Underwater vehicle large-depth submergence thruster and an active fault diagnosis method

The invention belongs to the field of underwater vehicles, in particular to an underwater vehicle large-depth submergence propeller and an active fault diagnosis method. The thruster is composed of amain body portion, submerged ballast, uplift ballast, control computer, inertial navigation system, Depth gauge, left thruster in horizontal direction, Right thruster, a forward thruster and a rearward thruster provide vertical thrust. The active fault diagnosis method of the invention can find out the fault of the propeller as early as possible in the process of large-depth diving of the underwater robot, recover and repair the fault in time, and reduce the loss of manpower and material resources caused by finding the fault again in the process of executing the operation task when the propeller has dived into the deep sea. This method can find the fault of vertical propeller in time and reduce the risk of the underwater vehicle sitting on the seafloor due to the fault of the propeller. 本发明属于水下机器人领域，具体涉及种水下机器人大潜深下