CN108045536A - A kind of small-sized VTOL underwater robot of untethered and its control method - Google Patents
A kind of small-sized VTOL underwater robot of untethered and its control method Download PDFInfo
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- CN108045536A CN108045536A CN201711130594.8A CN201711130594A CN108045536A CN 108045536 A CN108045536 A CN 108045536A CN 201711130594 A CN201711130594 A CN 201711130594A CN 108045536 A CN108045536 A CN 108045536A
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- underwater robot
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Classifications
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/048—Control of altitude or depth specially adapted for water vehicles
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Abstract
The present invention relates to underwater robot technologies, it is desirable to provide a kind of small-sized VTOL underwater robot of untethered and its control method.The external mounting bracket of a horizontal direction is arranged outside its pressure hull, external mounting bracket at least there are four cantilever, respectively installs one group of propeller on each cantilever；In forepart, the inside of hemispherical nozzle cover is equipped with video camera, and depth gauge is equipped on ring flange outer surface；The inside of pressure hull is equipped with battery, control panel and electron speed regulator, and electron speed regulator connects the motor of battery, control panel and propeller by conducting wire to drive propeller respectively.Size of the present invention is small, light-weight, easy to operate, aids in without miscellaneous equipments such as crane, ships, can be operated without the individual of any specialty background.It is cheap, there are specific purposes and use value, convenient for promoting.Easy to process, production, it is simple for process, convenient for quickly launching.The functions such as VTOL, depthkeeping hovering can be completed, there is very strong practicability and recreational.
Description
Technical field
The present invention relates to underwater robot technical field more particularly to a kind of small-sized VTOL underwater robot of untethered and
Its control method.The underwater robot is a kind of small scale, intelligence, the small-sized VTOL water that can be navigated by water automatically under water
Lower aircraft.
Background technology
Robot technology is a kind of emerging intelligent Manufacturing Technology, is at home and abroad subject to extensive use.Big boundary unmanned plane and
The rise of cloud continent Intelligent unattended ship just illustrates this point.Autonomous underwater robot is that one kind can several meters even below the water surface
Upper km, upper myriametre depth carry out the robot of autonomous navigation, have automatic navigation, independent navigation, independently perform subsea tasks
Ability.Compared with unmanned plane, unmanned vehicle and unmanned boat, the task environment residing for it is more complicated, used sensor and
Propulsion system is also different.It is in particular in：1) more than ten meters of depth below can not use high frequency radio wave under water, it will lead
Operating personnel and underwater robot is caused to be difficult to keep good to write to each other；And using underwater acoustic communication set, it is not only of high cost and logical
Believe that speed and capacity all can not be compared with radio wave；2) any nonwatertight electrical subassembly such as field of electronic components, mechanical part, push away
Must do watertight, pressure-resistant protection into component, otherwise will occur infiltration, leak causes cannot normal underwater navigation.
At present, underwater robot user is substantially all country, place or enterprise, colleges and universities, and the price is very expensive, body
Product and weight are all very big, and the sensor of loading is mostly scientific instrument.Ability with depthkeeping hovering, VTOL, special face
To vertical section underwater information acquisition for small micro- underwater robot research of the civil fields such as Underwater Engineering detection, not yet appear in the newspapers
Road.
The content of the invention
The technical problem to be solved by the present invention is to overcome deficiency of the prior art, provide a kind of small-sized vertical of untethered
Underwater robot and its control method drop.The underwater robot is small, stable movement, can carry special underwater camera module
And sensor, it is at low cost, suitable for civil fields such as Underwater Engineering detections.
To solve technical problem, solution of the invention is：
There is provided a kind of untethered small-sized VTOL underwater robot, including hollow fuselage main body and by motor and spiral shell
Revolve the propeller of paddle composition；The fuselage main body includes the ring flange being from top to bottom sequentially arranged, cylindrical pressure hull and half
Spherical kuppe is each other sealed connection；Wherein, the external installation branch of a horizontal direction has been arranged outside pressure hull
Frame, external mounting bracket at least there are four cantilever, respectively install one group of propeller on each cantilever；
In the inside of hemispherical nozzle cover equipped with video camera, depth gauge is equipped on ring flange outer surface；Pressure hull
Inside connects battery, control panel and propeller by conducting wire respectively equipped with battery, control panel and electron speed regulator, electron speed regulator
Motor to drive propeller；
Internal mounting bracket is set inside the fuselage main body, the battery, control panel and electron speed regulator are installed by inside
Stent realizes /V or installation；Wherein, supplied on control panel equipped with basic control module, bluetooth communication module, magnetic compass and power supply
Electric module；Basic control module connects other modules or sensor by conducting wire respectively, to realize control, communication and power supply.
In the present invention, multiple watertight plug connectors are equipped on ring flange, its one end connects internal unit by conducting wire, another
End connects external equipment by watertight conducting wire.
In the present invention, the video camera carries wifi communication modules and memory module.
In the present invention, ballast material is housed inside the fuselage main body.
In the present invention, the external mounting bracket is cut by acrylic board, has adaptation pressure hull outer diameter ruler
Very little cylindrical main body；Four cantilevers protruded outward have been evenly arranged on the outside of cylindrical main body, one is equipped on each cantilever
Group propeller；The motor of propeller is by watertight conducting wire and the watertight plug connector on ring flange with being mounted in fuselage main body
The electron speed regulator in portion is connected.
In the present invention, the vertical direction total length of the underwater robot is no more than 30cm, and maximum outside diameter is no more than 12cm,
Aerial weight is less than 5kg.
Invention further provides the control method of the small-sized VTOL underwater robot of foregoing untethered, by electronic speed regulation
Device connects the motor of battery, control panel and propeller by conducting wire so that propeller to be driven to run respectively, in the process, basic to control
Molding block calculates the course of underwater robot according to the information that each sensor obtains, and is transmitted to electron speed regulator and realize PID controls
The signal of system；Wherein, horizontal plane flywheel moment control output quantity is calculated by following formula obtains：
τM=Kpθ2(θ-θd)+Kdθ2q
In formula：
τMIt is the flywheel moment of vertical plane, is control output quantity；
θ is the current course angle of underwater robot, θdIt is underwater robot target course, the two is underwater robot
Quantity of state, can by the magnetic compass of underwater robot measure and be calculated；(θ-θd) be underwater robot course angle miss
Difference, q are the vertical angular rates of underwater robot, the two input quantity in order to control；Kpθ2It is the course angle error system of underwater robot
Number, Kdθ2It is the vertical angular rate coefficient of underwater robot, the two can be obtained by testing to measure, and be known parameters.
In the present invention, the start and stop for the information control propeller that basic control module is obtained according to each sensor, and then realize
To the Depth control of underwater robot, control output quantity is calculated by following formula and obtained：
Wherein, F is the lifting force of vertical plane, is control output quantity；
D is the current depth of underwater robot, DdIt is underwater robot target depth, the two is the state of underwater robot
Amount can be measured and be calculated by the depth transducer of underwater robot；
(D-Dd) be underwater robot depth error,It is the elevation rate of underwater robot, the two is control input
Amount；
KpIt is the depth error coefficient of underwater robot, KdIt is the vertical angular rate coefficient of underwater robot, KIIt is underwater machine
The depth error integral coefficient of device people, ∫ (D-Dd) dt be depth error integration, can by test measure obtain, be known ginseng
Number.
Compared with prior art, the invention has the advantages that and advantage：
1. size of the present invention is small, light-weight, easy to operate, aided in without miscellaneous equipments such as crane, ships, without any specialty
The individual of background can be operated.
2. the present invention is cheap, there are specific purposes and use value, convenient for promoting.
3. the present invention is easy to process, production, simple for process, convenient for quickly launching.
4. the present invention can complete the functions such as VTOL, depthkeeping hovering, there is very strong practicability and recreational.
Description of the drawings
Fig. 1 is the composition schematic diagram of the present invention；
Fig. 2 is the information acquisition system composition schematic diagram of the present invention；
Fig. 3 is the structure diagram of the present invention.
Reference numeral in Fig. 3：1 watertight plug connector, 2 depth transducers, 3 ring flanges, 4 pressure hulls, 5 basic control moulds
Block, 6 inside mounting brackets, 7 outside mounting brackets, 8 propellers, 9 electron speed regulators, 10 kuppes, 11 video cameras, 12 magnetic sieve
Disk, 13 bluetooth communication modules, 14 batteries.
Specific embodiment
Firstly the need of explanation, the present invention relates to robot technology.During the realization of the present invention, it may be related to
To the application of software function module.It is applicant's understanding that such as reading over the realization principle of application documents, the accurate understanding present invention
After goal of the invention, in the case where combining existing known technology, those skilled in the art can use its grasp completely
Software programming technical ability realizes the present invention.Category this scope that all the present patent application files refer to, applicant do not enumerate.Separately
Outside, the application of realization of the invention dependent on a variety of electronic components, and these electronic components are the prior art, and have into
Ripe product can market purchase acquisition, such as basic control module cited below, bluetooth communication module, magnetic compass, power supply power supply
Module, electron speed regulator, depth gauge, etc..
As shown in Figure 1, the small-sized VTOL underwater robot of untethered provided by the invention, including structural system, movement control
System processed and information acquisition system.
Structural system：Ring flange, cylindrical pressure hull and the hemispherical nozzle cover being from top to bottom sequentially arranged, it is close each other
Envelope connection forms hollow fuselage main body.The external mounting bracket of a horizontal direction has been arranged outside pressure hull, it is external
Mounting bracket respectively installs one group of propeller being made of motor and propeller there are four cantilever on each cantilever.Fuselage main body
Inside sets internal mounting bracket, for realizing /V or installation to components such as battery, control panel and electron speed regulators.Fuselage main body
Inside is equipped with ballast material.
Information acquisition system：In the inside of hemispherical nozzle cover equipped with the video camera as component of taking photo by plane, video camera carries
Wifi communication modules and memory module.Depth gauge is equipped on ring flange outer surface；Magnetic compass is housed inside fuselage main body.In method
Blue disk is equipped with multiple watertight plug connectors as expansion interface, and its one end connects internal unit by conducting wire, and the other end passes through water
Close conducting wire connects external equipment.
Kinetic control system：The inside of pressure hull is equipped with battery, control panel and electron speed regulator, and electron speed regulator passes through
Conducting wire connects the motor of battery, control panel and propeller to drive propeller respectively.Equipped with basic control module, indigo plant on control panel
Tooth communication module, magnetic compass and power supply module, basic control module connect other modules or sensor by conducting wire respectively,
To realize control, communication and power supply.Watertight plug connector of the motor of propeller by watertight conducting wire and on ring flange and peace
Electron speed regulator inside fuselage main body is connected.
In the present invention, the control of the small-sized VTOL underwater robot of untethered is realized：It is by leading by electron speed regulator
Line connects the motor of battery, control panel and propeller so that propeller to be driven to run respectively.In the process, basic control module according to
The information obtained according to each sensor calculates the course of underwater robot, and the signal for realizing PID control is transmitted to electron speed regulator；
Wherein, horizontal plane flywheel moment control output quantity is calculated by following formula obtains：
τM=Kpθ2(θ-θd)+Kdθ2q
In formula：
τMIt is the flywheel moment of vertical plane, is control output quantity；
θ is the current course angle of underwater robot, θdIt is underwater robot target course, the two is underwater robot
Quantity of state, can by the magnetic compass of underwater robot measure and be calculated；(θ-θd) be underwater robot course angle miss
Difference, q are the vertical angular rates of underwater robot, the two input quantity in order to control；Kpθ2It is the course angle error system of underwater robot
Number, Kdθ2It is the vertical angular rate coefficient of underwater robot, the two can be obtained by testing to measure, and be known parameters.
During above-mentioned control, propeller can also be controlled according to the information that each sensor obtains by basic control module
Start and stop, and then realize the Depth control to underwater robot, control output quantity is calculated by following formula and obtained：
Wherein, F is the lifting force of vertical plane, is control output quantity；
D is the current depth of underwater robot, DdIt is underwater robot target depth, the two is the state of underwater robot
Amount can be measured and be calculated by the depth transducer of underwater robot；
(D-Dd) be underwater robot depth error,It is the elevation rate of underwater robot, the two is control input
Amount；
KpIt is the depth error coefficient of underwater robot, KdIt is the vertical angular rate coefficient of underwater robot, KIIt is underwater machine
The depth error integral coefficient of device people, ∫ (D-Dd) dt be depth error integration, can by test measure obtain, be known ginseng
Number.
Below by specific embodiment, the implementation of the present invention is illustrated：
As shown in figure 3, underwater robot bottom is transparent hemispherical nozzle cover 10, pressure casing 4 is whole clearing
Cylindrical acrylic material, ballast material is filled in inside it.Main body top side is with acrylic ring flange 3 with waterproof O-ring
Sealing.External mounting bracket 7 is cut by acrylic board, has the cylindrical main body of adaptation pressure hull outer diameter；
Four cantilevers protruded outward have been equally spaced on the outside of cylindrical main body, one group of propeller 8 is housed on each cantilever, is promoted
The mutual line of device 8 forms square, the aircraft of similar quadrotor.Depth transducer 2 is connected to base by signal wire
This control module 5；Video camera 11 is autonomous device, needs to open switch before lower water, carries wifi module and memory module, can go out
Be connected transmission image information after water with mobile phone.
The type selecting of each equipment：Battery 14 uses lion 7.4V 2S lithium batteries, battery capacity 6000MAH；Propeller 8 configures
For bright space A2212 series KV980 brshless DC motors, 3 × 35mm three-bladed propellers are equipped with；Electron speed regulator 9 is using sky SKY
30A four-in-ones electricity is adjusted；Basic control module 5 uses STM32F103ZET6 microcontrollers；Depth transducer 2 uses Ke Saiwo leads
Formula pressure sensor KY-3-5, range ability are 0~30m；Magnetic compass 12 is nine axis magnetic compasses of GY953；Bluetooth communication module 13
For AN1301 ATK-HC05 bluetooth serial ports modules；Camera 11 is taken photo by plane component in real time for Mei Jiaxin C4008FPV720P.
This exemplary underwater robot is a kind of unmanned untethered submarine navigation device, and vertical direction total length is no more than
30cm, maximum outside diameter are no more than 12cm, and aerial weight is less than 5kg, and operating depth is in the range of 0 meter to 30 meters.It is used
Family can be aquaculture enterprise, Underwater Engineering enterprise, scientific research institutions and colleges and universities of college, and direct purposes is a certain waters of detection
The hydrologic regime of sectional elevation is, it can be achieved that the sectional elevation sampling of 0~30m depth of waters.Its buoyancy force of gravity is big, passes through control algolithm
With propeller thrust distribution design AUV Control system, AUV Control is realized, there is vertical rise
Drop, depthkeeping hovering, rotation and sidesway ability.Structural system is impermeable, water-tight, and inside keeps drying.Underwater robot oneself
Battery is carried, electric power is provided for kinetic control system and information acquisition system, ensures underwater robot normal work.Underwater
People 0~30m can navigate by water under water, and manual unlocking video camera is needed to switch and pass through after water outlet with mobile phone app wireless before lower water
Mode connects.Expansion interface is provided convenience to carry more multisensor, can be customized according to the specifically used demand of client.
Underwater robot is adjusted in the case where depth gauge 2 and magnetic compass 12 are guided using basic control module 5 and electron speed regulator 9
The thrust and torque of propeller are saved, realizes autonomous navigation；Battery 14 provides electronic unit power, task module power for robot
With propeller power, robot underwater continuation of the journey for a long time is supported；Video camera 11 gathers on the way and under water under control system control
Image information.Underwater robot course, posture and speed, depth information are obtained by using magnetic compass 12 and depth gauge 2.
When in use, underwater robot detects whether water first with depth gauge 2.It such as detects into water, it is basic to control
The plug-in of molding block starts to start, according to set depth dive or floating.After designated depth is reached, carry out depthkeeping and hang
Stop, and utilize 12 feedback attitude information of magnetic compass.Utilize camera acquisition on the way underwater picture.After work a period of time, under water
Periods of robot operation stop, it is automatic to float.
Claims (8)
1. a kind of small-sized VTOL underwater robot of untethered, including hollow fuselage main body and by motor and propeller group
Into propeller；It is characterized in that, the fuselage main body includes the ring flange being from top to bottom sequentially arranged, cylindrical pressure hull
It is each other sealed connection with hemispherical nozzle cover；Wherein, the external installation of a horizontal direction has been arranged outside pressure hull
Stent, external mounting bracket at least there are four cantilever, respectively install one group of propeller on each cantilever；
In the inside of hemispherical nozzle cover equipped with video camera, depth gauge is equipped on ring flange outer surface；The inside of pressure hull
Equipped with battery, control panel and electron speed regulator, electron speed regulator connects the electricity of battery, control panel and propeller by conducting wire respectively
Machine is to drive propeller；
Internal mounting bracket is set inside the fuselage main body, the battery, control panel and electron speed regulator are by internal mounting bracket
Realize /V or installation；Wherein, equipped with basic control module, bluetooth communication module, magnetic compass and power supply power supply mould on control panel
Block；Basic control module connects other modules or sensor by conducting wire respectively, to realize control, communication and power supply.
2. underwater robot according to claim 1, which is characterized in that multiple watertight plug connectors are equipped on ring flange,
Its one end connects internal unit by conducting wire, and the other end connects external equipment by watertight conducting wire.
3. underwater robot according to claim 1, which is characterized in that the video camera carries wifi communication modules and deposits
Store up module.
4. underwater robot according to claim 1, which is characterized in that ballast material is housed inside the fuselage main body.
5. according to the underwater robot described in Claims 1-4 any one, which is characterized in that the external mounting bracket
It is to be cut by acrylic board, the cylindrical main body with adaptation pressure hull outer diameter；On the outside of cylindrical main body
It is even to arrange four cantilevers protruded outward, one group of propeller is housed on each cantilever；The motor of propeller passes through watertight conducting wire
It is connected with the watertight plug connector on ring flange with the electron speed regulator inside fuselage main body.
6. according to the underwater robot described in Claims 1-4 any one, which is characterized in that the underwater robot
Vertical direction total length is no more than 30cm, and maximum outside diameter is no more than 12cm, and aerial weight is less than 5kg.
7. the control method of the small-sized VTOL underwater robot of untethered described in claim 1, which is characterized in that by electronic speed regulation
Device connects the motor of battery, control panel and propeller by conducting wire so that propeller to be driven to run respectively, in the process, basic to control
Molding block calculates the course of underwater robot according to the information that each sensor obtains, and is transmitted to electron speed regulator and realize PID controls
The signal of system；Wherein, horizontal plane flywheel moment control output quantity is calculated by following formula obtains：
τM=Kpθ2(θ-θd)+Kdθ2q
In formula：
τMIt is the flywheel moment of vertical plane, is control output quantity；
θ is the current course angle of underwater robot, θdIt is underwater robot target course, the two is the shape of underwater robot
State amount can be measured and be calculated by the magnetic compass of underwater robot；(θ-θd) be underwater robot course angle error, q
It is the vertical angular rate of underwater robot, the two input quantity in order to control；Kpθ2It is the course angle error coefficient of underwater robot, Kdθ2
It is the vertical angular rate coefficient of underwater robot, the two can be obtained by testing to measure, and be known parameters.
8. the method according to the description of claim 7 is characterized in that information control that basic control module is obtained according to each sensor
The start and stop of propeller processed, and then realize the Depth control to underwater robot, control output quantity is obtained by the calculating of following formula
：
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<mo>&Integral;</mo>
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Wherein, F is the lifting force of vertical plane, is control output quantity；
D is the current depth of underwater robot, DdIt is underwater robot target depth, the two is the quantity of state of underwater robot, energy
It measures and is calculated by the depth transducer of underwater robot；
(D-Dd) be underwater robot depth error,It is the elevation rate of underwater robot, the two is control input amount；
KpIt is the depth error coefficient of underwater robot, KdIt is the vertical angular rate coefficient of underwater robot, KIIt is underwater robot
Depth error integral coefficient, ∫ (D-Dd) dt be depth error integration, can by test measure obtain, be known parameters.
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| CN109533239A (en) * | 2018-11-27 | 2019-03-29 | 长安大学 | A kind of deep water underwater intelligent operation robot and its control system |
| CN109855649A (en) * | 2019-04-12 | 2019-06-07 | 哈尔滨工程大学 | A kind of underwater gliding machine platform motion profile passively determines method |
| CN112255387A (en) * | 2020-11-12 | 2021-01-22 | 南京工业大学 | Self-adaptive intelligent dissolved oxygen detector |
| CN113772063A (en) * | 2021-09-30 | 2021-12-10 | 杭州电子科技大学 | Underwater line inspection robot |
| CN113772063B (en) * | 2021-09-30 | 2022-06-21 | 杭州电子科技大学 | Underwater line patrol robot |
| CN114802664A (en) * | 2022-05-20 | 2022-07-29 | 南京理工大学工程技术研究院有限公司 | Underwater detector and using method |
| CN114802664B (en) * | 2022-05-20 | 2024-02-02 | 南京理工大学工程技术研究院有限公司 | Underwater detector and use method thereof |
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Application publication date: 20180518 |