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

Double-body detection underwater robot device and control method Download PDF

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Publication number
CN106695834A
CN106695834A CN201710094821.XA CN201710094821A CN106695834A CN 106695834 A CN106695834 A CN 106695834A CN 201710094821 A CN201710094821 A CN 201710094821A CN 106695834 A CN106695834 A CN 106695834A
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CN
China
Prior art keywords
robot
wing
tail
control
underwater robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710094821.XA
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Chinese (zh)
Inventor
孙玉山
徐昊
张国成
王相斌
曹建
冉祥瑞
杜城融
李岳明
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Harbin Engineering University
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Harbin Engineering University
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Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201710094821.XA priority Critical patent/CN106695834A/en
Publication of CN106695834A publication Critical patent/CN106695834A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14Control of attitude or depth
    • B63G8/16Control of attitude or depth by direct use of propellers or jets
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

Abstract

The invention provides a double-body detection underwater robot device and a control method. A robot main body is of a double-body structure consisting of a middle wing-shaped body and two streamline boat bodies symmetrically arranged on two sides of the middle wing-shaped body, wherein an elevating rudder is arranged at the tail end of the middle wing-shaped body; a core control cabin and two vertical thruster cabins arranged at the front and the back are arranged in the middle wing-shaped body; a vertical thruster is arranged in each vertical thruster cabin; a stabilizing wing is arranged on the side surface of the tail part of each streamline boat body; an airfoil profile vertical wing is arranged at the tail part of each streamline boat body; a main thruster is arranged at the tail end of each streamline boat body; battery cabins and detection equipment cabins are further arranged in the two streamline boat bodies; wall touch sonars are further arranged on the robot main body. The double-body detection underwater robot device can make an intelligent decision and can be switched among different operation modes according to a relative flowing speed, so that the posture can be kept stable, and functions of fixed-speed continuation, posture holding, hovering monitoring and the like are realized.

Description

A kind of binary detects underwater robot device and control method
Technical field
The present invention relates to a kind of binary detection underwater robot device and control method, belong to detection underwater robot technology Field.
Background technology
Due to the demand of river marine resources development and to hydrological environment monitoring in the urgent need to many national in the world Renewal hydrologic monitoring system is just continued to develop, the monitoring method and device of more and more high-efficiency and economics are gradually used, under water machine One of important means that device people monitors as marine environment detection and resource investigation is increasingly paid attention to by various countries.Underwater robot It is a kind of portable and itself can be used as the carrying platform of subaqueous survey sensor.It is monitored relative to it using underwater robot His traditional platform is with the obvious advantage.Underwater robot have it is round-the-clock, portable, the characteristics of task can be performed in complex water areas.Just It is that these features determine that underwater robot is one of good platform of hydrological environment monitoring.Sensed as good subaqueous survey The carrying platform of device takes into account flexibility and stability, to ensure detection mission data, it is necessary to underwater robot is in complex environment Authenticity.
Using the robot of rudder oar joint manipulation in the case where speed is higher, can more rapidly adjust latent deep, and due to Non-helical oar adjustment is latent deep, and the relative robot using vertical thrusters control attitude is in hgher efficiency, energy consumption is less, in high speed Can guarantee that attitude stabilization;The robot manipulated using many oars, when speed is relatively low, can quickly and effectively adjust attitude, and The functions such as hovering, cruise can be realized.Related practical experience is shown, is individually existed using the robot of both arrangements Have in clearly disadvantageous:Attitude is difficult to realize in low speed using the underwater robot of rudder oar joint manipulation accurately to control System, realizes that the motor-driven response time is more long, and the influence for detection data is very big;The underwater robot manipulated using many oars, in machine When device people gradually increases with respect to water velocity, the efficiency of vertical thrusters is reduced rapidly, acts on small for gesture stability, in stream Speed it is larger in the case of be difficult rapidly realize it is motor-driven and keep depth navigation, or even can not complete dive float etc. action.It is existing Space is limited in some robot cabins, and the equipment and number of batteries of carrying are limited, it is difficult to meet different task needs, while continuous Boat power is also because number of batteries can not get a promotion less.
With reference to existing scheme advantage and be directed to above-mentioned the deficiencies in the prior art, the present invention proposes a kind of detection of binary under water Robot, under water under complex environment, can keep the ability of attitude and maneuverability, possess and carry different detecting devices Ability, while meeting over long distances, prolonged detection mission.
The content of the invention
The invention aims to river prospecting, monitoring provides that one portable, reliability, intelligence, modular platform and A kind of binary detection underwater robot device and control method are provided.
The object of the present invention is achieved like this:A kind of binary detects underwater robot device, and robot body is in Between wing body and be symmetricly set on two of middle wing body both sides streamlined hulls composition couple structures, in middle wing body Tail end is provided with elevator, middle wing two vertical thrusters cabins for being provided with core control cabinet and front and rear arrangement in vivo, often Vertical thrusters are provided with individual vertical thrusters cabin, the side of each streamlined submarine tail is provided with stabilizer, each stream Aerofoil profile vertical tail, is provided with line style submarine tail, the tail end of each streamlined hull is provided with promotes mainly propeller, two streams Battery flat and probe compartment are additionally provided with line style hull, control computer, mission planning meter are provided with core control cabinet Calculation machine, attitude transducer, Emergency Device control panel, are additionally provided with wall and touch sonar on the robot body.
Present invention additionally comprises such some architectural features:
1. it is provided with radio, the GPS/ Big Dippeves, the integrated conformal antennas together of WiFi in aerofoil profile vertical tail,.
2. a kind of binary detects the control method of underwater robot device, including said apparatus,
(1) in constant speed depth-keeping navigation, if present speed is less than critical speed, two vertical thrusters work carry out depth And pose adjustment;If present speed is more than critical speed, the angle for changing elevator carries out depth adjustment;
(2) it is deep with latent using elevator control attitude in cruise;
(3) when monitoring is hovered, two are promoted mainly control robot in the position of longitudinal direction and angle of heading, and two hang down and push away control Robot processed is in the position of depth direction and trim;
(4) in maneuver, making two to promote mainly propeller, that there are different rotating speeds to produce differentials to realize is motor-driven.
Compared with prior art, the beneficial effects of the invention are as follows:The present invention is promoted mainly double hanging down and is pushed away plus risen due to hull using double Drop rudder design, Solid rocket engine mode flexibly, with going out the ability that different Solid rocket engine modes are taken in decision-making certainly, strong adaptability, with The robot of oar rudder control is compared, with can rapidly adjust attitude, the ability with floating upward quickly dive.By four propulsions The rotating of device, can keep attitude stabilization under complicated current, realize that constant speed is continued a journey, and attitude keeps, the function such as hovering monitoring, protect Stability and flexibility that whole robot is used are demonstrate,proved.Whole robot modularized design, equipment is carried the reserved unification in cabin and is connect Mouthful, different equipment, such as ADCP, multibeam sonar etc. can be carried according to the different demand of task, while also allow for changing and Maintenance of equipment, dependable performance high with autgmentability, maintenance repacking cost it is small the characteristics of.The present invention is gathered around due to using catamaran design There is roomy kayak body and abundant inner space, compared to the underwater robot of same length, more equipment and battery can be carried, With preferable autgmentability and lasting cruise-ability.Two groups of propeller lateral separations get a promotion, when propeller is operated with differential, Can produce and bigger turn bow torque.Mobility is stronger, and roomy kayak body can be maintained at the stability in water, to the detection carried Equipment provides a stabilised platform.
Brief description of the drawings
Fig. 1 is concrete structure schematic diagram of the invention;
Fig. 2 is overall structure diagram of the invention;
Fig. 3 is top view of the invention;
Fig. 4 is side view of the invention;
Fig. 5 is front view of the invention;
Fig. 6 is underwater robot inactive state floading condition schematic diagram of the invention;
Fig. 7 is underwater robot steering campaign schematic diagram of the invention;
Fig. 8 is pose adjustment (containing hovering) schematic diagram under underwater robot low speed of the invention;
Fig. 9 is underwater robot dive schematic diagram of the invention;
Figure 10 is that underwater robot of the invention turns first schematic diagram;
Figure 11 is underwater robot control system switch decision figure of the invention.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention by probe compartment 1, main body 2, obstacle avoidance sonar 3, battery flat 4, stabilizer 5, aerofoil profile Vertical tail, 6, promote mainly 7, elevator 8, core control cabinet 9, vertical thrusters 10 and constitute.Described probe compartment 1 uses module Change design, the installation of different detecting devices can be met, and the weather proof receptacle of uniform sizes is left in cabin, equipment can be quick Be connected with robot, with modularization and the characteristics of versatility, namely described probe compartment 1 can be according to different tasks Detecting devices needed for needing installation, with modularization and versatility.Underwater robot of the invention uses catamaran design, front and rear Two hang down push away, left and right two propeller arrangements promoted mainly, connected by wing bay section between two binarys;Using conformal day Line, the Big Dipper is communicated and is positioned, radio, and the module such as WiFi is integrated in wing antenna, to reduce the attached body quantity of hull, so as to subtract It is small because attached body produce resistance.
The main body 2 of robot of the invention uses the streamlined hull design of left and right binary to reduce resistance under water, main body Inside it is provided with battery flat 4 and probe compartment 1;Centre is airfoil body, and control cabinet 9, probe compartment 1 and two are provided with vivo Vertical thrusters cabin 10, rear portion is provided with an elevator 8;Described main body module is fixedly connected by welding.
Be integrated in the antennas such as radio, the GPS/ Big Dippeves, WiFi in aerofoil profile vertical tail, 6 by conformal antenna of the invention.This sets Meter effective while robot normal communication is ensured can reduce the attached body quantity of underwater robot, and keep hull streamlined complete Whole property, is reduced due to the influence of the resistance that attached body is produced.
The body posterior central in aerofoil profile of elevator of the invention 8, control robot is in the case that relative velocity is higher Floating dive and adjustment robot pose.Hull adds setting for elevator using double double vertical thrusters (hereinafter referred to as hang down and push away) of promoting mainly Meter, it is ensured that the good mobility under complicated current of robot, when relative velocity is smaller, uses double vertical propulsion row attitudes Control, in the case where relative velocity is larger, depth adjustment and gesture stability is carried out using elevator.
Be provided with core control cabinet 9 of the invention base control computer, mission planning computer, attitude transducer, The control devices such as Emergency Device control panel and key sensor.Attitude transducer can obtain in real time current robot it is first to Angle, roll angle, Angle of Trim and acceleration, the data that control computer is measured according to attitude transducer, extrapolate current pose and Speed, the dbjective state with required by task is contrasted, and makes corresponding decision.
The vertical thrusters 10 of two fore-and-aft directions of the invention arrangement, can control robot when relative velocity is relatively low on Floating dive and adjustment robot pose.When relative velocity is smaller, two hang down push away work.When needing dive, control computer root The data obtained according to attitude transducer, need with reference to task, using corresponding strategy, are hung down to two and push away the corresponding rotating speed of distribution, produce The raw trim (can also keep zero pitch) for needing, as shown in Figure 8;Adjustment attitude simultaneously produces downward power, makes it make a concerted effort downwards, to enter Row dive, as shown in Figure 9.
Described probe compartment 1, obstacle avoidance sonar 3, battery flat 4, the watertight that has standard in the cabin of core control cabinet 9 connect Head.The watertight connector includes power line and holding wire, (netting twine, Serial Port Line etc.), can be different according to the different choice of equipment Watertight connector, is quickly installed and detaching equipment, the signal port such as optional RS232 rs 232 serial interface signals, CAN, RJ45 netting twines.
Underwater robot of the invention can make intelligent decision under complicated current according to relative velocity, switch different Maneuverability pattern, so as to keep attitude stabilization, realizes that constant speed is continued a journey, and attitude keeps, the function such as hovering monitoring.Set to the detection carried It is standby that a reliable platform is provided.
When in use, by this robot placement water, this robot buoyancy is slightly larger than gravity, is slightly to float under inactive state The water surface, as shown in Figure 6;
When underwater robot needs to advance or retreat linear motion, promote mainly for two and rotate forward simultaneously or invert, robot Internal attitude transducer perceives the pose of now robot, judges whether according to linear motion, if angle of heading is with drift angle not When consistent, control computer uses corresponding strategy and algorithm, exports and promotes mainly different signals to two, exports different rotating speeds, Attitude is corrected in real time, to ensure the linear motion of robot.
When being cruised, because current are larger with respect to hull flow velocity, vertical pusher efficiency is poor, by grasping elevator The quick dive of robot can be made.After detecting devices according to carrying measures hull relative velocity, according to certain algorithm, judge After controlling hull attitude ratio to push away efficiency high using hanging down using rudder under the flow velocity, closing is hung down and is pushed away, and gesture stability is carried out using elevator. Such as need the latent depth for changing robot, as shown in Figure 7, manipulate elevator, robot is produced different trims, carry out dive. After reaching submerged depth, certain rudder angle is grasped, to keep certain attitude to be operated.Under cruise mode, robot is using liter Drop rudder adjustment is latent deep, the energy very little consumed in controlling depth, with good endurance.
When hovering monitoring is carried out, attitude transducer obtains current robot pose data, and control computer is calculated to be worked as Preceding state, the attitude needed with task is contrasted, and using corresponding strategy, different rotating speeds, two is distributed to four propellers Control robot is promoted mainly in the position of longitudinal direction and angle of heading, two vertical pushing away control robot in the position of depth direction and indulge Incline, produce different power, adjust current pose, as shown in Figure 8.In this mode, ensure that and detected under complicated current The stabilization of device measuring data and to some region of accurately detecting.
When needing to carry out maneuver, the data that control computer is measured by robot from belt sensor are judged Oneself state, using corresponding strategy, distribution different rotating speeds is promoted mainly to two, produces differential to realize that motor-driven (this robot is resonable Think that situation year can realize the steering of 180 ° of original place), as shown in Figure 10.
Holding normal work rotary speed working, hull relative velocity V are pushed away when hanging downrGradually increase, the vertical direction thrust F of robotv It is gradually reduced, the vertical thrust F under relative static conditions are reduced to020%, i.e. Fv=20%F0, relative velocity now is then It is critical speed VC
When constant speed depth-keeping navigation is carried out, current pose and acceleration information is obtained by depth gauge and attitude transducer, According to respective algorithms, current state and speed are extrapolated.If robot current depth and pose need adjustment, computer pair Current state carries out decision-making, if judging that present speed is less than critical speed V according to carrying equipment informationC, then hung down using two Pushing away 10 carries out depth and pose adjustment;If judging, present speed is more than critical speed VC, then by changing the angle of elevator 8 Carry out depth adjustment.Decision process is as shown in Figure 11.
Two binary front portions can carry binocular identification equipment or two subaqueous sound ranging equipment, improve identification avoidance speed and Success rate.Two binarys and wing body have more abundant space, can carry more batteries and equipment, possess good continuation of the journey Property and autgmentability.Unique catamaran design, possesses good stability, high-precision sensor can be carried in the middle part of wing body, also The influence of the data distortion caused because kayak body Curvature change produces water flow variation can be reduced.

Claims (3)

1. a kind of binary detects underwater robot device, it is characterised in that:Robot body is by middle wing body and symmetrically sets Two streamlined hull composition couple structures in middle wing body both sides are put, the tail end of middle wing body is provided with lifting Rudder, middle wing two vertical thrusters cabins for being provided with core control cabinet and front and rear arrangement in vivo, each vertical thrusters cabin Vertical thrusters are inside provided with, the side of each streamlined submarine tail is provided with stabilizer, in each streamlined submarine tail Aerofoil profile vertical tail, is provided with, the tail end of each streamlined hull is provided with promotes mainly propeller, is also set in two streamlined hulls Battery flat and probe compartment are equipped with, control computer, mission planning computer, attitude sensing are provided with core control cabinet Device, Emergency Device control panel, are additionally provided with wall and touch sonar on the robot body.
2. a kind of binary according to claim 1 detects underwater robot device, it is characterised in that:Set in aerofoil profile vertical tail, It is equipped with radio, the GPS/ Big Dippeves, the integrated conformal antennas together of WiFi.
3. a kind of binary detects the control method of underwater robot device, it is characterised in that:Including the binary described in claim 2 Detection underwater robot device,
(1) in constant speed depth-keeping navigation, if present speed is less than critical speed, two vertical thrusters work carry out depth and appearance State is adjusted;If present speed is more than critical speed, the angle for changing elevator carries out depth adjustment;
(2) it is deep with latent using elevator control attitude in cruise;
(3) when monitoring is hovered, two are promoted mainly control robot in the position of longitudinal direction and angle of heading, and two hang down and push away control machine Device people is in the position of depth direction and trim;
(4) in maneuver, making two to promote mainly propeller, that there are different rotating speeds to produce differentials to realize is motor-driven.
CN201710094821.XA 2017-02-22 2017-02-22 Double-body detection underwater robot device and control method Pending CN106695834A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Publications (1)

Publication Number Publication Date
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107957729A (en) * 2017-10-13 2018-04-24 中国船舶重工集团公司七五0试验场 Underwater robot makes a return voyage control method, computer and storage medium automatically
CN108319276A (en) * 2017-12-26 2018-07-24 上海交通大学 Underwater robot attitude regulation control device and method based on Boolean network
CN108803662A (en) * 2018-07-11 2018-11-13 哈尔滨工程大学 A kind of propulsion control system of underwater seismic wave detection flight node
CN110588926A (en) * 2019-09-17 2019-12-20 哈尔滨工程大学 Underwater monitoring device and laying and recycling method
CN111301646A (en) * 2020-03-25 2020-06-19 哈尔滨工程大学 Autonomous underwater robot for under-ice detection
CN111959700A (en) * 2020-08-05 2020-11-20 上海交通大学 Underwater mobile detection platform and detection method thereof
CN112706904A (en) * 2021-01-26 2021-04-27 自然资源部第一海洋研究所 Underwater robot

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107957729A (en) * 2017-10-13 2018-04-24 中国船舶重工集团公司七五0试验场 Underwater robot makes a return voyage control method, computer and storage medium automatically
CN107957729B (en) * 2017-10-13 2020-11-24 中国船舶重工集团公司七五0试验场 Automatic return control method for underwater robot, computer and storage medium
CN108319276A (en) * 2017-12-26 2018-07-24 上海交通大学 Underwater robot attitude regulation control device and method based on Boolean network
CN108803662A (en) * 2018-07-11 2018-11-13 哈尔滨工程大学 A kind of propulsion control system of underwater seismic wave detection flight node
CN110588926A (en) * 2019-09-17 2019-12-20 哈尔滨工程大学 Underwater monitoring device and laying and recycling method
CN111301646A (en) * 2020-03-25 2020-06-19 哈尔滨工程大学 Autonomous underwater robot for under-ice detection
CN111301646B (en) * 2020-03-25 2021-11-09 哈尔滨工程大学 Autonomous underwater robot for under-ice detection
CN111959700A (en) * 2020-08-05 2020-11-20 上海交通大学 Underwater mobile detection platform and detection method thereof
CN112706904A (en) * 2021-01-26 2021-04-27 自然资源部第一海洋研究所 Underwater robot

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