CN114906300B - Underwater robot based on gravity center adjustment and control method thereof - Google Patents

Underwater robot based on gravity center adjustment and control method thereof Download PDF

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CN114906300B
CN114906300B CN202210593347.6A CN202210593347A CN114906300B CN 114906300 B CN114906300 B CN 114906300B CN 202210593347 A CN202210593347 A CN 202210593347A CN 114906300 B CN114906300 B CN 114906300B
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gravity
gravity center
underwater robot
water
adjusting driver
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CN114906300A (en
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许明
苏礼荣
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/06—Combination of fuel cells with means for production of reactants or for treatment of residues
    • H01M8/0662—Treatment of gaseous reactants or gaseous residues, e.g. cleaning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Ocean & Marine Engineering (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Electrolytic Production Of Non-Metals, Compounds, Apparatuses Therefor (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an underwater robot based on gravity center adjustment and a control method thereof. The underwater robot comprises a gravity center attitude control module and a propeller. The gravity center attitude control module is provided with n chambers which are sequentially arranged along the circumferential direction; and a gravity center adjusting driver is installed on the gravity center attitude control module. The center of gravity adjusting driver adopts a reversible hydrogen fuel cell. Each cavity is internally provided with an elastic diaphragm which divides the shell into a reaction cavity and a drainage cavity which are mutually independent. The drainage cavity is communicated with the external environment through a drainage port. The gravity center adjusting driver is connected with each chamber through a pipeline, and the on-off of the gravity center adjusting driver is controlled through an on-off valve. The invention adopts the reversible hydrogen fuel cell to carry out electrolysis to generate hydrogen and oxygen, carries out reverse electrolysis to consume gas, and changes the gravity of chambers at different positions of the underwater robot, thereby achieving the effect of randomly adjusting the gravity center position of the underwater robot and further realizing the overturning control and sinking and floating control of the underwater robot.

Description

Underwater robot based on gravity center adjustment and control method thereof
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to an underwater robot based on gravity center adjustment and a control method thereof.
Background
Currently, autonomous underwater vehicles enable humans to explore the marine environment and perform tasks that were previously considered unsafe for human divers. Autonomous underwater vehicles support human activities in various oceans, such as search and rescue, construction and maintenance of subsea infrastructure. The traditional autonomous underwater vehicle adopts a torpedo-shaped design, so that the resistance is reduced to the maximum extent, and the energy is saved better. In recent years, however, more recent autonomous underwater vehicles have begun to adopt more complex configurations to enhance their functionality. An autonomous underwater vehicle with a robot must maintain its position and orientation relative to a reference object to perform its tasks. The telescopic action of the arm when operating the tool may cause the overall mass, center of Mass (CM) or Center of Buoyancy (CB) to shift, thereby causing the arm to flex away from the neutral buoyancy state, possibly losing stability. This complicates the holding capability of the autonomous underwater vehicle.
Conventional autonomous underwater vehicles are driven by propellers and propellers. One type of autonomous underwater vehicle employs variable buoyancy propulsion driven by a buoyancy engine. The buoyant engine moves fluid between the internal reservoir and the external bladder via an electromechanical displacement actuator, thereby producing a volume change. The buoyancy engine consumes less energy than the propeller, allowing the autonomous underwater vehicle to traverse the ocean with only one battery charge. However, compressing the fluid still requires a large amount of energy, and the energy consumed is not recoverable. This type of engine also requires a complex oil line and flow control valve system. Accordingly, an underwater robot based on center of gravity adjustment and a control method thereof are designed herein.
Disclosure of Invention
The invention aims to provide an underwater robot based on gravity center adjustment and a control method thereof.
An underwater robot based on gravity center adjustment comprises a gravity center attitude control module and a propeller. The propeller is arranged on the gravity center attitude control module and used for providing propulsive force. The gravity center attitude control module is provided with n chambers which are sequentially arranged along the circumferential direction, wherein n is more than or equal to 3; and a gravity center adjusting driver is installed on the gravity center attitude control module. The center of gravity adjusting driver adopts a reversible hydrogen fuel cell. Each cavity is internally provided with an elastic diaphragm which divides the shell into a reaction cavity and a drainage cavity which are mutually independent. The drainage cavity is communicated with the external environment through a drainage port. The gravity center adjusting driver is connected with each chamber through a pipeline, and the on-off of the gravity center adjusting driver is controlled through an on-off valve. Under the working state, the reaction cavities are filled with water.
The gravity center adjusting driver takes water or hydrogen and oxygen in a reaction cavity communicated with the gravity center adjusting driver as raw materials to carry out reverse reaction of electrolyzed water or electrolyzed water; the water discharge of each water discharge cavity is controlled by controlling the volume of the gas in each reaction cavity, and the central position of the gravity center attitude control module is changed, so that the underwater robot turns over under the action of gravity to adjust the attitude.
Preferably, the impeller comprises a bending mechanism and an in-line pump; the bending mechanism comprises three telescopic capsules which are arranged in a regular triangle. The inner ends of the three telescopic bag bodies are all fixed with the gravity center attitude control module. The outer ends of the three telescopic capsules are all fixed with the inner end of the in-line pump. Inline pumps are used to generate propulsion in the water. Under the working state, the telescopic bag bodies are filled with water. The bending mechanism is driven by a direction adjustment drive. The direction adjustment actuator employs a reversible hydrogen fuel cell. The direction adjusting driver is connected with each telescopic capsule body through a pipeline, and the on-off of the direction adjusting driver is controlled through an on-off valve. The direction regulating driver is used for carrying out the reverse reaction of the electrolyzed water or the electrolyzed water, changing the volumes of hydrogen and oxygen in part or all of the telescopic capsules, realizing the bending or telescopic control of the bending mechanism and changing the propelling direction of the in-line pump.
Preferably, the main body of the telescopic bag body is made of silica gel materials, and the outer side of the telescopic bag body is wound with a woven fiber net. The woven fiber net restrains the axial expansion of the telescopic bag body when being pressurized, and allows the radial expansion of the telescopic bag body, so that the telescopic bag body is shortened.
Preferably, there are two of said impellers. The two propellers are respectively arranged on the opposite sides of the gravity center attitude control module.
Preferably, the power supply interfaces of the gravity center adjusting driver and the direction adjusting driver are connected with the power supply through a charging and discharging control circuit.
Preferably, the gravity center posture control module comprises a cross connecting plate and four shells. The four shells in the shape of a quarter ellipsoid are respectively fixed with four concave right-angle positions of the cross connecting plate. The chambers are formed by the interiors of the four shells.
Preferably, each chamber surrounds the centre of gravity adjustment drive.
Preferably, the shell is provided with a water injection port communicated with the reaction cavity.
The work method of the underwater robot based on gravity center adjustment specifically comprises the following steps:
when the depth of the underwater robot needs to be adjusted, the gravity center adjusting driver is controlled to be communicated with all the reaction cavities; the gravity center adjusting driver is used for executing electrolysis water to discharge water bodies of all the drainage cavities, so that the gravity of the underwater robot is reduced, and the underwater robot floats upwards; the gravity center adjusting driver executes the reverse process of water electrolysis to enable each water discharging cavity to suck water, the gravity of the underwater robot is increased, and the underwater robot sinks.
When the posture of the underwater robot needs to be adjusted, the gravity center adjusting driver is controlled to be communicated with part of the reaction cavity; the gravity center adjusting driver is used for executing the reverse process of water electrolysis or water electrolysis, changing the gravity of part of the reaction cavity and changing the gravity center position of the underwater robot, so that the underwater robot is turned to the target posture under the action of the gravity.
The invention has the following beneficial effects:
the invention adopts the reversible hydrogen fuel cell to carry out electrolysis to generate hydrogen and oxygen, carries out reverse electrolysis to consume gas, and changes the gravity of chambers at different positions of the underwater robot, thereby achieving the effect of randomly adjusting the gravity center position of the underwater robot, and further realizing the overturning control, sinking and floating control and propulsion direction control of the underwater robot. In addition, the propulsion by the inline pump and the buoyancy control of the reversible fuel cells of the present invention have characteristics that can be used to accurately and efficiently control position and orientation while correcting errors.
Drawings
Fig. 1 is a first overall structural schematic diagram of the present invention.
Figure 2 is a second overall structural schematic of the invention.
Fig. 3 is a schematic view of the housing of the present invention.
Fig. 4 is an operational schematic of the bending mechanism of the present invention.
Fig. 5 is a schematic view of the structure of the center of gravity adjusting actuator of the present invention.
Fig. 6 is a schematic diagram of the operation of the center of gravity adjustment drive of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the underwater robot based on gravity center adjustment comprises a gravity center attitude control module and propellers respectively arranged at two sides of the gravity center attitude control module.
The gravity center attitude control module comprises a cross connecting plate 2 and four shells 1. The single casing 1 is a quarter ellipse, and the inside is a hollow part, which is used for energy conversion of the reversible hydrogen fuel cell. Meanwhile, the four shells 1 are fixed on the cross connecting plate 2 in a welding mode to form four chambers which are uniformly distributed along the circumferential direction of the central axis of the cross connecting plate 2. Each of the housings 1 is provided inside with an elastic diaphragm 3 for partitioning the housing 1 into a reaction chamber and a drain chamber which are independent of each other. In this embodiment, the drain chamber is provided outside the reaction chamber. The shell 1 is provided with a water injection port communicated with the reaction cavity and used for injecting water for the forward and reverse reaction of the fuel cell into the shell 1 when water is not discharged. The shell 1 is provided with a water outlet communicated with the water drainage cavity.
A center of gravity adjusting driver 6 is arranged at the center of the cross connecting plate 2; the gravity center adjusting driver 6 adopts a reversible hydrogen fuel cell; the positive electrode channel and the negative electrode channel of the reaction area of the gravity center adjusting driver 6 are connected with the reaction cavities of the four chambers through independent pipelines. An electromagnetic flux electrovalve is arranged in each pipeline. The reaction cavity is used for energy conversion of the reversible hydrogen fuel cell; the drainage cavity is communicated with the external environment through a drainage port. When the reaction chamber generates gas, the volume of the reaction chamber is increased, and the volume of the drainage chamber is reduced, so that the weight in the whole chamber is reduced. The connection and disconnection of each reaction chamber to and from the reversible hydrogen fuel cell can be regulated by controlling the energization of each energization valve. The reversible hydrogen fuel cell can turn into gaseous hydrogen and oxygen with the liquid water of reaction intracavity, or turns into liquid water with the hydrogen and the oxygen in the reaction chamber to realize the free regulation of reaction chamber volume, control drainage chamber carries out the drainage, changes the weight of four cavities, and then changes underwater robot's focus position, makes underwater robot carry out controllable upset under the action of gravity, with the gesture of adjustment underwater robot.
And a first direction adjusting driver 7 and a second direction adjusting driver 8 are arranged on two sides of the gravity center attitude control module. The first direction adjustment drive 7 and the second direction adjustment drive 8 are used to drive the two thrusters, respectively. The propeller comprises a bending mechanism 4 and an inline pump 5; although the in-line pump 5 can change direction, it does not turn, but relies on the bending mechanism 4 to do so. Therefore, when the autonomous underwater vehicle wants to move to different directions, the in-line pump 5 does not stop working, but the bending mechanism 4 is used for realizing the steering or overturning of the in-line pump 5, thereby realizing the steering or overturning of the whole autonomous underwater vehicle. The two bending mechanisms 4 are respectively controlled, and can respectively realize the forward and backward movement, the left and right translation, the up and down translation and the turnover of the autonomous underwater vehicle.
The bending mechanism 4 comprises three telescopic capsules which are arranged in a regular triangle. The inner ends of the three telescopic capsules are all fixed with the outer ends of the first direction adjusting driver 7 and the second direction adjusting driver 8. The outer ends of the three telescopic capsules are all fixed with the inner end of the in-line pump 5. The inline pump 5 is capable of providing thrust for the travel of the underwater robot. The three telescopic bag bodies are filled with water; the three telescopic capsules are respectively connected with the reaction areas of the corresponding first direction adjusting drivers 7 or the second direction adjusting drivers 8 through electromagnetic on-off valves.
The center of gravity adjusting driver 6, the first direction adjusting driver 7 and the second direction adjusting driver 8 are all reversible hydrogen fuel cells packaged in a small, compact and waterproof container for electrolyzing water and reversing the process. And power supply interfaces of the reversible hydrogen fuel cells are connected with a power supply through a charging and discharging control circuit. The reaction cavity and each telescopic capsule of the shell 1 are used for storing water, hydrogen and oxygen; the reversible hydrogen fuel cell can perform both water electrolysis to generate hydrogen and oxygen gases and reverse the electrolysis of water to consume hydrogen and oxygen gases and produce liquid water, thereby changing the buoyancy and center of gravity of the housing 1 and controlling the flexing mechanism 4 to elongate and flex.
Because the electrolyzed water consumes the electric energy of the power supply, and the hydrogen and oxygen synthesized water generates the electric energy to charge the power supply, and the energy conversion efficiency of the hydrogen fuel cell is high; therefore, the invention has lower consumption capability for controlling sinking and floating, posture adjustment and steering, thereby improving the energy efficiency of the system.
As an optional further optimization scheme, the gravity center attitude control module is made of rigid materials so as to prevent the internal volume of the shell 1 from being extruded by air pressure in water.
As an optional further optimization scheme, as shown in fig. 4, the bending mechanism 4 is made of a silicone material, a woven fiber mesh is wound on each telescopic bladder, when gas is filled, the pneumatic artificial muscle 4 does not expand axially but expands radially due to the woven fiber mesh, so that the length of a part of the telescopic bladders is shortened, the bending mechanism 4 is bent as a whole, and the injection direction of the in-line pump 5 is changed.
As an optional further optimization scheme, as shown in fig. 5 and 6, the gravity center adjusting driver 6 is installed at the central position of the cross connecting plate 2, and the upper end pipes thereof are respectively connected to four holes at the upper end of the central position of the cross connecting plate 2 for the battery positive electrode circuit passage; similarly, the lower end pipeline of the gravity center adjusting driver 6 is respectively connected to four holes at the lower end of the central position of the cross connecting plate 2 and used for the battery cathode circuit channel. The active material of the center of gravity adjusting actuator 6 is not installed at the same position as the battery, but floats in the reaction chamber of the housing. The first direction adjustment actuator 7 and the second direction adjustment actuator 8 are used for driving the bending mechanism 4. The three tubes are connected to three holes of the bending mechanism 4, respectively, and the battery is packed with the active material.
As an optional further optimization scheme, the camera devices 9 are mounted on two sides of the cross connection plate 2, and are operated under water and powered by a central power supply.
As an optional further optimization, the reversible hydrogen fuel cell has two operation modes of electrolysis and fuel cell reaction, and can recover part of energy lost in the driving process. The water electrolysis process generates gas to increase volume, while the fuel cell reaction consumes gas to decrease volume. The fuel cell reaction recovers a portion of the energy consumed in the electrolysis process, and the recovered energy can be used to recharge the power source.
As an optional further optimization, the reversible hydrogen fuel cell powered reversible fuel cell, such modular buoyancy engine can be strategically placed on the autonomous underwater vehicle and used to correct the direction of the autonomous underwater vehicle.
The driving mode of the underwater robot based on gravity center adjustment is as follows:
step one, after water is injected into a reaction cavity of a shell 1 of the gravity center attitude control module in advance, the shell is placed in an underwater environment.
And step two, when the autonomous underwater vehicle changes the depth, the gravity center adjusting driver 6 starts to work to execute the water electrolysis process. The electromagnetic electrovalves on the gravity center adjusting driver 6 are all opened, so that the active substances of the reaction chambers of the four shells 1 start to perform the process of electrolyzing water and release gas to the reaction chambers of the respective shells; the pressure in the reaction cavity is increased, so that the elastic diaphragm 3 is deformed, water in the drainage cavity in the shell is extruded out of the shell 1, the gravity of the gravity center changing attitude control module is reduced, and the underwater robot floats upwards; the reverse process of water electrolysis can be carried out through the gravity center adjusting driver 6, and the gravity of the gravity center attitude control module is increased, so that the underwater robot sinks; after the underwater robot reaches the target depth, all electromagnetic energized valves on the gravity center adjusting driver 6 are disconnected, and the gravity center adjusting driver 6 stops working.
And step three, starting a balancing device in the autonomous underwater vehicle, and detecting whether the current position is horizontal or not. If so, the center of gravity adjusting driver 6 remains in a silent state. If not, the center of gravity adjusting driver 6 is restarted. The gravity center adjusting driver 6 detects the information of the corresponding position, opens the electromagnetic power-on valve at the corresponding position, and restarts the water electrolysis process until the underwater robot based on the gravity center adjustment keeps a horizontal state in water.
And step four, if the underwater robot based on gravity center adjustment expects to move towards a certain direction, current position information is detected firstly. If the current inline pump 5 direction is the desired direction of motion, the inline pump 5 is operated directly to move in the desired direction. If the direction of the current inline pump 5 deviates from the required moving direction, the first direction adjustment driver 7 and the second direction adjustment driver 8 are started, and the corresponding one or two electromagnetic on-off valves are opened, the direction of the bending mechanism 4 is changed, namely, the jetting direction of the inline pump 5 is changed, then the inline pump 5 starts to work until the jetting direction of the inline pump 5 is rotated to the required moving direction, the first direction adjustment driver 7 and the second direction adjustment driver 8 stop working, and the inline pump 5 continues to work and moves towards the required moving direction.
And step five, if the autonomous underwater vehicle expects to deflect, starting the gravity center adjusting driver 6, starting the electromagnetic flux electrovalve at the corresponding position, executing the water electrolysis process in the corresponding shell 1, and stopping the gravity center adjusting driver 6 until the autonomous underwater vehicle deflects to the required position. If the autonomous underwater vehicle expects to overturn, the first direction adjusting driver 7 and the second direction adjusting driver 8 are started, the solenoid valves at corresponding positions are started, the two inline pumps 5 face to opposite directions, and then the inline pumps 5 are started, so that the overturning of the autonomous underwater vehicle is completed.

Claims (8)

1. An underwater robot based on center of gravity adjustment, comprising a propeller; the method is characterized in that: the device also comprises a gravity center attitude control module; the thruster is arranged on the gravity center attitude control module and used for providing propulsive force; the gravity center attitude control module is provided with n chambers which are sequentially arranged along the circumferential direction, wherein n is more than or equal to 3; a gravity center adjusting driver (6) is arranged on the gravity center attitude control module; the gravity center adjusting driver (6) adopts a reversible hydrogen fuel cell; each cavity is internally provided with an elastic diaphragm (3) which divides the shell (1) into a reaction cavity and a drainage cavity which are mutually independent; the drainage cavity is communicated with the external environment through a drainage port; the gravity center adjusting driver (6) is connected with each chamber through a pipeline and is controlled to be switched on and off through a switching-on valve; under the working state, the reaction cavities are filled with water;
the gravity center adjusting driver (6) takes water or hydrogen and oxygen in a reaction cavity communicated with the gravity center adjusting driver as raw materials to carry out reverse reaction of electrolyzed water or electrolyzed water; the water discharge of each water discharge cavity is controlled by controlling the volume of gas in each reaction cavity, and the central position of the gravity center attitude control module is changed, so that the underwater robot turns over under the action of gravity to adjust the attitude;
the propeller comprises a bending mechanism (4) and an in-line pump (5); the bending mechanism (4) comprises three telescopic capsules which are arranged in a regular triangle; the inner ends of the three telescopic bag bodies are all fixed with the gravity center attitude control module; the outer ends of the three telescopic bag bodies are all fixed with the inner end of the in-line pump (5); an in-line pump (5) for generating propulsion in the water; in the working state, the water is filled in the telescopic bag bodies; the bending mechanism (4) is driven by a direction adjustment driver; the direction adjusting driver adopts a reversible hydrogen fuel cell; the direction adjusting driver is connected with each telescopic bag body through a pipeline, and the on-off state is controlled through an on-off valve; the direction adjusting driver is used for carrying out the reverse reaction of the electrolyzed water or the electrolyzed water, the volumes of hydrogen and oxygen in part or all of the telescopic capsules are changed, the bending or telescopic control of the bending mechanism (4) is realized, and the propelling direction of the in-line pump (5) is changed.
2. The underwater robot based on the adjustment of the center of gravity according to claim 1, characterized in that: the main body of the telescopic bag body is made of silica gel materials, and a woven fiber net is wound on the outer side of the telescopic bag body; the woven fiber net restrains the axial expansion of the telescopic bag body when being pressurized, and allows the radial expansion of the telescopic bag body, so that the telescopic bag body is shortened.
3. The underwater robot based on the adjustment of the center of gravity according to claim 1, characterized in that: the number of the propellers is two; the two propellers are respectively arranged on the opposite sides of the gravity center attitude control module.
4. The underwater robot based on the adjustment of the center of gravity according to claim 1, characterized in that: and the power supply interfaces of the gravity center adjusting driver (6) and the direction adjusting driver are connected with a power supply through a charging and discharging control circuit.
5. The underwater robot based on the adjustment of the center of gravity according to claim 1, characterized in that: the gravity center attitude control module comprises a cross connecting plate (2) and four shells (1); the four shells (1) in the shape of a quarter ellipsoid are respectively fixed with four concave right-angle positions of the cross connecting plate (2); the chambers are formed by the interiors of the four housings (1).
6. The underwater robot based on the adjustment of the center of gravity according to claim 1, characterized in that: the chambers surround the center of gravity adjusting drive (6).
7. The underwater robot based on the adjustment of the center of gravity according to claim 1, characterized in that: the shell (1) is provided with a water injection port communicated with the reaction cavity.
8. The method for controlling the underwater robot based on the center of gravity adjustment as claimed in claim 1, wherein: when the depth of the underwater robot needs to be adjusted, the gravity center adjusting driver (6) is controlled to be communicated with all the reaction cavities; the water body of each drainage cavity is discharged by electrolyzing water through the gravity center adjusting driver (6), so that the gravity of the underwater robot is reduced, and the underwater robot floats upwards; the gravity center adjusting driver (6) executes the reverse process of water electrolysis to enable each water discharging cavity to suck water, so that the gravity of the underwater robot is increased, and the underwater robot sinks;
when the posture of the underwater robot needs to be adjusted, the gravity center adjusting driver (6) is controlled to be communicated with part of the reaction cavity; the gravity center adjusting driver (6) is used for executing the reverse process of the electrolytic water or the electrolytic water, changing the gravity of part of the reaction cavity and changing the gravity center position of the underwater robot, so that the underwater robot can turn to the target posture under the action of the gravity.
CN202210593347.6A 2022-05-27 2022-05-27 Underwater robot based on gravity center adjustment and control method thereof Active CN114906300B (en)

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