CN105667745A - Autonomous underwater vehicle and control method thereof - Google Patents
Autonomous underwater vehicle and control method thereof Download PDFInfo
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- CN105667745A CN105667745A CN201610042026.1A CN201610042026A CN105667745A CN 105667745 A CN105667745 A CN 105667745A CN 201610042026 A CN201610042026 A CN 201610042026A CN 105667745 A CN105667745 A CN 105667745A
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- underwater vehicle
- autonomous underwater
- cabin
- balance adjustment
- rolling
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- 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
- B63G8/26—Trimming equipment
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Abstract
The invention relates to an autonomous underwater vehicle and a control method thereof. The autonomous underwater vehicle comprises a balance adjusting tank. A rolling balance adjusting mechanism and a pitching balance adjusting mechanism are arranged in the balance adjusting tank. The pitching balance adjusting mechanism is connected with the rolling balance adjusting mechanism. The pitching balance adjusting mechanism can drive the rolling balance adjusting mechanism to move in a first direction so that the gravity center of the autonomous underwater vehicle in the first direction can be changed. A rotatable balancing weight is arranged in the rolling balance adjusting mechanism so that the gravity center of the rolling balance adjusting mechanism in the plane perpendicular to the first direction can be changed. According to the autonomous underwater vehicle, automatic balance adjustment is conducted on the autonomous underwater vehicle in good time by changing the gravity center of the rolling balance adjusting mechanism in different directions, so that the operation stability of the autonomous underwater vehicle is improved, and the situation that the autonomous underwater vehicle inclines in different directions, and consequently working of the autonomous underwater vehicle is influenced is avoided.
Description
Technical field
The present invention relates to submarine navigation device field, particularly relate to a kind of Autonomous Underwater Vehicle and control method thereof.
Background technology
Along with world population expands the anxiety with earth resource, the development of simultaneous computer technology, artificial intelligence technology, microelectric technique and Software Industry, people increasingly focus on the development of ocean related industry. Marine environment is intricate; be not suitable for artificial long-term operation; but in ocean development, it is frequently encountered the problems such as ocean environment monitoring, the detection of offshore set-up structure failure, the search and rescue of personnel's ship, port security cruise; therefore, the development of Autonomous Underwater Vehicle is increasingly important for the development of marine industries.
At present, conventional submarine navigation device is divided into manned underwater vehicle and unmanned submersible two kinds. Unmanned submersible is divided into again Remote submersible (ROV, RemotelyOperatedVehicle) and Autonomous Underwater Vehicle (AUV, AutonomousUnderwaterVehicle). Remote submersible is the submersible of a kind of Remote realizing submersible that is connected with surface mother ship by cable, and Autonomous Underwater Vehicle is then a kind of submersible realizing under water and independently feeding and make decisions on one's own.
Existing Autonomous Underwater Vehicle is difficult to accurate and real-time adjustment balance in water, it is easy to run-off the straight in different directions, thus being difficult to even running, affects work.
Summary of the invention
Based on this, it is necessary to for the problem that Autonomous Underwater Vehicle cannot keep balance neatly, it is provided that a kind of Autonomous Underwater Vehicle that can keep balance neatly and control method thereof.
A kind of Autonomous Underwater Vehicle, described Autonomous Underwater Vehicle includes balance adjustment cabin, rolling balance adjustment mechanism, pitching balance adjustment mechanism and balancing weight it is provided with in described balance adjustment cabin, described balancing weight can move in the first direction and be rotatably arranged in described balance adjustment cabin around second direction, described pitching balance adjustment mechanism can drive described balancing weight to move in said first direction, to change described Autonomous Underwater Vehicle position of centre of gravity in said first direction; Described rolling balance adjustment mechanism can drive described balancing weight to rotate around described second direction, and to change the described rolling balance adjustment mechanism position of centre of gravity at third direction, described third direction is perpendicular to described first direction.
Above-mentioned Autonomous Underwater Vehicle, by changing rolling balance adjustment mechanism center of gravity in different directions, Autonomous Underwater Vehicle to be carried out Automatic Balance Regulation in good time, thus increasing the operation stability of this Autonomous Underwater Vehicle, avoid the inclination on Autonomous Underwater Vehicle generation different directions, affect the work of Autonomous Underwater Vehicle 100.
Wherein in an embodiment, described pitching balance adjustment mechanism includes pitch regulation actuator and slide assemblies, described balancing weight is arranged on described rolling balance adjustment mechanism, described rolling balance adjustment mechanism includes the rolling for driving described balancing weight to rotate and regulates actuator, described slide assemblies is connected to described rolling and regulates actuator, described pitch regulation actuator drives the motion of described slide assemblies, to drive described rolling balance adjustment mechanism to move.
Wherein in an embodiment, described pitching balance adjustment mechanism also includes the described pitch regulation actuator the first transmission component with described slide assemblies that is in transmission connection, described pitch regulation actuator rotates to drive described first transmission component motion, to drive described slide assemblies to move along described first direction; Described rolling governor motion also includes the described rolling adjustment actuator the second transmission component with described balancing weight that is in transmission connection, and described rolling regulates actuator and rotates to drive described second transmission component motion, to drive described balancing weight to rotate.
Wherein in an embodiment, described first transmission component includes screw mandrel and feed screw nut, and described screw mandrel one end is fixed in described pitch regulation actuator, and the other end installs described feed screw nut; Described slide assemblies includes movable panel and extends in parallel and pass the sliding axle of described movable panel with described screw mandrel, described movable panel side is connected with described rolling balance adjusting structure, opposite side is affixed with feed screw nut, and described travelling nut moves along described screw mandrel and drives described movable panel to move along described sliding axle; Described first transmission component includes pinion shaft, little gear, gear wheel and the power transmission shaft through described gear wheel with described balancing weight, described pinion shaft one end is fixed in described rolling and regulates actuator, the other end is fixed in described little gear, described gear wheel engages with described little gear, and is connected to described balancing weight by described power transmission shaft.
Wherein in an embodiment, described Autonomous Underwater Vehicle also includes:
Vision cabin, is provided with photographic head in described vision cabin;
Vertical thrust cabin, is provided with the vertical pusher for promoting described Autonomous Underwater Vehicle to move along described third direction in described vertical thrust cabin;
Automatically controlled cabin, is provided with control system in described automatically controlled cabin; And
Horizontal propulsion device, described horizontal propulsion device is installed on the outer wall of described Autonomous Underwater Vehicle, and arranges along the direction being parallel to described first direction;
Wherein, described balance adjustment cabin, vision cabin, vertical thrust cabin and automatically controlled cabin removably connect.
Wherein in an embodiment, it is provided with the fixing plate of The Cloud Terrace in described vision cabin and is installed on the cradle head mechanism of the fixing plate of described The Cloud Terrace, described cradle head mechanism includes The Cloud Terrace connector and is in transmission connection with described The Cloud Terrace connector, with the horizontal stage electric machine driving described The Cloud Terrace connector to move, described The Cloud Terrace connector is connected with described photographic head, to drive described cam movement under the driving of described horizontal stage electric machine.
Wherein in an embodiment, described horizontal propulsion device includes the horizontal propeller on the circumferentially spaced outer wall being arranged at described Autonomous Underwater Vehicle, and the bearing of trend of described horizontal propeller is vertical with the bearing of trend of described vertical pusher; Described vertical thrust cabin offers the through hole being perpendicular to described first direction and through described vertical thrust cabin, and described vertical pusher is located in described through hole.
Wherein in an embodiment, described Autonomous Underwater Vehicle also includes multiple attachment structure, multiple described attachment structures include the first nacelle Hermetical connecting structure being connected between described vision cabin and balance adjustment cabin, the second nacelle Hermetical connecting structure being connected between described balance adjustment cabin and described vertical thrust cabin, the 3rd nacelle Hermetical connecting structure being connected between described vertical thrust cabin and described automatically controlled cabin and be located at described automatically controlled cabin be not connected with one end, described vertical thrust cabin the 4th nacelle seal structure; Wherein, described second nacelle Hermetical connecting structure, the 3rd nacelle sealing connection mechanism and the 4th nacelle seal structure and are all equipped with cable connector.
Wherein in an embodiment, it is provided with fixed structure in described automatically controlled cabin and is installed on the lithium battery of described fixed structure, nine axle inertia sensing unit modules, image procossing panel, master board, motor driver and impeller driven module; Described lithium battery, nine axle inertia sensing unit modules, image procossing panel, motor driver and described impeller driven module are all communicatively coupled to described master board, described image procossing panel is communicatively coupled to described photographic head and described lithium battery, described motor driver is communicatively coupled to described pitching balance adjustment mechanism and described rolling balance adjustment mechanism, and described impeller driven module is communicatively coupled to described vertical pusher and described horizontal propulsion device.
A kind of control method of Autonomous Underwater Vehicle, the control method of described Autonomous Underwater Vehicle comprises the following steps:
Autonomous Underwater Vehicle is put into predeterminable area, controls system and control rolling balance adjustment mechanism and the balance of the pitching balance adjustment mechanism described Autonomous Underwater Vehicle of adjustment;
Described control systems organization path, and control described Autonomous Underwater Vehicle along path planning navigate by water;
Judge whether to run into barrier;
When described Autonomous Underwater Vehicle runs into barrier, described control system programme path again, and control described Autonomous Underwater Vehicle again along path planning navigation, when described Autonomous Underwater Vehicle does not run into barrier, described control system controls described Autonomous Underwater Vehicle and navigates by water along initial planning path;
The image information of described control system acquired disturbance thing and positional information, and carry out to described positional information corresponding judging according to described image information.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the Autonomous Underwater Vehicle of an embodiment;
Fig. 2 is the internal structure schematic diagram of the Autonomous Underwater Vehicle shown in Fig. 1;
Fig. 3 is the internal structure schematic diagram in the vision cabin of the Autonomous Underwater Vehicle shown in Fig. 1;
Fig. 4 is the internal structure schematic diagram in the balance adjustment cabin of the Autonomous Underwater Vehicle shown in Fig. 1;
Fig. 5 is the internal structure schematic diagram in the vertical thrust cabin of the Autonomous Underwater Vehicle shown in Fig. 1;
Fig. 6 is the internal structure schematic diagram in the automatically controlled cabin of the Autonomous Underwater Vehicle shown in Fig. 1;
Fig. 7 is the module map of the control system in the automatically controlled cabin shown in Fig. 6;
Fig. 8 is the structural representation of the horizontal propulsion device of the Autonomous Underwater Vehicle shown in Fig. 1;
Fig. 9 is the sectional view of the first nacelle Hermetical connecting structure of the Autonomous Underwater Vehicle shown in Fig. 1;
Figure 10 is the structural representation of the second nacelle Hermetical connecting structure of the Autonomous Underwater Vehicle shown in Fig. 1;
Figure 11 is the structural representation of the first nacelle Hermetical connecting structure of the Autonomous Underwater Vehicle shown in Fig. 1;
Figure 12 is the structural representation of the 4th nacelle Hermetical connecting structure of the Autonomous Underwater Vehicle shown in Fig. 1;
Figure 13 is the flow chart of the fault detection method of an embodiment.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully. Accompanying drawing gives the preferred embodiment of the present invention. But, the present invention can realize in many different forms, however it is not limited to embodiment described herein. On the contrary, the purpose providing these embodiments is to make the understanding to the disclosure more thorough comprehensively.
It should be noted that be referred to as " being fixed on " another element when element, it can directly on another element or can also there is element placed in the middle. When an element is considered as " connection " another element, it can be directly to another element or may be simultaneously present centering elements. Term as used herein " vertical ", " level ", "left", "right" and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technology used herein is identical with the implication that the those skilled in the art belonging to the present invention are generally understood that with scientific terminology. The term used in the description of the invention herein is intended merely to the purpose describing specific embodiment, it is not intended that in the restriction present invention. Term as used herein " and/or " include the arbitrary and all of combination of one or more relevant Listed Items.
As shown in Figures 1 and 2, a kind of Autonomous Underwater Vehicle 100 of this preferred embodiment. This Autonomous Underwater Vehicle 100 includes balance adjustment cabin 30, being provided with rolling balance adjustment mechanism 37, pitching balance adjustment mechanism 35 and balancing weight 376 in balance adjustment cabin 30, balancing weight 376 can move in the first direction and be rotatably arranged in institute's balance adjustment cabin 30 around second direction.
Wherein, pitching balance adjustment mechanism 35 can drive balancing weight 376 to move in a first direction, to change Autonomous Underwater Vehicle 100 position of centre of gravity in a first direction. Rolling balance adjustment mechanism 37 can drive balancing weight 376 to rotate around second direction, and to change the rolling balance adjustment mechanism 35 position of centre of gravity at third direction, third direction is perpendicular to first direction.
Above-mentioned Autonomous Underwater Vehicle 100, by changing rolling balance adjustment mechanism 37 center of gravity in different directions, Autonomous Underwater Vehicle 100 to be carried out Automatic Balance Regulation in good time, thus increasing the operation stability of this Autonomous Underwater Vehicle 100, avoid Autonomous Underwater Vehicle 100 that the inclination on different directions occurs, affect the work of Autonomous Underwater Vehicle 100.
First direction is the central shaft bearing of trend of Autonomous Underwater Vehicle 100. In the present embodiment, second direction is parallel with first direction. More specifically, second direction can overlap with the geometrical central axis in balance adjustment cabin 30, in the case, the deviation of gravity center second direction of balancing weight 376. In another embodiment, second direction is parallel with the geometrical central axis in balance adjustment cabin 30 but misaligned, and in the case, the center of gravity of balancing weight 376 can overlap with second direction.
In other embodiments, second direction can intersect with first direction but out of plumb, in this case, balancing weight 376 can make the center of gravity in balance adjustment cabin 30 change on third direction in rotation process, the center of gravity in balance adjustment cabin 30 can also be made to change in a first direction simultaneously, therefore also can reach the requirement of the changeable gravity centre making Autonomous Underwater Vehicle 100 on third direction.
In the present embodiment, the buoyancy that this Autonomous Underwater Vehicle 100 is subject to is slightly larger than gravity, and therefore when not working, this Autonomous Underwater Vehicle 100 can float on the surface.
As shown in Figures 2 and 4, the pitching balance adjustment mechanism 35 being located in balance adjustment cabin 30 includes pitch regulation actuator 352 and slide assemblies 356, balancing weight 376 is located on rolling balance adjustment mechanism 37, and rolling balance adjustment mechanism 37 includes the rolling for driving balancing weight 376 to rotate and regulates actuator 372. Slide assemblies 356 is connected to rolling and regulates actuator 372, and pitch regulation actuator 352 drives slide assemblies 356 to move, to drive rolling balance adjustment mechanism 37 to move, thus regulating the balance of Autonomous Underwater Vehicle 100. In the present embodiment, pitch regulation actuator 352 and rolling regulate actuator 372 and are drive motor. Being appreciated that in other embodiments, pitch regulation actuator 352 and rolling regulate actuator 372 and are alternatively the driving devices such as cylinder.
In another embodiment, balancing weight 376 is arranged on pitching balance adjustment mechanism 35, and rolling balance adjustment mechanism 37 can drive pitching balance adjustment mechanism 35 to rotate, thus driving balancing weight 376 to rotate.
In the present embodiment, further, pitching balance adjustment mechanism 35 also includes the pitch regulation actuator 352 first transmission component 354 with slide assemblies 356 that is in transmission connection. Pitch regulation actuator 352 rotates to drive the first transmission component 354 to move, to drive slide assemblies 356 to move in the first direction, thus driving rolling balance adjustment mechanism 37 to move in the first direction equally.
Specifically, the first transmission component 354 includes screw mandrel 3542 and feed screw nut 3544, and screw mandrel 3542 extends in a first direction. In the present embodiment, the length direction of screw mandrel 3542 overlaps with the central shaft in balance adjustment cabin 30. Screw mandrel 3452 one end is fixed in pitch regulation actuator 352, and the other end installs feed screw nut 3544, and feed screw nut 3544 can move along screw mandrel 3452.
Slide assemblies 356 includes movable panel 3566 and the sliding axle 3562 through movable panel 3566 two ends, and sliding axle 3562 is parallel with screw mandrel 3452. Movable panel 3566 side is connected with rolling balance adjustment mechanism 37, the middle part of opposite side is affixed with feed screw nut 3544, so, movable panel 3566 can move in a first direction along screw mandrel 3542 and sliding axle 3562 under the drive of feed screw nut 3544, thus driving rolling balance adjustment mechanism 37 to move in the first direction.
Further, the two ends of movable panel 3566 are also connected with linear bearing 3564, and this linear bearing 3564 is set on sliding axle 3562, so that movable panel 3566 slides swimmingly along sliding axle 3562.
In the present embodiment, balance adjustment cabin 30 includes two parallel and spaced fixing plates 31, two fixing plates 31 are connected along the fixing pipe 33 of the fixing circumferentially spaced anti-torsion in plate 31 edge by many, pitch regulation actuator 352 is installed on this fixing plate 31, and sliding axle 3562 and screw mandrel 3542 two ends are also respectively and fixedly connected with in two fixing plates 31. Movable panel 3566 is two, is respectively arranged at the both sides of rolling balance adjustment mechanism 37 and affixed with rolling balance adjustment mechanism 37.
So, pitch regulation actuator 352 drives screw mandrel 3542 to rotate, feed screw nut 3544 moves along screw mandrel 3542, and then drive movable panel 3566 to move along sliding axle 3562, thus driving rolling balance adjustment mechanism 37 to move between two fixing plates 31 along balance adjustment cabin 30 bearing of trend, it is achieved the adjustment of pitch orientation. When Autonomous Underwater Vehicle 100 is to vision cabin 10 lopsidedness, pitch regulation actuator 352 rotates forward, and drives rolling balance adjustment mechanism 35 to move to away from direction, vision cabin 10 successively by screw mandrel 3542, feed screw nut 3544 and movable panel 3566. When Autonomous Underwater Vehicle 100 is to automatically controlled cabin 70 lopsidedness, pitch regulation actuator 352 rotation direction is contrary, to drive rolling balance adjustment mechanism 37 to move near direction, vision cabin 10, thus realizing the balance of Autonomous Underwater Vehicle 100 axial direction.
Rolling balance adjustment mechanism 37 also includes the rolling adjustment actuator 372 second transmission component 374 with balancing weight 376 that is in transmission connection, and rolling regulates actuator 372 and drives the second transmission component 374 to move, to drive balancing weight 376 to rotate.
Specifically, the second transmission component 374 includes pinion shaft 3741, little gear 3742, gear wheel 3743 and the power transmission shaft 3744 through gear wheel 3743 with balancing weight 376. Pinion shaft 3741 one end is fixed in rolling and regulates actuator 372, and the other end is fixed in little gear 3742, and gear wheel 3743 engages with little gear 3742, and connects balancing weight 376 by power transmission shaft 3744. Rolling regulates actuator 372 and drives pinion shaft 3741 to rotate, and then drives little gear 3742, bull gear drive 3743, thus driving power transmission shaft 3744 to rotate, finally drives balancing weight 376 to rotate with adjustment.
More specifically, power transmission shaft 3744 is hollow axle, this power transmission shaft 3744 is coaxially disposed with the screw mandrel 3542 in pitching balance adjustment mechanism 35, and the hole size of power transmission shaft 3744 is more than the outside dimension of screw mandrel 3542. So, when mobile rolling balance adjustment mechanism 37, power transmission shaft 3744 moves relative to screw mandrel 3452, and screw mandrel 3542 can be made to can be inserted in power transmission shaft 3744.
Further, power transmission shaft 3744 two ends are provided with power transmission shaft rolling bearing units 3746, so that power transmission shaft 3744 is connected with movable panel 3566. Balancing weight 376 is provided with locking bed 3745 near gear wheel 3743 side, and this locking bed 3745 is fixed on power transmission shaft 3744, and gear wheel 3743 connects balancing weight 376 by this locking bed 3745, thus driving balancing weight 376 to rotate.
In the present embodiment, balancing weight 376 substantially semicircular in shape, its center of gravity is positioned at power transmission shaft 3744 side. Movable panel 3766 connects pinion shaft 3741 side and is additionally provided with pinion shaft bearing 3747 with spacing little gear 3742.
So, when Autonomous Underwater Vehicle 100 tilts to the right, rolling regulates actuator 372 and rotates forward, thus driving balancing weight 376 to rotate so that it is center of gravity moves to the left. When Autonomous Underwater Vehicle 100 tilts to the left, rolling regulates actuator 372 and reverses, thus driving balancing weight 376 to rotate so that it is center of gravity moves to the right, thus realizing this Autonomous Underwater Vehicle 100 balance adjustment at left and right directions.
Autonomous Underwater Vehicle 100 also includes vision cabin 10, balance adjustment cabin 30, vertical thrust cabin 50, automatically controlled cabin 70 and is installed on the horizontal propulsion device 80 of outer wall of Autonomous Underwater Vehicle 100. Wherein, vision cabin 10, balance adjustment cabin 30, vertical thrust cabin 50 and automatically controlled cabin 70 removably connect.
In the present embodiment, vision cabin 10, balance adjustment cabin 30, vertical thrust cabin 50 are sequentially connected with automatically controlled cabin 70 head and the tail. It is appreciated that this Autonomous Underwater Vehicle 100 may also include the section structure with difference in functionality, and the order of connection of each nacelle can be arranged as required to, thus meeting difference flexibly to use the needs of environment and application target.
Wherein, photographic head 184 it is provided with in vision cabin 10 to be navigated. As shown in Figures 2 and 3, setting the fixing plate 12 of The Cloud Terrace and be installed on the cradle head mechanism 16 of the fixing plate 12 of The Cloud Terrace in vision cabin 10, this cradle head mechanism 16 is used for installing photographic head 184. Specifically, cradle head mechanism 16 includes The Cloud Terrace connector and is in transmission connection, with The Cloud Terrace connector, the horizontal stage electric machine that drives The Cloud Terrace connector to move, and The Cloud Terrace connector is connected with photographic head 184, to drive photographic head 184 to move under the driving of horizontal stage electric machine.
In the present embodiment, The Cloud Terrace fixes plate 12 structure in the form of a ring, and centre is provided with criss-cross floor to install cradle head mechanism 16. The Cloud Terrace connector includes the first The Cloud Terrace connector the 161, second The Cloud Terrace connector 165 and the 3rd The Cloud Terrace connector 169, and horizontal stage electric machine includes the first horizontal stage electric machine 163 and the second horizontal stage electric machine 167.
First The Cloud Terrace connector 161 one end is fixed in floor, the other end is rotationally connected by the first horizontal stage electric machine 163 and second The Cloud Terrace connector 165 one end, the other end of the second The Cloud Terrace connector 165 is rotationally connected by the second horizontal stage electric machine 167 and the 3rd The Cloud Terrace connector 169 one end, the other end of the 3rd The Cloud Terrace connector 169 passes through photographic head fixture 182 fixing camera 184, and second the central axis direction of horizontal stage electric machine 167 vertical with the central axis direction of the first horizontal stage electric machine 163, so that the rotation axle of the second The Cloud Terrace connector 165 is vertical with the rotation axle of the 3rd The Cloud Terrace connector 169.
So, second The Cloud Terrace connector 165 can rotate relative to the first The Cloud Terrace connector 161,3rd The Cloud Terrace connector 169 can rotate relative to the second The Cloud Terrace connector 165, make photographic head 184 can rotate in different directions relative to the fixing plate 12 of The Cloud Terrace under the drive of the second The Cloud Terrace connector 165 and/or the 3rd The Cloud Terrace connector 169, thus shooting at different directions, fully reflection Autonomous Underwater Vehicle 100 place environment and position.
In the present embodiment, photographic head 184 is the binocular camera being held in photographic head fixture 182. Owing to sea water is mixed with substantial amounts of small solute in the selective absorbing of light and sea water, thus can absorb when light is propagated in the seawater, forward scattering and backward scattered situation, affect the definition of image. Therefore in the present embodiment, adopt dark channel image treatment technology under water that image is carried out sharpening, finally realize image quality and the fault detect to underwater structure clearly.
In one embodiment, vision cabin 10 also includes being located at the supplementary lighting sources 14 of the fixing plate 12 of The Cloud Terrace. In the present embodiment, supplementary lighting sources 14 is in the circulus mated with the fixing plate 12 of The Cloud Terrace, and arranges along fixing plate 12 inside edge of The Cloud Terrace, so that surrounding is carried out light filling, facilitates the work of photographic head 184, it is ensured that image quality clearly.
Refer to Fig. 2 and Fig. 5, in vertical thrust cabin 50, be provided with the vertical pusher for promoting Autonomous Underwater Vehicle 100 to move along third direction, to drive Autonomous Underwater Vehicle 100 to travel upwardly third party.
Specifically, the bulkhead 52 in vertical thrust cabin 50 offering the through hole being perpendicular to first direction and through vertical thrust cabin 50, vertical pusher is located in above-mentioned through hole. Vertical pusher 54 is fixed by the fixing seat 56 of vertical pusher being located in vertical thrust cabin 50, and the head of vertical pusher 54 and afterbody are corresponding with two through holes respectively so that draining. So, this Autonomous Underwater Vehicle 100 realizes rapid vertical lifting by vertical pusher 54, it is slightly less than buoyancy in conjunction with this gravity of Autonomous Underwater Vehicle 100 own and balances adjustable feature, depthkeeping hovering can be realized, capture image thus static under water, be conducive to the fault detect of underwater structure. Because rotating can regulate the direction of thrust, and rotating speed can regulate thrust size.
As shown in Figures 2 and 6, horizontal propulsion device 80 is installed on the outer wall of Autonomous Underwater Vehicle 100, and arranges along the direction being parallel to first direction, thus the thrust of its generation is vertical with the thrust direction that vertical pusher 54 produces. Further, horizontal propulsion device 80 includes the horizontal propeller 86 on the circumferentially spaced outer wall being arranged at Autonomous Underwater Vehicle 100. Horizontal propulsion device 80 also includes the clamp ring 82 of the outer wall for horizontal propeller 86 is fixed on Autonomous Underwater Vehicle 100, this clamp ring 82 structure in the form of a ring, is installed on one end, automatically controlled cabin 70. Clamp ring 82 outer wall is circumferentially spaced is provided with the fixing seat 84 of propeller, and horizontal propeller 86 is arranged on the fixing seat 84 of propeller. Further, horizontal propeller 86 is three. This horizontal propulsion device 80 and vertical pusher 54 cooperating in vertical thrust cabin 50, compared with the mode that single A-bracket rudder blade turns to, reduce the coupling of fltting speed and steering rate, thus the turning to of any direction in realizing fast advance and retreat and spatial dimension.
Refer to Fig. 2, Fig. 7 and Fig. 8, be provided with fixed structure 71 in automatically controlled cabin 70 and be installed on the control element of fixed structure 71. Control element to include for providing the lithium battery 72 of power supply and controlling the master board 75 that this Autonomous Underwater Vehicle 100 runs. In the present embodiment, this control element also includes nine axle inertia sensing unit modules 73, for the attitude data of current Autonomous Underwater Vehicle 100 is fed back to master board 75.
In one embodiment, control element and also include image procossing panel 74, for processing the image information that photographic head 184 obtains.
In one embodiment, control element and also include motor driver 76 and impeller driven module 77. Motor driver 76 is for controlling the pitch regulation actuator 352 of pitching balance adjustment mechanism 35, and the rolling with rolling balance adjustment mechanism 37 regulates actuator 372. Impeller driven module 77 is then for driving the operation of vertical pusher 54 and horizontal propulsion device 80.
Specifically, being provided with the fixing welding block 712 of the cell panel being welded in automatically controlled cabin 70 inwall, the fixing welding block 712 of multiple cell panels is provided with battery retaining boards 714 in automatically controlled cabin 70, battery retaining boards 714 is provided with the lithium battery 72 for powering. Battery retaining boards 714 is arranged by securing member and control circuit gripper shoe 716 interval, this control circuit gripper shoe 716 is provided with 73, image procossing panel of a nine axle inertia sensing unit module, 75, two motor drivers 76 of 74, master board and four impeller driven modules 77, to realize automatically controlling of this Autonomous Underwater Vehicle 100.
Wherein, lithium battery 72, nine axle inertia sensing unit module 73, image procossing panel 74, motor driver 76 are all communicatively coupled to master board 75 with impeller driven module 77, image procossing panel 74 communicates to connect photographic head 184 and lithium battery 72, motor driver 76 is communicatively coupled to pitching balance adjustment mechanism 35 and rolling balance adjustment mechanism 37, and impeller driven module 77 is communicatively coupled to vertical pusher 54 and horizontal propulsion device 80.
So, when this Autonomous Underwater Vehicle 100 runs under water, according to different subsea tasks, merged by the data that photographic head 184, nine axle inertia sensing unit module 73 and some underwater sensors are fed back, data result can be evaded judgement by Autonomous Underwater Vehicle 100, this Autonomous Underwater Vehicle 100 is made can independently to complete corresponding task, as utilized Autonomous Underwater Vehicle 100 to carry out environmental monitoring, safety cruise and underwater structure fault detect.
As shown in Figures 1 and 2, Autonomous Underwater Vehicle 100 also includes multiple attachment structure, multiple attachment structures include the first nacelle Hermetical connecting structure 20 being connected between vision cabin 10 and balance adjustment cabin 30, the second nacelle Hermetical connecting structure 40 being connected between balance adjustment cabin 30 and vertical thrust cabin 50, the 3rd nacelle Hermetical connecting structure 60 that is connected between vertical thrust cabin 50 and automatically controlled cabin 70, and are located at automatically controlled cabin 70 and are not connected with the 4th nacelle of one end, vertical thrust cabin 50 and seal structure 90. Wherein, the second nacelle Hermetical connecting structure the 40, the 3rd nacelle sealing connection mechanism 60 and the 4th nacelle seal structure 90 and are all equipped with cable connector, and cable is traverse from cable connector, for the communication connection between each nacelle.
As shown in Figure 9, specifically, first nacelle Hermetical connecting structure 20 includes stepped first and connects outer shroud 21 and the vision cabin O RunddichtringO 22 being sheathed on the first connection outer shroud 21, vision cabin plain washer 23, balance bunker plain washer 24 and balance bunker O RunddichtringO 25, to realize good sealing effectiveness. Further, the inwall of first connection outer shroud 21 one end is circumferentially spaced is provided with fixing welding block 26, and one end of this fixing welding block 26 is for fixing the fixing plate 12 of The Cloud Terrace in vision cabin 10, and the other end is for fixing the fixing plate 31 in pitching balance adjustment mechanism 35.
Referring to Figure 10, the second nacelle Hermetical connecting structure 40 includes the second nacelle and is tightly connected ring 41 and is sheathed on this second nacelle and is tightly connected the second nacelle sealing ring 43 and the second nacelle O RunddichtringO 45 of ring 41. Second nacelle cable connector 47 is convexly equipped in the second nacelle and is tightly connected a side end face of ring 41. In the present embodiment, the second nacelle cable connector 47 has four, and two are one group to be symmetrical arranged be the both sides of the side end face that the second nacelle is tightly connected ring 41.
Referring to Figure 11, the structure of the 3rd nacelle Hermetical connecting structure 60 is roughly the same with the structure of the second nacelle Hermetical connecting structure 40, therefore does not repeat at this.
Referring to Figure 12, the 4th nacelle Hermetical connecting structure 90 is in round table-like, and the big end of the 4th nacelle Hermetical connecting structure 90 is provided with the 4th nacelle sealing ring and is connected with automatically controlled cabin 70, and small end is then convexly equipped with the 4th nacelle cable connector 92.
So, it is attached by nacelle Hermetical connecting structure between multiple nacelle. It is appreciated that and can increase according to actual needs or reduce nacelle, make the structure of this Autonomous Underwater Vehicle 100 and function setting have bigger motility.
Above-mentioned Autonomous Underwater Vehicle 100, simple structure, volume is smaller, carry out feeding and communicating without cable, autonomous location navigation, maneuverability, space spaciousness degree is required smaller, it is possible to achieve environmental monitoring, safety cruise and the fault detect under the complicated environmental condition of lake, ocean.
And, Autonomous Underwater Vehicle 100 arranges pitching balance adjustment mechanism 35 and rolling balance adjustment mechanism 37 simultaneously, therefore without carrying out lower water remote holder dynamic balancing adjustment, this Autonomous Underwater Vehicle 100 can automatically adjust pitch orientation and the static balance in direction of rolling after lower water. Further, can be balanced regulating by balance regulator in good time, increase this plant running stability. The vertical thrust cabin 50 of this Autonomous Underwater Vehicle 100 setting and horizontal propulsion device 80, turning to of any direction in rapid vertical lifting, fast advance and retreat and spatial dimension can be realized, it is slightly less than buoyancy and can the feature of balance adjustment in combination with the gravity of device own, the depthkeeping hovering that can realize, static under water can capture image, be conducive to the fault detect of underwater structure.
It addition, this Autonomous Underwater Vehicle 100 adopts nine axle inertia sensing unit modules 73, it is applied not only to be automatically positioned navigation, realizes static and dynamic equilibrium adjustment in combination with rolling balance adjustment mechanism 37 and pitching balance adjustment mechanism 35.
Finally, this Autonomous Underwater Vehicle 100 adopts extensibility many cabins section to arrange, cabin section can be added to carry the underwater small equipment that user needs according to the demand of user, and consider balance adjustment function and be absent from the equilibrium problem after increasing cabin section, considerably increase the scope of application of this Autonomous Underwater Vehicle 100.
As shown in figure 13, the control method of a kind of Autonomous Underwater Vehicle of this preferred embodiment. The control method of this fault detection method Autonomous Underwater Vehicle comprises the following steps:
S110: Autonomous Underwater Vehicle 100 is put into predeterminable area, control system control rolling balance adjustment mechanism 37 and pitching balance adjustment mechanism 35 adjust the balance of Autonomous Underwater Vehicle 100.
S120: control systems organization path, and control Autonomous Underwater Vehicle 100 and navigate by water.
S130: judge whether to run into barrier.
S140: when Autonomous Underwater Vehicle 100 runs into barrier, control system programme path again, and control Autonomous Underwater Vehicle 100 again along path planning navigation, when Autonomous Underwater Vehicle 100 does not run into barrier, control system and control again to navigate by water along initial planning path along path planning navigation.
S150: control the image information of system acquired disturbance thing and positional information, and carry out to positional information corresponding judging according to image information.
Concrete, whether the barrier that the control method of this Autonomous Underwater Vehicle can be used for detecting in water exists fault, in the case, step S150 particularly as follows:
S1501: control image information and the positional information of system acquired disturbance thing, and according to whether image information and positional information disturbance in judgement thing exist fault.
S1502: when there is not fault according to image information disturbance in judgement thing, deletes present image information and positional information. When there is fault according to image information disturbance in judgement thing, preserve present image information and positional information.
Below for the fault detect of offshore drilling platforms certain stretching structure under water, the method illustrating to utilize Autonomous Underwater Vehicle 100 to carry out fault detect.
First, Autonomous Underwater Vehicle 100 is positioned over working region. In the present embodiment, working region is waters, oil drilling platform place.
Owing to this Autonomous Underwater Vehicle 100 has buoyancy slightly larger than gravity, therefore this Autonomous Underwater Vehicle 100 floats on the surface, and is substantially at poised state. But the frequent vibrations due to handling process, it is understood that there may be the energy imbalance of pitching or rolling.
After power-on, the current pose data of nine axle inertia sensing unit module 73 feedbacks are read in master board 75, and contrast with the initial statokinetic data set of dispatching from the factory. If Data Comparison difference is in minimum accuracy rating, then judge that this Autonomous Underwater Vehicle 100 is in poised state. If current pose data differ bigger with statokinetic data, then it is assumed that this Autonomous Underwater Vehicle 100 is in unbalanced state.
When judging this Autonomous Underwater Vehicle 100 to vision cabin 10 lopsidedness, master board 75 is sent signal to motor driver 76 and rotates forward to control pitch regulation actuator 352, pitch regulation actuator 352 rotates forward and drives screw mandrel 3542 to rotate forward, screw mandrel 3542 rotates forward, and drives matched feed screw nut 3544 to move forward, and then drive is fixed between two movable panels 3566, the rolling balance adjustment mechanism 37 including gravity block 376 moves forward, and attitude data and statokinetic comparing that Real-time Collection nine axle inertia sensing unit module 73 gathers, until Autonomous Underwater Vehicle 100 reaches poised state. when judging this Autonomous Underwater Vehicle 100 to automatically controlled cabin 70 lopsidedness, adjustment process is similar with when leaning forward, but the rotation direction reversed of pitch regulation actuator 352.
When this Autonomous Underwater Vehicle 100 tendency right side, master board 75 is sent signals to control rolling adjustment actuator 372 to another motor driver 76 and rotates forward, rolling regulates actuator 372 and drives pinion shaft 3741 to rotate forward, pinion shaft 3741 drives the little gear 3742 being secured to rotate forward, little gear 3742 drives the gear wheel 3743 engaged to reverse, thus driving balancing weight 376 around the center axis thereof of Autonomous Underwater Vehicle 100, and then make Autonomous Underwater Vehicle 100 center of gravity be partial to the left side of perpendicular, and then make whole Autonomous Underwater Vehicle 100 left-handed around axis, and attitude data and statokinetic comparing that Real-time Collection nine axle inertia sensing unit module 73 gathers, vertical pusher 54 is finally made to reach vertical state, Autonomous Underwater Vehicle 100 reaches balance. when Autonomous Underwater Vehicle 100 tendency left side, Principles of Regulation are similar with adjustment process on the right side of Autonomous Underwater Vehicle 100 tendency.
So, by pitching and rolling balance adjustment, it is finally completed the hydrostatic automatic trim before whole Autonomous Underwater Vehicle 100 runs.
It follows that set the target area of this operation of Autonomous Underwater Vehicle 100, Autonomous Underwater Vehicle 100 carries out autonomous path planning according to target setting region, and navigates by water according to path planning.
In navigation process, Autonomous Underwater Vehicle 100 realizes vertical lift and hovering by the rotating and different rotating speeds regulating vertical pusher 54. Specifically, the combination with rotating speed is turned to realize forward-reverse and the pitching driftage of Autonomous Underwater Vehicle 100 by the difference of three horizontal propellers 86 in horizontal propulsion device 80. When Autonomous Underwater Vehicle 100 rectilinear motion, three horizontal propellers 86 keep identical turning to and rotating speed. By turning to and rotating speed of three horizontal propellers 86 of synchronous change, then can realize linear acceleration and deceleration and linear uniform motion. When realizing yawing rotation and elevating movement when Autonomous Underwater Vehicle 100, three horizontal propellers 86 have different turning to and rotating speed. And turning to of lower three horizontal propellers 86 of this different angles situation is based on a set of multi-thruster combinational algorithm with rotating speed distribution, and according to the process of path planning navigation based on the attitude data of nine axle inertia sensing unit module 73 Real-time Feedbacks.
At Autonomous Underwater Vehicle 100 in whole motor process, whether the front, photographic head 184 real-time judge Autonomous Underwater Vehicle 100 planning operation path based on image procossing panel 74 exists barrier, and feeds back to master board 75 during by fructufy. If Autonomous Underwater Vehicle 100 meets barrier in the process advancing to target area according to path planning, the then actual size of the disturbance in judgement thing distance to Autonomous Underwater Vehicle 100 and barrier, then the path cleared the jumps is planned, change path after having planned, start to run along new path planning.
Owing to nine axle inertia sensing unit modules 73 can produce cumulative error in running, so the target area run to is a scope, rather than accurate point. When, behind target approach region, time namely within the scope of Visual Observations Observations, then available photographic head 184 realizes being accurately positioned of Autonomous Underwater Vehicle 100. Specifically, owing to oil drilling platform underwater structure all determines that, before 100 times water of Autonomous Underwater Vehicle, the prior significant structure treatment to target area is view data, is stored in the toy data base of Autonomous Underwater Vehicle 100, such as certain certain high pressure valve body under water. When after Autonomous Underwater Vehicle 100 to big target area, utilize photographic head 184 to begin look for the shape facility of this high pressure valve body, compare with valve body data in toy data base after identification, finally realize being accurately positioned of Autonomous Underwater Vehicle 100. After completing being accurately positioned of Autonomous Underwater Vehicle 100, owing to the physical spatial location of works is relatively constant, just can plan that exact path realizes the precision navigation of Autonomous Underwater Vehicle 100, and then accurately close to impact point, the position at stretching structure place namely to be detected.
After impact point, Autonomous Underwater Vehicle 100 hovers in precalculated position, with the fault detect of the underwater structure that remained static. Owing to underwater structure to be detected is numerous, it is impossible to all stored by all images, before therefore descending water, the image information under works normal condition to be detected is stored in the toy data base of Autonomous Underwater Vehicle 100. When the image processing data of shooting is consistent with the image under this works normal condition of storage in Autonomous Underwater Vehicle 100 toy data base time, then it is assumed that this works state is normal, then delete current taken image information and positional information. If comparing result is inconsistent, then image information is preserved with positional information, complete the determination of damaged structure thing.
Above-mentioned fault detection method, adopt the Autonomous Underwater Vehicle 100 with photographic head 184, utilize and position navigation based on computer vision technique in conjunction with the mode of inertial navigation, navigation when inertial navigation is for transfer on a large scale, adopting computer vision technique combining target feature to carry out real time correction, final realization is accurately positioned navigation in real time simultaneously.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics is absent from contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent. It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention. Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an Autonomous Underwater Vehicle, it is characterized in that, described Autonomous Underwater Vehicle includes balance adjustment cabin, rolling balance adjustment mechanism, pitching balance adjustment mechanism and balancing weight it is provided with in described balance adjustment cabin, described balancing weight can move in the first direction and be rotatably arranged in described balance adjustment cabin around second direction, described pitching balance adjustment mechanism can drive described balancing weight to move in said first direction, to change described Autonomous Underwater Vehicle position of centre of gravity in said first direction; Described rolling balance adjustment mechanism can drive described balancing weight to rotate around described second direction, and to change the described rolling balance adjustment mechanism position of centre of gravity at third direction, described third direction is perpendicular to described first direction.
2. Autonomous Underwater Vehicle according to claim 1, it is characterized in that, described pitching balance adjustment mechanism includes pitch regulation actuator and slide assemblies, described balancing weight is arranged on described rolling balance adjustment mechanism, described rolling balance adjustment mechanism includes the rolling for driving described balancing weight to rotate and regulates actuator, described slide assemblies is connected to described rolling and regulates actuator, described pitch regulation actuator drives the motion of described slide assemblies, to drive described rolling balance adjustment mechanism to move.
3. Autonomous Underwater Vehicle according to claim 2, it is characterized in that, described pitching balance adjustment mechanism also includes the described pitch regulation actuator the first transmission component with described slide assemblies that is in transmission connection, described pitch regulation actuator rotates to drive described first transmission component motion, to drive described slide assemblies to move along described first direction; Described rolling governor motion also includes the described rolling adjustment actuator the second transmission component with described balancing weight that is in transmission connection, and described rolling regulates actuator and rotates to drive described second transmission component motion, to drive described balancing weight to rotate.
4. Autonomous Underwater Vehicle according to claim 3, it is characterised in that described first transmission component includes screw mandrel and feed screw nut, and described screw mandrel one end is fixed in described pitch regulation actuator, the other end installs described feed screw nut; Described slide assemblies includes movable panel and extends in parallel and pass the sliding axle of described movable panel with described screw mandrel, described movable panel side is connected with described rolling balance adjusting structure, opposite side is affixed with feed screw nut, and described travelling nut moves along described screw mandrel and drives described movable panel to move along described sliding axle; Described first transmission component includes pinion shaft, little gear, gear wheel and the power transmission shaft through described gear wheel with described balancing weight, described pinion shaft one end is fixed in described rolling and regulates actuator, the other end is fixed in described little gear, described gear wheel engages with described little gear, and is connected to described balancing weight by described power transmission shaft.
5. the Autonomous Underwater Vehicle according to Claims 1 to 4 any one, it is characterised in that described Autonomous Underwater Vehicle also includes:
Vision cabin, is provided with photographic head in described vision cabin;
Vertical thrust cabin, is provided with the vertical pusher for promoting described Autonomous Underwater Vehicle to move along described third direction in described vertical thrust cabin;
Automatically controlled cabin, is provided with control system in described automatically controlled cabin; And
Horizontal propulsion device, described horizontal propulsion device is installed on the outer wall of described Autonomous Underwater Vehicle, and arranges along the direction being parallel to described first direction;
Wherein, described balance adjustment cabin, vision cabin, vertical thrust cabin and automatically controlled cabin removably connect.
6. Autonomous Underwater Vehicle according to claim 5, it is characterized in that, it is provided with the fixing plate of The Cloud Terrace in described vision cabin and is installed on the cradle head mechanism of the fixing plate of described The Cloud Terrace, described cradle head mechanism includes The Cloud Terrace connector and is in transmission connection with described The Cloud Terrace connector, with the horizontal stage electric machine driving described The Cloud Terrace connector to move, described The Cloud Terrace connector is connected with described photographic head, to drive described cam movement under the driving of described horizontal stage electric machine.
7. Autonomous Underwater Vehicle according to claim 5, it is characterized in that, described horizontal propulsion device includes the horizontal propeller on the circumferentially spaced outer wall being arranged at described Autonomous Underwater Vehicle, and the bearing of trend of described horizontal propeller is vertical with the bearing of trend of described vertical pusher; Described vertical thrust cabin offers the through hole being perpendicular to described first direction and through described vertical thrust cabin, and described vertical pusher is located in described through hole.
8. Autonomous Underwater Vehicle according to claim 5, it is characterized in that, described Autonomous Underwater Vehicle also includes multiple attachment structure, multiple described attachment structures include the first nacelle Hermetical connecting structure being connected between described vision cabin and balance adjustment cabin, the second nacelle Hermetical connecting structure being connected between described balance adjustment cabin and described vertical thrust cabin, the 3rd nacelle Hermetical connecting structure being connected between described vertical thrust cabin and described automatically controlled cabin and be located at described automatically controlled cabin be not connected with one end, described vertical thrust cabin the 4th nacelle seal structure; Wherein, described second nacelle Hermetical connecting structure, the 3rd nacelle sealing connection mechanism and the 4th nacelle seal structure and are all equipped with cable connector.
9. Autonomous Underwater Vehicle according to claim 5, it is characterized in that, be provided with fixed structure in described automatically controlled cabin and be installed on the lithium battery of described fixed structure, nine axle inertia sensing unit modules, image procossing panel, master board, motor driver and impeller driven module; Described lithium battery, nine axle inertia sensing unit modules, image procossing panel, motor driver and described impeller driven module are all communicatively coupled to described master board, described image procossing panel is communicatively coupled to described photographic head and described lithium battery, described motor driver is communicatively coupled to described pitching balance adjustment mechanism and described rolling balance adjustment mechanism, and described impeller driven module is communicatively coupled to described vertical pusher and described horizontal propulsion device.
10. the control method of an Autonomous Underwater Vehicle, it is characterised in that the control method of described Autonomous Underwater Vehicle comprises the following steps:
Autonomous Underwater Vehicle is put into predeterminable area, controls system and control rolling balance adjustment mechanism and the balance of the pitching balance adjustment mechanism described Autonomous Underwater Vehicle of adjustment;
Described control systems organization path, and control described Autonomous Underwater Vehicle along path planning navigate by water;
Judge whether to run into barrier;
When described Autonomous Underwater Vehicle runs into barrier, described control system programme path again, and control described Autonomous Underwater Vehicle again along path planning navigation, when described Autonomous Underwater Vehicle does not run into barrier, described control system controls described Autonomous Underwater Vehicle and navigates by water along initial planning path;
The image information of described control system acquired disturbance thing and positional information, and carry out to described positional information corresponding judging according to described image information.
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