CN106695834A - Double-body detection underwater robot device and control method - Google Patents

Abstract

The invention provides a two-body detection underwater robot device and control method. The main body of the robot is a two-body structure composed of a middle airfoil body and two streamlined hulls symmetrically arranged on both sides of the middle airfoil body. An elevator is provided, a core control cabin and two vertical thruster cabins arranged front and rear are arranged in the middle airfoil body, each vertical thruster cabin is provided with a vertical thruster, and the side of each streamlined hull tail is provided with Stabilizer wings, each streamlined hull tail is provided with an airfoil vertical wing, the tail end of each streamlined hull is provided with a main thruster, the two streamlined hulls are also provided with a battery compartment and a detection equipment compartment, the robot The main body is also provided with a wall bump sonar. According to the relative flow velocity, the present invention makes intelligent decisions and switches between different manipulation modes, so as to keep the posture stable and realize constant speed battery life, posture maintenance, hovering monitoring and other functions.

Description

A dual-body detection underwater robot device and control method

technical field

The invention relates to a two-body detecting underwater robot device and a control method, belonging to the technical field of detecting underwater robots.

Background technique

Due to the demand for the development of river and ocean resources and the urgent need for hydrological environment monitoring, many countries in the world are constantly developing and updating hydrological monitoring systems. More and more efficient and economical monitoring methods and devices are gradually being adopted. Underwater robots are used as marine environment detection One of the important means of resource survey and monitoring has attracted more and more attention from all countries. The underwater robot is a portable platform that can be used as an underwater measurement sensor. The use of underwater robots for monitoring has obvious advantages over other traditional platforms. Underwater robots are all-weather, portable, and can perform tasks in complex waters. It is these characteristics that determine that the underwater robot is one of the good platforms for hydrological environment monitoring. As a good platform for underwater measurement sensors, underwater robots need to take into account flexibility and stability in complex environments to ensure the authenticity of detection task data.

The robot using rudder-propeller joint control can adjust the submerged depth more quickly when the speed is high, and because the non-propeller adjusts the submerged depth, it is more efficient and consumes less energy than the robot using vertical thrusters to control the attitude. At high speeds, the attitude is stable; the robot controlled by multiple paddles can quickly and effectively adjust the attitude when the speed is low, and can realize functions such as hovering and constant speed cruising. Relevant practical experience shows that robots using these two arrangements alone have obvious deficiencies in application: underwater robots using rudder-propeller joint control are difficult to achieve precise attitude control at low speeds, and the response time for maneuvering is long. The influence of the data is great; for an underwater robot controlled by multiple propellers, when the relative water velocity of the robot gradually increases, the efficiency of the vertical propeller decreases rapidly, which has little effect on attitude control, and it is difficult to quickly It is difficult to achieve maneuvering and maintain deep navigation, and it is even impossible to complete actions such as diving and rising. The space in the existing robot cabin is limited, and the number of equipment and batteries carried is limited, which makes it difficult to meet the needs of different tasks. At the same time, the battery life cannot be improved due to the small number of batteries.

Combining the advantages of the existing solutions and aiming at the deficiencies of the above-mentioned prior art, the present invention proposes a two-body detection underwater robot, which can maintain posture and maneuverability in complex underwater environments, and has the ability to carry different detection equipment. ability, while satisfying long-distance and long-time detection tasks.

Contents of the invention

The purpose of the present invention is to provide a portable, reliable, intelligent and modular platform for river survey and monitoring, and to provide a two-body detection underwater robot device and control method.

The object of the present invention is achieved like this: a double-body detection underwater robot device, the main body of the robot is composed of a middle airfoil body and two streamlined hulls symmetrically arranged on both sides of the middle airfoil body to form a double-body structure. There is an elevator at the tail end of the wing, a core control cabin and two vertical thruster cabins arranged in the front and back in the middle airfoil, each vertical thruster cabin is equipped with a vertical thruster, and the tail of each streamlined hull The sides are provided with stabilizers, and the tail of each streamlined hull is provided with an airfoil-shaped vertical wing. The rear end of each streamlined hull is provided with a main thruster, and the two streamlined hulls are also equipped with battery compartments and detection equipment compartments. The core control cabin is equipped with a control computer, a mission planning computer, an attitude sensor, and an emergency dump control board, and the main body of the robot is also equipped with a wall collision sonar.

The present invention also includes such structural features:

1. The airfoil vertical wing is equipped with a conformal antenna integrating radio, GPS/Beidou, and WiFi.

2. A control method for a two-body detection underwater robot device, comprising the above-mentioned device,

(1) When sailing at constant speed and depth, if the current speed is less than the critical speed, the two vertical thrusters work to adjust the depth and attitude; if the current speed is greater than the critical speed, change the angle of the elevator to adjust the depth;

(2) When cruising, use elevators to control attitude and dive depth;

(3) During hovering monitoring, the two main pushers control the position and heading angle of the robot in the longitudinal direction, and the two vertical pushers control the position and pitch of the robot in the depth direction;

(4) When maneuvering, make the two main thrusters have different rotating speeds to generate differential speeds to realize maneuvering.

Compared with the prior art, the beneficial effects of the present invention are: the present invention adopts the design of double main thrusters, double vertical thrusters and elevators, and the propulsion control mode is flexible, and has the ability to adopt different propulsion control modes by self-decision, and has strong adaptability. Compared with the robot controlled by the paddle rudder, it has the ability to quickly adjust its attitude and has the ability to quickly float up and down. Through the forward and reverse rotation of the four propellers, it can maintain a stable attitude under complex water flow, realize constant speed endurance, attitude maintenance, hovering monitoring and other functions, ensuring the stability and flexibility of the entire robot. The modular design of the whole robot, the uniform interface is reserved in the equipment loading cabin, and different equipment can be loaded according to the needs of different tasks, such as ADCP, multi-beam sonar, etc., and it is also easy to replace and maintain equipment. The characteristics of low modification cost. Due to the double-body design, the present invention has a large hull and ample internal space. Compared with an underwater robot of the same length, it can carry more equipment and batteries, and has better expandability and long-lasting battery life. The lateral distance of the two sets of propellers is increased, and when the propellers operate at differential speeds, they can generate greater bow turning moments. The maneuverability is stronger, and the wide hull can maintain stability in the water, providing a stable platform for the detection equipment carried.

Description of drawings

Fig. 1 is a concrete structural representation of the present invention;

Fig. 2 is the overall structural representation of the present invention;

Fig. 3 is a top view of the present invention;

Fig. 4 is a side view of the present invention;

Fig. 5 is the front view of the present invention;

Fig. 6 is a schematic diagram of the floating state of the underwater robot of the present invention in a static state;

Fig. 7 is a schematic diagram of the steering movement of the underwater robot of the present invention;

Fig. 8 is a schematic diagram of attitude adjustment (including hovering) of the underwater robot of the present invention at low speed;

Fig. 9 is a schematic diagram of the diving of the underwater robot of the present invention;

Fig. 10 is a schematic diagram of the head turning of the underwater robot of the present invention;

Fig. 11 is a conversion decision diagram of the underwater robot control system of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in accompanying drawing 1, the present invention consists of a detection equipment cabin 1, a main body 2, a collision avoidance sonar 3, a battery cabin 4, a stabilizer wing 5, an airfoil vertical wing 6, a main thruster 7, an elevator 8, a core control cabin 9, a vertical To the propeller 10 composition. The detection equipment cabin 1 adopts a modular design, which can satisfy the installation of different detection equipment, and there are watertight plugs of uniform size in the cabin, so that the equipment can be quickly connected to the robot, and has the characteristics of modularization and versatility. That is to say, the detection equipment compartment 1 can be equipped with required detection equipment according to different tasks, and has modularity and versatility. The underwater robot of the present invention adopts a two-body design, two vertical thrusters at the front and rear, and two main thrusters at the left and right. Radio, WiFi and other modules are integrated in the wing antenna to reduce the number of appendages on the hull, thereby reducing the resistance caused by attachments.

The main body 2 of the robot of the present invention adopts the design of the left and right twin-body streamlined hulls to reduce the underwater resistance. The main body is provided with a battery compartment 4 and a detection equipment compartment 1; The cabin 1 and the two vertical thruster cabins 10 are provided with an elevator 8 at the rear; the main cabin is connected as a whole by welding.

The conformal antenna of the present invention integrates radio, GPS/Beidou, WiFi and other antennas in the airfoil vertical wing 6 . This design can effectively reduce the number of underwater robot appendages while ensuring the normal communication of the robot, maintain the streamlined integrity of the hull, and reduce the impact of resistance caused by the appendages.

The elevator 8 of the present invention is in the center of the airfoil middle body rear part, and controls the robot to float up and down and adjust the attitude of the robot under the relatively high situation of flow velocity. The hull adopts the design of double main thrusters, double vertical thrusters (hereinafter referred to as vertical thrusters) and elevators, which can ensure good maneuverability of the robot under complex water flow. In larger cases, use the elevator for depth adjustment and attitude control.

The core control cabin 9 of the present invention is equipped with basic control computer, mission planning computer, attitude sensor, emergency dumping control board and other control equipment and key sensors. The attitude sensor can obtain the head angle, roll angle, pitch angle and acceleration of the current robot in real time, and the control computer calculates the current attitude and speed based on the data measured by the attitude sensor, and compares it with the target state required by the task to make a corresponding response. decision making.

The two vertical propellers 10 arranged in the front and rear directions of the present invention can control the robot to go up and down and adjust the attitude of the robot when the relative flow velocity is low. When the relative flow velocity is small, the two vertical thrusters work. When it is necessary to dive, the control computer adopts a corresponding strategy based on the data obtained by the attitude sensor and in combination with the needs of the task, assigns the corresponding rotational speed to the two vertical thrusters, and generates the required pitch (or maintains zero pitch), as shown in Figure 8 display; adjust posture and produce downward force, make its combined force downward, and dive, as shown in accompanying drawing 9.

The detection equipment compartment 1, the collision avoidance sonar 3, the battery compartment 4, and the core control compartment 9 all have standard watertight joints. The watertight connector contains power lines and signal lines (network cables, serial cables, etc.), and different watertight connectors can be selected according to different devices to quickly install and disassemble the device. RS232 serial port signals, CAN bus, RJ45 network cables and other signals can be selected. mouth.

The underwater robot of the present invention can make intelligent decisions according to the relative flow velocity under complex water flow, and switch between different manipulation modes, so as to maintain a stable posture and realize functions such as battery life at a constant speed, posture maintenance, and hovering monitoring. Provide a reliable platform for the on-board detection equipment.

When in use, place the robot in the water, the buoyancy of the robot is slightly greater than gravity, and it floats slightly on the water surface in a static state, as shown in Figure 6;

When the underwater robot needs to move forward or backward in a straight line, the two main thrusters rotate forward or reverse at the same time. The attitude sensor inside the robot senses the robot's position at this time and judges whether it is moving in a straight line. If the heading angle is inconsistent with the drift angle, The control computer adopts corresponding strategies and algorithms, outputs different signals to the two main pushers, outputs different speeds, and corrects the attitude in real time to ensure the linear motion of the robot.

When cruising, due to the relatively high flow velocity of the water flow relative to the hull, the efficiency of the vertical thruster is poor, and the robot can dive quickly by operating the elevator. After measuring the relative flow velocity of the hull according to the equipped detection equipment, according to a certain algorithm, it is judged that using the rudder to control the attitude of the hull at this flow rate is more efficient than using the vertical thrust, then the vertical thrust is turned off, and the elevator is used for attitude control. If the diving depth of the robot needs to be changed, as shown in Figure 7, the elevator is manipulated to make the robot produce different pitches and dive. After reaching the diving depth, operate a certain rudder angle to maintain a certain posture for work. In the cruising mode, the robot uses the elevator to adjust the diving depth, which consumes little energy in controlling the depth and has good battery life.

During hovering monitoring, the attitude sensor obtains the current robot pose data, the control computer calculates the current state, compares it with the attitude required by the task, and adopts the corresponding strategy to assign different speeds to the four propellers, and the two main thrusters control the robot. In the position and heading angle in the longitudinal direction, the two vertical thrusters control the position and pitch of the robot in the depth direction, generate different forces, and adjust the current attitude, as shown in Figure 8. In this mode, it can ensure the stability of the measurement data of the detection equipment and the accurate detection of a certain area under complex water flow.

When a maneuver is required, the control computer judges its own state through the data measured by the robot’s own sensors, and adopts a corresponding strategy to assign different speeds to the two main propellers to generate a differential speed to achieve maneuvering (this robot can in an ideal situation. Realize 180 ° turning in situ), as shown in accompanying drawing 10.

When the vertical thruster maintains the normal working speed, the relative flow velocity _Vr of the hull gradually increases, and the vertical _{thrust Fv} of the robot _gradually decreases. 20% F ₀ , the relative flow velocity at this time is the critical velocity V _C .

When sailing at a constant speed and depth, the current position, attitude and acceleration information are obtained by the depth gauge and attitude sensor, and the current state and speed are calculated according to the corresponding algorithm. If the current depth and pose of the robot need to be adjusted, the computer makes a decision on the current state. If it is judged that the current speed is less than the critical speed V _C according to the equipment information, two vertical pushers 10 are used to adjust the depth and pose; if it is judged that the current If the speed is greater than the critical speed V _C , the depth adjustment is performed by changing the angle of the elevator 8 . The decision-making process is shown in Figure 11.

The front of the two catamarans can be equipped with binocular recognition equipment or two underwater acoustic ranging equipment to improve the speed and success rate of obstacle recognition and avoidance. The two catamarans and the wing body have ample space, can carry more batteries and equipment, and have good battery life and expandability. The unique twin-body design has good stability, and high-precision sensors can be mounted in the middle of the wing body, which can also reduce the influence of data distortion caused by changes in water flow caused by changes in the curvature of the hull.

Claims (3)

1. A dual-body detection underwater robot device is characterized in that: the main body of the robot is composed of a central airfoil and two streamlined hulls symmetrically arranged on both sides of the central airfoil to form a double-body structure, at the tail end of the central airfoil An elevator is provided, a core control cabin and two vertical thruster cabins arranged front and rear are arranged in the middle airfoil body, each vertical thruster cabin is provided with a vertical thruster, and the side of each streamlined hull tail is provided with Stabilizer wing, each streamlined hull tail is equipped with an airfoil vertical wing, the tail end of each streamlined hull is equipped with a main thruster, the two streamlined hulls are also equipped with a battery compartment and a detection equipment compartment, and the core control cabin A control computer, a mission planning computer, an attitude sensor, and an emergency dump control board are arranged inside, and a wall collision sonar is also arranged on the main body of the robot. 2. A dual-body detection underwater robot device according to claim 1, characterized in that: the airfoil vertical wing is provided with a conformal antenna integrating radio, GPS/Beidou, and WiFi. 3. A control method for a two-body detection underwater robot device, characterized in that: comprising the two-body detection underwater robot device according to claim 2, (1) When sailing at constant speed and depth, if the current speed is less than the critical speed, the two vertical thrusters work to adjust the depth and attitude; if the current speed is greater than the critical speed, change the angle of the elevator to adjust the depth; (2) When cruising, use elevators to control attitude and dive depth; (3) During hovering monitoring, the two main pushers control the position and heading angle of the robot in the longitudinal direction, and the two vertical pushers control the position and pitch of the robot in the depth direction; (4) When maneuvering, make the two main thrusters have different rotating speeds to generate differential speeds to realize maneuvering.