Full-posture underwater drone device and layout method

A full-posture underwater drone device, comprising:

• a shell;
• and
• six propellers installed on the shell, wherein the six propellers are independently controlled, four of the propellers are respectively located in four spaces formed by a first vertical central plane and a second vertical central plane, a propelling direction is between a horizontal direction and a vertical direction, and other two of the propellers are located on either side of the first vertical central plane;
• wherein the first vertical central plane extends along a front-rear direction of the shell and is perpendicular to a horizontal plane, and the second vertical central plane passes through a midpoint in a longitudinal direction of the shell and is perpendicular to the first vertical central plane and the horizontal plane;
• the full-posture underwater drone device has a plurality of working modes, the working modes comprise hovering mode, longitudinal overturning motion mode, circumferential overturning motion mode, lateral overturning motion mode, and linear motion mode, when the full-posture underwater drone device is in any one of the working modes, the six propellers are all in operation;
• and
• the shell is provided with six accommodating grooves matching with the propellers, the propellers are installed in the accommodating grooves in a one-to-one correspondence, four of the propellers respectively located in the four spaces formed by the first vertical central plane and the second vertical central plane are installed in the accommodating grooves in an adjustable angle, and the propelling directions of the four propellers are adjustable between the horizontal direction and the vertical direction.