 4a is a schematic diagram of the thrust distribution of the four thrusters at the front end of the submarine in the XZ plane when the submarine turns left;

Figure 4b is a schematic diagram of the thrust distribution of the four thrusters on the left side of the submarine in the YZ plane when the submarine turns left;

Figure 4c is a schematic diagram of the distribution of the thrust of the four thrusters above the submarine in the XY plane when the submarine turns left;

FIG. 5 is a schematic diagram of the structure of the cabin part in the embodiment of the application;

Fig. 6 is a schematic diagram of the structure of the support component of the whole machine in an embodiment of the application.

In the picture: 1-cabin body part, 2-machine support part, 3-first propeller, 4-second propeller, 5-third propeller, 6-fourth propeller, 7-fifth propeller , 8-sixth thruster, 9-seventh thruster, 10-eighth thruster, 11-control cabin, 12-battery cabin, 13-watertight connector, 21-front bracket, 22-tail bracket , 23-first connecting rod, 24-second connecting rod, 25-battery compartment fixing frame, 26-control compartment fixing frame, 27-handle, 28-wiring trough, 29-GPS module.

Detailed ways

The application will be described below in conjunction with the drawings and embodiments. It should be understood that the embodiments described here are only used to explain the application, and are not used to limit the application.

For ease of understanding, the front, back, left, and right directions in this application are shown in Figure 1. The geometric symmetry centers of the eight thrusters of the submarine are defined as the coordinate origin of the submarine fuselage, and the positive direction of the X-axis points to the left side of the submarine. The opposite direction of the X-axis points to the right side of the submarine, the positive direction of the Y-axis points to the front of the submarine, the opposite direction of the Y-axis points to the back of the submarine, the positive direction of the Z-axis points directly above the submarine, and the opposite direction of the Z-axis points to the submarine. Below, the symmetry plane I is the XZ plane, the symmetry plane II is the XY plane, and the symmetry plane III is the YZ plane. The longitudinal axis refers to the straight line where the Y axis is located.

Example 1

Figure 1 shows a submarine. The submarine includes a cabin body part 1, a whole machine support part 2 and a propeller part. The cabin body part 1 and the propeller part are fixed on the whole machine support part 2, and the cabin body part 1 It is connected with the propeller part by a cable; the propeller part includes eight propellers, the propeller part has a symmetry plane I, a symmetry plane II, and a symmetry plane III, and the symmetry plane I, the symmetry plane II, and the symmetry plane III are paired. Orthogonal, the blades of adjacent propellers rotate in opposite directions. The acute angle formed by the central axis of the propeller and the symmetry plane Ⅰ is in the range of 15°～75°, optionally 45°; the acute angle between the central axis of the propeller and the symmetry plane Ⅱ is 15°～ In the range of 75°, the optional included angle is 45°; the acute angle formed by the central axis of the propeller and the symmetry plane III is in the range of 15° to 75°, and the optional included angle is 45°. The angle between the central axis of the propeller and the plane of symmetry is too small or too large. After the thrust of the propeller is orthogonally decomposed, the component force in one direction will be too small, causing the submarine to slow down in that direction.

The thruster components include a first thruster 3, a second thruster 4, a third thruster 5, a fourth thruster 6, a fifth thruster 7, a sixth thruster 8, a seventh thruster 9, and an eighth thruster. The thruster 10, in which the first thruster 3, the second thruster 4, the third thruster 5, and the fourth thruster 6 are located at the front end of the machine support part 2. The fifth thruster 7, the sixth thruster 8, and the The seven thruster 9 and the eighth thruster 10 are located at the rear end of the machine support part 2; the first thruster 3, the fourth thruster 6, the fifth thruster 7, and the eighth thruster 10 are located at the end of the machine support part 2. On the right side, the second propeller 4, the third propeller 5, the sixth propeller 8, and the seventh propeller 9 are located on the left side of the whole machine support part 2; the first propeller 3, the second propeller 4, and the fifth propeller The thruster 7 and the sixth thruster 8 are located above the cabin part 1, and the third thruster 5, the fourth thruster 6, the seventh thruster 9, and the eighth thruster 10 are located below the cabin part 1.

The first thruster 3 and the second thruster 4 are respectively symmetrical to the fifth thruster 7 and the sixth thruster 8 with respect to the plane of symmetry I. The third thruster 5 and the fourth thruster 6 are respectively connected to the seventh thruster 9 and the fourth thruster. The eight propeller 10 is symmetrical about the symmetry plane I.

The first thruster 3 and the second thruster 4 are respectively symmetrical to the third thruster 5 and the fourth thruster 6 about the plane of symmetry II. The fifth thruster 7 and the sixth thruster 8 are respectively related to the seventh thruster 9 and the fourth thruster. The eight propeller 10 is symmetrical about the symmetry plane II.

The first thruster 3 and the fourth thruster 6 are symmetrical to the second thruster 4 and the third thruster 5 with respect to the symmetry plane Ⅲ, respectively. The fifth thruster 7 and the eighth thruster 10 are respectively connected to the sixth thruster 8 and the third thruster. The seven propeller 9 is symmetrical about the symmetry plane III.

The propeller blades are divided into left-rotating propellers and right-rotating propellers. Taking the left-rotating propeller as an example, the propeller rotates counterclockwise, the propeller produces forward thrust, the blade rotates clockwise, the propeller produces reverse thrust, and the right propeller rotates. It's just the opposite of the left-handed propeller. Normally, the forward thrust is greater than the reverse thrust.

The above-mentioned submarine attitude control method is as follows.

Basic translational motions include forward, backward, rightward, leftward, floating, and dive.

Forward: The first thruster, the second thruster, the third thruster, and the fourth thruster generate forward thrust, and the fifth thruster, sixth thruster, seventh thruster, and eighth thruster generate reverse thrust. The speed of the eight propellers is the same, and the submarine moves forward.

Backward, the first thruster, second thruster, third thruster, and fourth thruster generate reverse thrust, and the fifth thruster, sixth thruster, seventh thruster, and eighth thruster generate forward thrust. The speed of the eight propellers is the same, and the submarine retreats.

Move to the right: the second, third, sixth, and seventh thrusters generate forward thrust, and the first, fourth, fifth, and eighth thrusters generate reverse thrust , The speed of the eight thrusters is the same, and the submarine pans to the right.

Move left: the second, third, sixth, and seventh thrusters generate reverse thrust, and the first, fourth, fifth, and eighth thrusters generate forward thrust , The speed of the eight propellers is the same, and the submarine pans to the left.

Floating: The first thruster, the second thruster, the fifth thruster, and the sixth thruster generate forward thrust, and the third, fourth, seventh, and eighth thrusters generate reverse thrust. The speed of the eight propellers is the same, and the submarine moves upward.

Dive: the first thruster, the second thruster, the fifth thruster, and the sixth thruster generate reverse thrust, and the third, fourth, seventh, and eighth thrusters generate forward thrust , The speed of the eight propellers is the same, and the submarine moves downwards.

The basic rotation movement includes left turn, right turn, head down rotation, head up rotation, left tilt flip, right tilt flip.

Turn left: The first thruster, the fourth thruster, the sixth thruster, and the seventh thruster generate forward thrust, and the second, third, fifth, and eighth thrusters generate reverse thrust. , The speed of the eight propellers is the same, and the submarine turns to the left and rotates counterclockwise around the Z axis.

Turn right: The first thruster, the fourth thruster, the sixth thruster, and the seventh thruster generate reverse thrust, and the second, third, fifth, and eighth thrusters generate forward thrust. , The speed of the eight propellers is the same, the submarine turns to the right and rotates clockwise around the Z axis.

Head down rotation: the third thruster, the fourth thruster, the fifth thruster, and the sixth thruster generate forward thrust, and the first thruster, second thruster, seventh thruster, and eighth thruster generate reverse thrust , The speed of the eight propellers is the same, and the submarine lens rotates downwards and rotates counterclockwise around the X axis.

Head-up rotation: the third thruster, the fourth thruster, the fifth thruster, and the sixth thruster generate reverse thrust, and the first thruster, the second thruster, the seventh thruster, and the eighth thruster generate forward thrust. , The speed of the eight propellers is the same, and the submarine lens rotates upwards and rotates clockwise around the X axis.

Left-inclined flip: the first thruster, the third thruster, the fifth thruster, and the seventh thruster generate forward thrust, and the second, fourth, sixth, and eighth thrusters generate reverse thrust , The speed of the eight propellers is the same, the submarine rotates to the left and rotates clockwise around the Y axis.

Right tilt flip: the first thruster, third thruster, fifth thruster, and seventh thruster generate forward thrust, and the second, fourth, sixth, and eighth thrusters generate reverse thrust , The speed of the eight propellers is the same, and the submarine rotates to the right and rotates counterclockwise around the Y axis.

As above, the submarine can move in a straight line along the X, Y, and Z directions, as well as rotate around the X, Y, and Z axes to complete a full-degree-of-freedom motion with 6 degrees of freedom, and only one translational direction will occur during translational motion. The resultant force will only produce torque in one rotation direction when rotating, and any combination of them can realize any movement posture and realize full-degree-of-freedom navigation.

The force of the submarine is as follows: the force of the submersible when moving forward is shown in Figure 3a, Figure 3b and Figure 3c, and the arrow points to the thrust direction of the thruster. The thrust distribution of the four thrusters at the front end of the submarine in Figure 3a in the XZ plane is shown in Figure 3a. After decomposition, the combined forces in the X and Z axis directions are equal and opposite. Similarly, the four thrusts at the tail of the submersible The total thrust of the device on the X and Z axis is zero.

The thrust distribution of the four thrusters on the left side of the submarine in Figure 3b in the YZ plane is shown in Figure 3b. After decomposition, the resultant force in the Z-axis direction is equal and opposite, and the Y-axis thrust direction is the same, and the thrust is superimposed. , The thrust of the four thrusters on the right side of the submersible is zero on the Z axis, and the thrust of the Y axis is superimposed, and the submarine moves in the direction of the Y axis.

The thrust distribution of the four thrusters above the submarine in Figure 3c in the XY plane is shown in Figure 3c. After decomposition, the resultant force in the X-axis direction is equal and opposite, and the Y-axis thrust direction is the same, and the thrust is superimposed. The thrust of the four thrusters below the submarine is zero on the X axis, and the Y axis thrust is superimposed, and the submersible moves in the Y axis direction.

In summary, due to the completely symmetrical arrangement of the eight propellers, when the submarine advances, there is only a resultant force in the forward direction, and the components in other directions balance and cancel each other, and no additional torque is generated.

The force on the submarine when turning left is shown in Figure 4a, Figure 4b and Figure 4c, and the arrow points to the thrust direction of the thruster. The thrust distribution of the four thrusters at the front end of the submarine in Figure 4a in the XZ plane is shown in Figure 4a. After decomposition, the resultant force in the Z-axis direction is equal in magnitude and opposite in direction. The thrust of the X-axis is superimposed and points to the positive direction of the X-axis. Correspondingly, the total thrust of the four thrusters at the tail of the submarine is zero on the Z axis, and the thrust of the X axis is superimposed, pointing in the opposite direction of the X axis, and the submarine has a tendency to rotate counterclockwise around the Z axis.

The thrust distribution of the four thrusters on the left side of the submarine in the YZ plane is shown in Figure 4b. After decomposition, the resultant force in the Z-axis direction is equal and opposite, and the Y-axis thrust direction is the same, and the thrust is superimposed, pointing to the opposite direction of the Y-axis. Correspondingly, the total thrust on the Z-axis of the four thrusters on the right side of the submarine is zero, and the Y-axis thrust is superimposed, pointing to the positive direction of the Y-axis, and the submarine has a tendency to rotate counterclockwise around the Z-axis.

The thrust distribution of the four thrusters above the submarine in the XY plane is shown in Figure 4c. The four thrusters all generate counterclockwise torque, which makes the submarine have a tendency to rotate counterclockwise around the Z axis.

In summary, when the submarine rotates counterclockwise around the Z axis, that is, when it turns left, the component forces that are not on the rotating plane cancel each other out. The forces on the rotating plane are all couples, so the resultant force is a couple that drives the submarine to turn left.

Based on the above description, it can be seen that in the implementation process of the layout of this scheme, translation and rotation are independent of each other. The resultant force during translation is only a force vector that coincides with the direction of translation, and the resultant force during rotation is only a force couple that coincides with the direction of rotation. Full degree of freedom control, and the control effect is stable. And because the propulsion devices are symmetrically balanced, the difference between the forward and reverse thrusts of the thruster itself will not adversely affect the attitude of the submarine. The control signal output is consistent, which greatly reduces the complexity of the control algorithm, avoids algorithm errors, and improves Control stability and attitude control response speed. At the same time, because the control of the full degree of freedom is jointly participated by all the propellers, the submarine can reasonably deploy the thrust output of the propeller according to the actual work needs, so the total amount of power of the single degree of freedom has a great advantage, so the submarine has the overall carrying capacity , Control stability, thruster life and other aspects have great advantages.

Due to the complex underwater environment and undercurrent surging, in order to ensure the attitude stability of the underwater vehicle, it is necessary to calculate the attitude of the submersible in real time through the microcontroller and sensors (accelerometer, gyroscope, magnetometer, barometer), and use the control The algorithm and the mixing control matrix calculate the output thrust of the eight thrusters, and the brushless motors of the thrusters are controlled by the servo drive to correct the position of the underwater submarine in real time, thereby achieving stable attitude control.

In order to quickly recover the underwater vehicle, the underwater vehicle has a one-key return to home function: when the submersible enters the water, the GPS module 29 analyzes the initial position of the submersible, and feeds back the initial position of the submersible to the control main board. Record the initial position of the submarine; the operator issues a one-key return instruction, controls the main board to receive the one-key return instruction, and controls the submarine to float to the surface of the GPS module 29 at the maximum speed, and control the submarine to return automatically through the position signal of the GPS module 29 To the initial position or the position designated by the operator.

Example 2

On the basis of the technical solution in Embodiment 1, the cabin body part 1 in this embodiment includes a control cabin part and a battery cabin part. The control cabin body 11 of the control cabin part is provided with a lens and a control main board, so The battery compartment body 12 of the battery compartment component is provided with a battery pack, the control compartment body 11 and the battery compartment body 12 are detachably plugged in, and the side wall of the control compartment body 11 is provided with a watertight connector 13, the watertight connector 13 is connected to the thruster part by a cable. In one embodiment, the first end of the watertight connector 13 and the thruster component are connected by a cable, wherein the first end of the cable is connected to the thruster body, and the second end of the cable has its own connector through The plug is plugged into the first end of the watertight plug 13; the second end of the watertight plug 13 is plugged into the control main board. As shown in Figure 5, the end of the control compartment body 11 is provided with a watertight socket, and the corresponding end of the battery compartment body 12 is provided with a watertight plug. powered by. When the power of the submersible is insufficient or the battery is damaged, the standby power can be quickly switched, which is convenient for use and maintenance.

In order to facilitate the assembly of the submarine, as shown in Figure 6, the whole machine support component 2 includes a front end support 21, a tail support 22, a first connecting rod 23 and a second connecting rod 24. The first end of the first connecting rod 23 The first end and the second end of the second connecting rod 24 are respectively fixed to the front end support 21 and the tail support 22; the control cabin body 11, the first propeller 3. The second thruster 4, the third thruster 5, and the fourth thruster 6 are all fixed on the front end bracket 21. The front end bracket 21 is provided with a lens clearance hole, a plurality of positioning holes for a plurality of lighting lamps, and more A lighting lamp is fixed in a plurality of fixing holes and distributed on the first side and the second side of the control cabin 11. The fifth thruster 7, the sixth thruster 8, the seventh thruster 9, and the eighth thruster 10 are all fixed on the tail bracket 22. The tail bracket 22 is provided with a way out for the battery compartment body 12, and the battery compartment components can be It is movably fixed on the tail bracket 22.

The number of the first connecting rods 23 is multiple and the multiple first connecting rods 23 are evenly arranged around the longitudinal axis Y axis of the submarine. The first connecting rod 23 is provided with a battery compartment fixing frame 25 and a control compartment fixing frame. The battery compartment fixing frame 25, and the control compartment fixing frame 26 are all ring-shaped and have fixing holes. The battery compartment fixing frame 25 is inserted into the first through the fixing holes opened on the battery compartment fixing frame 25. On the connecting rod 23, the control cabin body fixing frame 26 is inserted into the first connecting rod 23 through a fixing hole opened on the control cabin body fixing frame. The battery compartment fixing frame 25 and the control compartment fixing frame 26 improve the strength of the overall support component 2.

The number of the second connecting rods 24 is multiple and the multiple second connecting rods 24 are distributed on the first side and the second side of the cabin body part 1, and a handle 27 is fixed in the middle of the second connecting rod 24. The outer side wall of 27 extends outward and is bent to form a wiring groove 28, and the cable is clamped in the wiring groove 28. The handle 27 improves the portability of the submarine.

The top of the front-end bracket 21 is provided with a GPS module 29. The position of the GPS module 29 is the highest position of the submarine. The GPS module 29 is connected to the control board signal, which can quickly locate the position of the submarine after the submarine returns to the surface. Provide convenience for the recovery of the submarine.

Compared with related technologies, this application can:

1. The eight propellers are arranged completely symmetrically, the rotation directions of the adjacent propellers are different, and the axis of the propeller is at a certain angle with the symmetry plane, so that the submersible can complete forward, backward, float, dive, left/right Translation, left/right turn, left/right tilt flip, low/head-up rotation, and fixed-depth hovering posture actions, realize the full freedom of movement of the submarine's front, rear, left, and right, up and down movements and flips. In the process of realizing the propeller layout, translation and rotation are independent of each other. The resultant force during translation is only a force vector that coincides with the direction of translation, and the resultant force during rotation is only a force couple that coincides with the direction of rotation, and the control effect is stable. And because the propulsion devices are symmetrically balanced, the difference between the forward and reverse thrusts of the thruster itself will not adversely affect the attitude of the submarine. The control signal output is consistent, which greatly reduces the complexity of the control algorithm, avoids algorithm errors, and improves Control stability and attitude control response speed.

2. The battery compartment body and the control compartment body are detachably connected by a plug-in form. When the submarine power is insufficient or the battery is damaged, the standby power supply can be quickly switched, which is convenient for use and maintenance.

3. The connecting rods of the two are fixed by the combination of the bow bracket and the tail bracket, the cabin body part and the thruster part are assembled for use, the structure is simple and the installation is convenient, and the second connecting rod can be used as a handle or on it The corresponding handle is installed to make the submarine more portable.

4. The GPS module can quickly locate the position of the submersible after the submarine returns to the surface, which facilitates the recovery of the submersible.

5. The submarine has a one-key return to home function, which is convenient for operators to quickly retrieve equipment.

Claims

An underwater submarine, comprising a cabin body part (1), a whole machine support part (2) and a propeller part, the cabin body part (1) and the propeller part are both fixed on the whole machine support part (2) Above, the cabin part (1) and the thruster part are connected by a cable; the thruster part includes eight thrusters, and the thruster part has a symmetry plane I, a symmetry plane II, and a symmetry plane. And the symmetry plane I, the symmetry plane II, and the symmetry plane III are orthogonal to each other, and the rotation directions of the blades of the adjacent propellers are opposite.
The underwater submersible according to claim 1, wherein the acute angle formed by the central axis of each propeller and the symmetry plane I is in the range of 15°～75°, and the central axis of each propeller is in the range of 15° to 75°. The acute angle formed by the symmetry plane II is in the range of 15° to 75°, and the acute angle formed by the central axis of each propeller and the symmetry plane III is in the range of 15° to 75°.
The underwater submarine vehicle according to claim 1, wherein the thruster components include a first thruster (3), a second thruster (4), a third thruster (5), and a fourth thruster (6). ), the fifth propeller (7), the sixth propeller (8), the seventh propeller (9), the eighth propeller (10), wherein the first propeller (3), the second propeller (4), the third propeller (5), and the fourth propeller (6) are located at the front end of the complete machine support component (2), and the fifth propeller (7) and the fourth propeller (7) The six propellers (8), the seventh propeller (9), and the eighth propeller (10) are located at the rear end of the machine support component (2); the first propeller (3), The fourth propeller (6), the fifth propeller (7), and the eighth propeller (10) are located on the right side of the complete machine support component (2), and the second propeller ( 4) The third propeller (5), the sixth propeller (8), and the seventh propeller (9) are located on the left side of the complete machine support component (2); the first The propeller (3), the second propeller (4), the fifth propeller (7), and the sixth propeller (8) are located above the cabin part (1), and the first The three propellers (5), the fourth propeller (6), the seventh propeller (9), and the eighth propeller (10) are located below the cabin part (1);

The first propeller (3) and the second propeller (4) are respectively symmetrical to the fifth propeller (7) and the sixth propeller (8) about the symmetry plane I, and the The third propeller (5) and the fourth propeller (6) are respectively symmetrical to the seventh propeller (9) and the eighth propeller (10) about the symmetry plane I;

The first propeller (3) and the second propeller (4) are symmetrical to the third propeller (5) and the fourth propeller (6) about the symmetry plane II, respectively. The fifth propeller (7) and the sixth propeller (8) are respectively symmetrical to the seventh propeller (9) and the eighth propeller (10) about the symmetry plane II;

The first propeller (3) and the fourth propeller (6) are symmetrical to the second propeller (4) and the third propeller (5) about the symmetry plane III, respectively, and the The fifth propeller (7) and the eighth propeller (10) are respectively symmetrical with the sixth propeller (8) and the seventh propeller (9) about the symmetry plane III.
The underwater submarine according to claim 1, wherein the cabin body part (1) comprises a control cabin part and a battery cabin part, and the control cabin body (11) of the control cabin part is provided with a lens and a control main board A battery pack is arranged in the battery compartment body (12) of the battery compartment component, the control compartment body (11) is detachably plugged into the battery compartment body (12), and the control compartment body (11) A watertight connector (13) is arranged on the side wall of the, and the watertight connector (13) is connected with the propeller part through a cable.
The underwater submarine according to claim 4, wherein the whole machine support component (2) consists of a front end support (21), a tail support (22), a first connecting rod (23) and a second connecting rod (24). ), the first end and the second end of the first connecting rod (23) are respectively fixed to the front end bracket (21) and the tail bracket (22), and the second connecting rod (24) One end and the second end are respectively fixed to the front end bracket (21) and the tail bracket (22); the control cabin (11), the first propeller (3), and the second propeller (4) The third pusher (5) and the fourth pusher (6) are both fixed on the front end bracket (21), and the front end bracket (21) is provided with the lens A position hole, a plurality of fixing holes of a plurality of lighting lamps, the plurality of lighting lamps are fixed in the plurality of fixing holes and distributed on the first side and the second side of the control cabin (11); The fifth propeller (7), the sixth propeller (8), the seventh propeller (9), and the eighth propeller (10) are all fixed on the tail bracket (22) The rear bracket (22) is provided with a relief hole for the battery compartment body (12), and the battery compartment component is movably fixed on the rear bracket (22).
The underwater submarine according to claim 5, wherein the number of the first connecting rods (23) is multiple and the multiple first connecting rods (23) are evenly arranged around the longitudinal axis of the underwater submersible, so The first connecting rod (23) is provided with a battery compartment fixing frame (25) and a control compartment fixing frame (26), the battery compartment fixing frame (25) and the control compartment fixing frame (26) Both are ring-shaped and are provided with fixing holes, and the battery compartment fixing frame (25) is inserted into the first connecting rod (23) through the fixing holes opened on the battery compartment fixing frame (25) The control cabin fixing frame (26) is inserted into the first connecting rod (23) through a fixing hole opened on the control cabin fixing frame (26).
The underwater submarine according to claim 5, wherein the number of the second connecting rods (24) is multiple and the multiple second connecting rods (24) are distributed on the first part of the cabin part (1). On one side and the second side, a handle (27) is fixed in the middle of the second connecting rod (24), and the outer side wall of the handle (27) extends outwards and is bent to form a wiring groove (28). The wire clip is connected in the wire routing groove (28).
The underwater submarine according to claim 5, wherein a global positioning system GPS module (29) is provided on the top of the front end support (21), and the position of the GPS module (29) is the underwater submarine The GPS module (29) is signally connected to the control main board.
The method for controlling an underwater submarine according to any one of claims 1-8, wherein the eight propellers of the underwater submersible are completely symmetrically arranged, and the rotation directions of the blades of adjacent propellers are different, and the The underwater submarine can complete the posture actions of forward, backward, floating, submerging, left/right translation, left/right turning, left/right tilting, low/head-up rotation, and fixed-depth hovering to realize the underwater submarine Full-degree-of-freedom movement of front, back, left, right, up, down, and flip:

Forward: the first thruster, the second thruster, the third thruster, and the fourth thruster generate positive thrust, the fifth thruster, the sixth thruster, the The seventh propeller and the eighth propeller generate reverse thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine moves forward;

Backward: the first thruster, the second thruster, the third thruster, and the fourth thruster generate reverse thrust, the fifth thruster, the sixth thruster, the The seventh propeller and the eighth propeller generate forward thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine retreats;

Right shift: The second thruster, the third thruster, the sixth thruster, and the seventh thruster generate positive thrust, and the first thruster, the fourth thruster, and the The fifth propeller and the eighth propeller generate reverse thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine is translated to the right;

Shift left: the second thruster, the third thruster, the sixth thruster, and the seventh thruster generate reverse thrust, the first thruster, the fourth thruster, and the The fifth propeller and the eighth propeller generate forward thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine is translated to the left;

Floating: the first thruster, the second thruster, the fifth thruster, and the sixth thruster generate positive thrust, the third thruster, the fourth thruster, the The seventh propeller and the eighth propeller generate reverse thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine moves upward;

Diving: The first thruster, the second thruster, the fifth thruster, and the sixth thruster generate reverse thrust, the third thruster, the fourth thruster, and the The seventh propeller and the eighth propeller generate forward thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine moves downward;

Turn left: The first thruster, the fourth thruster, the sixth thruster, and the seventh thruster generate positive thrust, and the second thruster, the third thruster, and the The fifth propeller and the eighth propeller generate reverse thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine turns left;

Turn right: The first thruster, the fourth thruster, the sixth thruster, and the seventh thruster generate reverse thrust, the second thruster, the third thruster, and the The fifth propeller and the eighth propeller generate forward thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine vehicle turns to the right;

Head down rotation: the third thruster, the fourth thruster, the fifth thruster, and the sixth thruster generate positive thrust, the first thruster, the second thruster, and the The seventh propeller and the eighth propeller generate reverse thrust, the rotation speeds of the eight propellers are the same, and the lens of the underwater submarine rotates downward;

Head-up rotation: the third thruster, the fourth thruster, the fifth thruster, and the sixth thruster generate reverse thrust, the first thruster, the second thruster, and the The seventh propeller and the eighth propeller generate forward thrust, the rotation speeds of the eight propellers are the same, and the lens of the underwater submarine rotates upward;

Left-inclined flip: The first thruster, the third thruster, the fifth thruster, and the seventh thruster generate forward thrust, and the second thruster, the fourth thruster, and the The sixth propeller and the eighth propeller generate reverse thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine rotates to the left;

Right-inclined flip: The first thruster, the third thruster, the fifth thruster, and the seventh thruster generate positive thrust, and the second thruster, the fourth thruster, and the The sixth propeller and the eighth propeller generate reverse thrust, the rotation speeds of the eight propellers are the same, and the underwater submarine rotates to the right.
The control method of an underwater submarine according to claim 9, wherein the underwater submarine has a one-key return function:

When the underwater vehicle enters the water, the initial position of the underwater vehicle is analyzed by the GPS module (29) of the global positioning system, and the initial position of the underwater vehicle is fed back to the control main board, and the control main board records The initial position of the underwater submarine;

The operator issues a one-key return instruction, the control board receives the one-key return instruction, and controls the underwater submarine to float at the maximum speed until the GPS module (29) comes out of the water and passes through the position of the GPS module (29) Signal to control the underwater submarine to automatically return to the initial position or the position designated by the operator.