CN106043630A - Multi-degree-of-freedom underwater robot - Google Patents

Abstract

The invention discloses a multi-degree-of-freedom underwater robot. The multi-degree-of-freedom underwater robot is composed of a semi-closed shell, a multi-degree-of-freedom propeller system, a multi-degree-of-freedom control system, a visual operation system and a universal manipulator mounting platform. A relay module set is used for controlling the working time sequence of sixteen sets of modularized water spraying propellers, and six-degree-of-freedom movement and thirteen working states required by hovering of any gesture of the underwater robot are achieved; real-time transmission of strong current and weak electric signals is achieved through a composite cable, and energy supply and visual operation are achieved; and proper manipulators are applied through replacement according to specific operation objects by arranging a universal mechanical interface and an electrical interface, and construction of a universal underwater operation platform is achieved. The defects that current underwater robots are poor in gesture control capacity, simplex in moving mode, limited in working range and the like are overcome, the controllability and universality of the underwater robot are improved, the cost is low, and the effect is remarkable.

Description

A kind of multiple degrees of freedom underwater robot

Technical field

The present invention relates to underwater robot field, be specially a kind of multiple degrees of freedom underwater robot.

Background technology

Along with progress and the scarcity day by day of resource of science and technology, the mankind are increasingly becoming society's heat to cognition and the exploitation of ocean Point.21 century is the century that the mankind march to ocean.Treasured place that deep-sea not yet deeply develops as the mankind and high-tech sector it One, have become as the important strategic objective in various countries and focus of the competition.Unmanned remotely controlled submersible vehicle (Remote Operated Vehicles, ROV), also referred to as underwater robot, is that one dive to extreme environment under water and can replace people to complete some operation Work robot, become exploitation, detection ocean important tool.Underwater robot is generally connected with lash ship by heaving pile By operator's Remote, power, instruction and data transmit via composite cable, adapt to energy by its good economy performance, environment Power is strong, working performance advantages of higher has obtained rapid development and popularization.

Patent of invention CN105136808A discloses one " underwater robot underwater installation damage testing platform ", based on often Rule underwater robot platform passes through damaged part and the impairment scale of ultrasonic listening underwater installation, is not directed to underwater robot Liquid earth view point and navigation control；Patent of invention CN105404303A discloses " the motion control of a kind of ROV underwater robot Method processed ", use the propulsion system of 8 propeller compositions, realized the motion of automobile of underwater robot by control algolithm, advance The arrangement of device makes underwater robot be difficult to multi-pose, multifreedom motion.Patent of invention CN105262154A is public Open " a kind of underwater robot wireless charging system and control method thereof ", for underwater wireless charging circuit and energy hole side Method has carried out abundant research, is not directed to structure and the control program of the most unmanned robot self.In sum: existing disclosure Patent of invention be primarily upon function and the control strategy of underwater robot, about topology layout and the boat of underwater robot self The patent that row controls is rarely seen.Therefore, the multiple degrees of freedom fortune of underwater robot is realized by special layout designs and control program Dynamic, for expanding its job area, improving its combination property has remarkable effect.

Summary of the invention

The deficiency existed in order to avoid prior art, overcomes current underwater robot gesture stability ability, motor pattern The shortcomings such as single, job area is limited, the present invention proposes a kind of multiple degrees of freedom underwater robot, uses semi-enclosed housing shape Become underwater performance platform by configuring universal machine interface and electric interfaces according to the plug-in various mechanical hands of concrete manipulating object, logical Too much group modular small is angle of rake coordinates the six-freedom motion under water realized truly, real by the way of heaving pile The existing real-time Transmission of the energy, instruction and data between surface platform and underwater robot, improves the handling of underwater robot And versatility, cost is relatively low and effect is notable.

The present invention solves technical problem and be the technical scheme is that and include by semi-closed casings, multiple degrees of freedom propeller System, the multiple degrees of freedom underwater of multifreedom controlling system, visualized operation system, Unimate mounting platform composition People, is characterized in, described underwater robot uses semiclosed design pattern to be enclosed in by all devices in addition to mechanical hand To improve its ability in complex water areas operation in housing, the multiple degrees of freedom propulsion system cost being made up of 16 compact submersible pumps Low, be easily maintained and reliability is high, monitoring real-time data transmission is also put down to the water surface by configuration high definition monitoring camera by cable Platform realizes visualization operation, control instruction that lower computer system sends and the attitude information of sensor feedback and fortune according to host computer Dynamic parameter forms closed loop multifreedom controlling scheme；

The semi-closed casings of described multiple degrees of freedom underwater robot is by the first propeller cabin, the second propeller cabin, main cabin Forming with general-purpose for mechanical arm mounting interface, the wall in the first propeller cabin and the second propeller cabin opens many group permeable holes and water spray Hole, is in communication with the outside in cabin, and water is outwards sprayed generation thrust by hole for water spraying by propeller, and semi-enclosed propeller cabin can be weakened multiple The impact that auxiliary work environment is man-machine on underwater, is positioned at the main cabin of middle closing, is mainly used in installing observing and controlling device to protect Card control system and normal operation of sensor, can be additionally that equipment provides the necessary buoyancy that suspends in water, mechanical hand General mounting interface includes universal machine interface and general electronic corporation interface, can increase quantity or the replacing of mechanical hand according to demand The kind of mechanical hand；

The multiple degrees of freedom propulsion system of described underwater robot is made up of in the hydraulic propeller of D. C. submersible pump 16 stylobates, Being respectively arranged 2 in the face, front, rear, left and right of semi-closed casings, above and below is respectively arranged 4, by controlling 16 propellers The logical sequence of work, multiple degrees of freedom propulsion system can produce along x, y and z axes positive direction or the thrust of negative direction and around x, Y and z-axis moment clockwise or counterclockwise, and then realize six-freedom motion；

The multifreedom controlling system of described underwater robot is by host computer control system, lower computer control system, relay Device module group, three axis accelerometer and hydraulic pressure gauge etc. form, and host computer control system is sent control instruction and passed by composite cable Deliver to lower computer system, motion, position and the attitude that lower computer system is fed back according to current three axis accelerometer and hydraulic pressure gauge Parameter sends control instruction to relay module group, and relay module group controls 16 angle of rake works after receiving control instruction Make sequential, and then realize six-freedom motion and any attitude stable suspersion, and judge water according to the feedback parameter of sensor Whether the attitude of lower robot, position meet the requirement of host computer；

The visualized operation system of described underwater robot by watch on-line, composite cable, 2 groups of high-definition cameras, 2 Group light source composition, the high-definition camera carried in underwater robot passes through composite cable by supreme for captured picture real-time Transmission Position machine, CVI the host computer monitoring software write be integrated in host computer manipulation software possess video recording, picture preservation, video returns The function such as put, watch on-line can be opened at host computer operation and control interface and underwater robot and mechanical hand thereof are visualized Operation.

Beneficial effect

The present invention proposes a kind of multiple degrees of freedom underwater robot, including by profile layout, multiple degrees of freedom impeller system, Multifreedom controlling system, visualized operation system, Unimate mounting interface, possess six-freedom motion, visualization behaviour The features such as control, any attitude suspension, Function Extension, form closed loop control by the feedback result of three axis accelerometer and hydraulic pressure gauge System, can accuracy controlling movement velocity and angular velocity and the attitude of hovering and position.

The present invention uses the immersible pump propeller as underwater robot of 16 groups of high modularizations, passes through relay module Group realizes sequencing contro and discontinuous operation realizes six-freedom motion and attitude regulation and control, has simple in construction, low cost reliability Advantages of higher, it addition, use semi-enclosed profile layout by 16 propellers all as the design pattern within propeller cabin The adaptability to complex work environment of underwater robot can be increased.The invention provides a kind of underwater robot overall Design and the new approaches of control strategy, for reducing the R&D costs of underwater robot, improving its functional reliability and formation General that underwater performance platform has significant effect.

Accompanying drawing explanation

Fig. 1: many free teams underwater robot overall situation figure；

Fig. 2: multiple degrees of freedom underwater robot cabin structure；

Fig. 3: multiple degrees of freedom propeller arrangement；

Fig. 4: multiple degrees of freedom underwater robot control program；

In figure: 1. the first propeller cabin 4., main cabin, propeller cabin 2. 3. second composite cable mouth 5. hydraulic pressure gauge is installed In the right inner panel 11. sealing gasket 12. upper right plate 13. of plate 10. of mouth 6. front mounting plate 7. front end-plate 8. right outside plate 9. bottom right Installing plate 17. mechanical hand installation position 18. installing hole 19. water proof switch after upper plate 14. upper left plate 15. end plate 16. Lower plate in 20. left inside plate 21. left outside plate 22. device mounting board 23. permeable hole 24. steel-wire screw-socket 25. lower-left plates 26. 27. hole for water spraying 28. mechanical hand electric interfaces 29. first propeller 30. second propeller 31. triple screws 32. the 4th Propeller 33. the 5th propeller 34. the 6th propeller 35. the 7th propeller 36. the 8th propeller 37. the 9th propeller 38. the tenth propeller 39. the 11st propeller 40. the 12nd propeller 41. the tenth triple screw 42. the 14th propellers 43. the 15th propeller 44. the 16th propeller 45. host computer 46. DC source 47. composite cable 48. first power supplys Module 49. second source module 50. the 3rd power module 51. slave computer 52. first mechanical hand 53. second mechanical hand 54. the 3rd mechanical hand 55. path integration relay board 56. first light source 57. first photographic head 58. second cameras 59. second Light source 60. hydraulic pressure gauge 61. three axis accelerometer

Detailed description of the invention

The present embodiment is a kind of multiple degrees of freedom underwater robot.

Refering to Fig. 1～Fig. 4, the present embodiment one multiple degrees of freedom underwater robot by the first propeller cabin 1, main cabin 2, Two propeller cabins 3, composite cable interface 4, hydraulic pressure gauge installing port 5, front mounting plate 6, front end-plate 7, right outside plate 8, bottom right plate 9, the right side Inner panel 10, sealing gasket 11, upper right plate 12, middle upper plate 13, upper left plate 14, end plate 15, rear installing plate 16, mechanical hand installation position 17, installing hole 18, water proof switch 19, left inside plate 20, left outside plate 21, device mounting board 22, permeable hole 23, steel-wire screw-socket 24, a left side Lower plate 25, middle lower plate 26, hole for water spraying 27, mechanical hand electric interfaces the 28, first propeller the 29, second propeller the 30, the 3rd advance Device the 31, the 4th propeller the 32, the 5th propeller the 33, the 6th propeller the 34, the 7th propeller the 35, the 8th propeller the 36, the 9th pushes away Enter device the 37, the tenth propeller the 38, the 11st propeller the 39, the 12nd propeller the 40, the tenth triple screw the 41, the 14th propeller 42, the 15th propeller the 43, the 16th propeller 44, host computer 45, DC source 46, composite cable the 47, first power module 48, second source module the 49, the 3rd power module 50, slave computer the 51, first mechanical hand the 52, second mechanical hand the 53, the 3rd machinery Hands 54, path integration relay board the 55, first light source the 56, first photographic head 57, second camera 58, secondary light source 59, hydraulic pressure gauge 60, Three axis accelerometer 61 forms.

Refering to Fig. 1 and Fig. 2, the first propeller cabin 1, main cabin 2 and the second propeller cabin all use the lucite that 8mm is thick Plate surrounds；Front end-plate 7, right inner panel 10, end plate 15, left inside plate 20, middle lower plate 26 and middle working 13 form main cabin 2, on Plate 13 is detachable and realizes fastening by screw and sealing gasket 11 and seals, and remaining 5 blocks of plate is connected each other, in order to extend the use longevity The fastening effect of life and enhancing screw installs steel-wire screw-socket 24 at screw hole, and the both sides of front end-plate 7 and end plate 15 have Water hole 23 and hole for water spraying 27 participate in composition the first propeller cabin 1 and the second propeller cabin 3；By adding on the basis of main cabin 2 Dress band permeable hole 23 and the right outside plate 8 of hole for water spraying 27, bottom right plate 9, upper right plate 12 form the first propeller cabin 1, by installing band additional Permeable hole 23 and the left inside plate 20 of hole for water spraying 27, left outside plate 21, lower-left plate 25 form the second propeller cabin 3, are not required to seal between plate Directly being connected by screw, screw hole installs steel-wire screw-socket；Composite cable interface 4 and hydraulic pressure gauge installing hole is had on middle upper plate 13 5, end plate 15 is installed water proof switch.

Refering to Fig. 2 and Fig. 3, the multiple degrees of freedom propulsion system of underwater robot by first propeller the 29, second propeller 30, Triple screw the 31, the 4th propeller the 32, the 5th propeller the 33, the 6th propeller the 34, the 7th propeller the 35, the 8th propeller 36, the 9th propeller 37, the tenth propeller 38, the 11st propeller 39, the 12nd propeller 40, the tenth triple screw 41, 14 propeller the 42, the 15th propeller the 43 and the 16th propeller 44 totally 16 same size hydraulic jet propulsions based on immersible pump Device forms；Underwater robot general shape is cube (hexahedron), is respectively mounted two propellings in its face, front, rear, left and right Device, installs 4 propellers thereon, separately below, and during propeller work, water is sprayed water via hole for water spraying 27, pushes away by controlling 16 The work schedule entering device realizes six-freedom motion and attitude regulation and control；The most only open the second propeller 30 and the 6th propeller 33 realize along x-axis positive direction translation, the most only open the tenth propeller the 38 and the 14th propeller 42 and realize putting down along x-axis negative direction Dynamic, the most only open the second propeller the 30 and the 14th propeller 42 and realize rotating clockwise around x-axis, the most only open first and push away Enter device the 29, the 4th propeller the 32, the 15th propeller the 43 and the 16th propeller 44 and can realize rapid dive, according to this controlling party Formula can realize six-freedom motion by controlling different angle of rake work schedules；In order to regulate and control the hovering appearance of underwater robot State, can be when three axis accelerometer feedback result shows underwater robot by the motion in each direction or rotation, by controlling Propeller applies to suppress thrust or the moment of this motion, and attitude regulation and control model propeller is operated in discontinuous operation state, water The attitude of lower robot is in dynamic steady state；Use 6 I/O ports that 20 relays of relay module group are compiled Code, in order to realize underwater robot along 3 axles positive and negative to translation and around three axles positive and negative to rotate and shut down, 4 need to be used 13 kinds of relay duties are encoded by I/O mouth, in order to realize the control to photographic head and light source, use 2 I/O mouths to divide The duty of the other relay to controlling the first light source 56, secondary light source the 59, first photographic head 57 and second camera 58 is entered Row coding.

Being positioned on lash ship refering to Fig. 4 host computer 45 and DC source 46, the former is by the weak current passage of composite cable 47 Send control instruction to slave computer 51 and accept data and the information that slave computer 51 is uploaded, the latter's forceful electric power by composite cable 47 Circulation road carries the energy to underwater robot, composite cable 47 be one be integrated with integrated cable, holding wire, video line zero float Power hawser；Slave computer accepts the control signal that host computer 47 sends via composite cable, according to hydraulic pressure gauge 60 and 3-axis acceleration The data of meter 61 feedback, control propulsion system by relay module group 55 or monitoring system work, the first photographic head 57 simultaneously Or the monitoring content of second camera 58 reaches host computer 45 via composite cable 47, it is achieved visualized operation；DC source Heavy current reaches underwater robot via composite cable 47, and water proof switch 19 connects after current respectively by the first power module 48, second source module 49, the transformation of the 3rd power module 50 and pressure stabilization function are for meet slave computer 51, propeller and sensing The power-consuming component energy supplies such as device.

Claims (5)

1. a multiple degrees of freedom underwater robot, including semi-closed casings, multiple degrees of freedom impeller system, multifreedom controlling system System, visualized operation system, Unimate mounting platform, is characterized in that: controls 16 groups of modularitys by relay module group The work schedule of hydraulic propeller, it is achieved 13 kinds of work needed for the six-freedom motion of underwater robot and any attitude hovering State；The real-time Transmission of heavy current and weak electric signal is realized, it is achieved energy recharge and visualized operation by composite cable；Pass through Configuration universal machine interface and electric interfaces change suitable mechanical hand according to concrete manipulating object, it is achieved that general work under water The structure of industry platform.

A kind of multiple degrees of freedom underwater robot the most according to claim 1, is characterized in that: semi-closed casings is advanced by first Device cabin, the second propeller cabin, main cabin and general-purpose for mechanical arm mounting interface composition, the first propeller cabin and the second propeller cabin Wall opens many group permeable holes and hole for water spraying is in communication with the outside, and propeller is outwards sprayed water by hole for water spraying generation thrust, is positioned at middle main Cabin is confined space, and being mainly used in installing each class testing, control device and equipment provides the required buoyancy that hovers in water, Quantity and the type of mechanical hand can be changed according to the actual requirements on general mounting interface.

A kind of multiple degrees of freedom underwater robot the most according to claim 1, is characterized in that: multiple degrees of freedom propulsion system is by 16 Stylobate forms in the hydraulic propeller of D. C. submersible pump, is respectively arranged 2 in the face, front, rear, left and right of semi-closed casings, upper and lower Face is respectively arranged 4, and by controlling the logical sequence of 16 propeller work, multiple degrees of freedom propulsion system can produce along x, y With z-axis positive direction or the thrust of negative direction and around x, y and z axes moment clockwise or counterclockwise, and then realize six degree of freedom Motion.

A kind of multiple degrees of freedom underwater robot the most according to claim 1, is characterized in that: multifreedom controlling system is by upper The compositions such as position machine control system, lower computer control system, relay module group, three axis accelerometer and hydraulic pressure gauge, host computer is grasped Ore-controlling Role sends control instruction and is sent to lower computer system by composite cable, and lower computer system is according to current three axis accelerometer The motion, the Position and orientation parameters that are fed back with hydraulic pressure gauge send instruction to relay module group, by relay module group control 13 kinds of duties of multiple degrees of freedom propulsion system processed, hang with satisfied maintenance underwater robot six-freedom motion or any attitude The thrust stopped and torque demand, and combine the feedback parameter of the sensor attitude to underwater robot and the closed loop control of position System.

A kind of multiple degrees of freedom underwater robot the most according to claim 1, is characterized in that: visualized operation system is by real time Monitoring software, composite cable, 2 groups of high-definition cameras, 2 groups of light source compositions, the high-definition camera carried in underwater robot passes through Composite cable is by captured picture real-time Transmission to host computer, and host computer monitoring software is integrated in host computer manipulation software to be had The functions such as the preservation of priming picture, picture, video playback, can open watch on-line to underwater at host computer operation and control interface People and mechanical hand thereof carry out visualized operation.