CN108312151B - Drift detection underwater robot device and control method - Google Patents

Drift detection underwater robot device and control method Download PDF

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Publication number
CN108312151B
CN108312151B CN201810057279.5A CN201810057279A CN108312151B CN 108312151 B CN108312151 B CN 108312151B CN 201810057279 A CN201810057279 A CN 201810057279A CN 108312151 B CN108312151 B CN 108312151B
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robot
control
stern
underwater robot
drifting
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CN108312151A (en
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曹建
孙玉山
张国成
冉祥瑞
徐昊
王子楷
吴凡宇
贾晨凯
焦文龙
王力锋
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Harbin Engineering University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, 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
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, 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
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, 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
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a drifting detection underwater robot device and a control method, and belongs to the technical field of detection underwater robots. The robot main body is of a torpedo type structure, and hydrological detection equipment ADCP (acoustic Doppler profile velocimeter), ranging sonar and emergency load rejection are carried on the bow of the robot; the middle cabin section is a pressure-resistant cabin, the pressure-resistant cabin is divided into an energy cabin and a control cabin, and the energy cabin is internally provided with two high-energy-density lithium batteries which are respectively used for power supply and control power supply; the tail section carries conformal antenna (including big dipper location and communication, radio and wiFi), DVL, depth gauge, range finding sonar. High-efficiency propellers are arranged on the left side and the right side of the tail of the robot, and a vertical channel propeller is arranged in front of and behind the robot. According to the invention, the on or off of the drift mode is intelligently realized according to the surrounding environment of the robot and the task instruction, so that the detection and monitoring tasks with low power consumption, long voyage and long time are realized.

Description

Drift detection underwater robot device and control method
Technical Field
The invention belongs to the technical field of underwater detection robots, and particularly relates to a drifting underwater detection robot device and a control method.
Background
The total area of the ocean is 3.6x10s square kilometers, accounting for 70.8% of the total area of the earth. The total volume of seawater is about 1.37xl protected cubic kilometers, the average water depth is about 3800 meters, and the deepest maryland gully is 11034 meters. The unbounded ocean space contains abundant marine biological resources, mineral resources and energy resources, is an important wealth for human sustainable development, researches and reasonably utilizes the ocean, has important significance for human economic and social development, and continuously develops and updates hydrological detection systems in many countries in the world due to the urgent needs of river ocean resource development and hydrological environment monitoring. More and more efficient and economical monitoring devices and methods are being employed. Underwater robots are gradually gaining attention from various countries as one of important means for underwater environment detection and investigation. The underwater robot has the characteristics of all weather, high efficiency, safety and the like, and is determined to be one of excellent hydrological environment monitoring platforms due to the characteristics.
The underwater robot is a complex nonlinear dynamic system, environmental interference represented by ocean current and carried load change can affect the accuracy of a dynamic model of the underwater robot, and the underwater robot dynamic model established based on a linear system theory and a Newton-Euler equation is based on a parameterized model and does not have an online correction function. Because the neural network has the capability of approaching any nonlinear mapping and has the function of online learning, in order to improve the identification precision of the underwater robot dynamics model, researchers at home and abroad try to utilize the neural network to identify the underwater robot model. The existing underwater robots all adopt batteries as energy sources, the endurance time generally ranges from several hours to dozens of hours, tasks need to be finished before the electric quantity of the batteries is exhausted, and the tasks of long-time monitoring are difficult to achieve. Most underwater robots adopt a steering oar control mode, have low steering effect at low speed, cannot realize maneuvering actions such as bow turning, diving and the like, are extremely easily influenced by water flow at low speed, are difficult to maintain in posture, cannot realize special tasks such as fixed-point monitoring and the like.
By combining the existing scheme and aiming at the defects of the prior art, the invention provides the drifting detection underwater robot which can execute a detection task for a long time, can keep good maneuverability under the low-speed condition, and can realize tasks such as fixed-point monitoring.
Disclosure of Invention
The invention aims to provide a drifting detection underwater robot device which has low power consumption, is durable, flexible and intelligent and can keep the motion functions of stable posture, constant-speed directional cruising, hovering and the like under complex water flow for river exploration and monitoring, and ensures the stability and flexibility of the underwater robot during working and a control method thereof.
The purpose of the invention is realized by the following technical scheme:
a drift detection underwater robot device is characterized in that a robot main body is of a torpedo type structure, and hydrological detection equipment ADCP (acoustic Doppler profile velocimeter), a ranging sonar and emergency load rejection are carried on the bow of the robot; the middle cabin section is a pressure-resistant cabin, the pressure-resistant cabin is divided into an energy cabin and a control cabin, and the energy cabin is internally provided with two high-energy-density lithium batteries which are respectively used for power supply and control power supply; the tail section carries conformal antenna (including big dipper location and communication, radio and wiFi), DVL, depth gauge, range finding sonar. High-efficiency propellers are arranged on the left side and the right side of the tail of the robot, and a vertical channel propeller is arranged in front of and behind the robot.
A control method of a drifting detection underwater robot device comprises the following steps:
(1) when the robot works, the propeller only adjusts the posture of the robot along with drift of water flow;
(2) during fixed-point hovering monitoring, the positions and the heading angles of the two main push control robots in the longitudinal direction and the positions and the trim of the two vertical push control robots in the depth direction are controlled;
(3) when the motor-driven propeller is in motor-driven action, the two main pushing propellers have different rotating speeds to generate differential speed so as to realize motor-driven action.
(4) The ranging sonar carried by the underwater robot can measure the information of the distance obstacle and can maneuver and avoid the distance obstacle.
(5) The current suitable motion state can be judged according to the environment and the self condition, and the motion state and the mode can be intelligently changed.
The invention has the beneficial effects that:
the invention can intelligently change the motion state by integrating the environment and the self condition; can drift depending on the flow of a water body, does not completely depend on the movement of a propeller, and has the characteristics of low power consumption and long endurance time compared with other underwater robots. The underwater robot bow and stern designed by the invention has six ranging sonars in total, and is used for measuring the distance between the underwater robot and surrounding obstacles and assisting in realizing the functions of autonomous detection in water, obstacle avoidance and the like. Through the forward and reverse rotation of the four propellers, the motion functions of stable posture, constant-speed directional cruising, hovering and the like can be kept under complex water flow, the stability and flexibility of the underwater robot during working are ensured, and a stable platform is provided for the carried detection equipment.
Drawings
FIG. 1 is a schematic diagram of the specific structure of the present invention;
FIG. 2 is a schematic view of the overall structure 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 a front view of the present invention;
FIG. 6 is a schematic diagram of the floating state of the underwater robot of the present invention;
FIG. 7 is a schematic view of the underwater robot pitch adjustment of the present invention;
FIG. 8 is a schematic view of the underwater robot of the present invention turning around;
FIG. 9 is a schematic of the underwater robot of the present invention diving;
FIG. 10 is a schematic view of the underwater robotic propulsor advancement of the present invention;
FIG. 11 is a control decision diagram for an underwater robot of the present invention;
fig. 12 is a flow chart of the underwater robot state selection of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
the first embodiment is as follows:
the drifting detection underwater robot device comprises a bow ranging sonar 1, an acoustic Doppler profile velocimeter 2, a ranging sonar I3, a bow vertical propeller I4, a battery compartment 5, a retraction hoisting point 6, a control compartment 7, a stern vertical propeller II 8, a conformal antenna 9, a main switch 10, a stern stabilizing wing 11, a stern ranging sonar 12, a longitudinal propeller 13, a DVL14 and a ranging sonar II 15;
the acoustic Doppler profile velocimeter 2, the bow vertical propeller I4, the battery compartment 5, the control compartment 7, the stern vertical propeller II 8 and the stern ranging sonar 12 are sequentially connected; the acoustic Doppler profile velocimeter 2 consists of a cylindrical cavity and a conical machine body, and the bow range finding sonar 1 is arranged on the side surface of the acoustic Doppler profile velocimeter 2; the bow vertical propeller I4 and the stern vertical propeller II 8 are both cylinders, and the bottom surface circular radius is equal to that of the acoustic Doppler profile velocimeter 2; the battery compartment 5 is a three-section cylinder, the bottom surface circle radius is equal to that of the acoustic Doppler profile velocimeter 2, and a square sheet object with a circular hole in the center is taken as a retractable lifting point 6 and is arranged on the side surface of the battery compartment 5; the control cabin 7 is two sections of cylinders, and the bottom surface circle radius is equal to that of the acoustic Doppler profile velocimeter 2; stern portion range finding sonar 12 is the curved surface cylinder, and conformal antenna 9 and range finding sonar two 15 are installed in the side of stern portion range finding sonar 12, and stern portion stabilizer blade 11 comprises four, and the equipartition is at the top of stern portion range finding sonar 12, and vertical propeller 13 and DVL14 install the inside cavity at stern portion range finding sonar 12.
The bow ranging sonar 1, the ranging sonar I3, the stern ranging sonar 12 and the ranging sonar II 15 adopt a modular design, a processing board and a transducer are integrated in a pressure-resistant shell, and a standard six-core watertight connector is used for power supply and data transmission; the battery cabin 5 and the control cabin 7 are pressure-resistant cabins, standard watertight connectors are installed on the pressure-resistant cabins, the battery cabin 5 and the control cabin 7 are axially and hermetically connected through a sealing clamping ring, and the whole pressure-resistant cabin is axially sealed by two end plane end covers and the sealing clamping ring.
A high-density lithium battery is placed and carried in the battery cabin 5; the retractable hoisting point 6 adopts single-point hoisting.
A basic control computer, a mission planning computer, an attitude sensor, an emergency load rejection control panel and other control equipment and key sensors are arranged in the control cabin 7;
the attitude sensor acquires the heading angle, the roll angle and the pitch angle of the current robot in real time, the control computer calculates the current attitude and speed according to the data measured by the attitude sensor, and the current attitude and speed are compared with the target state required by the task to make a corresponding decision.
The conformal antenna 9 integrates a radio antenna, a GPS/Beidou antenna and a WiFi antenna.
A control method of a drifting detection underwater robot device comprises the following steps:
(1) when the robot works, the propeller only adjusts the posture of the robot along with drift of water flow;
(2) during fixed-point hovering monitoring, the positions and the heading angles of the two main push control robots in the longitudinal direction and the positions and the trim of the two vertical push control robots in the depth direction are controlled;
(3) when the motor-driven propeller is in motor-driven action, the two main pushing propellers have different rotating speeds to generate differential speed so as to realize motor-driven action.
(4) The ranging sonar carried by the underwater robot can measure the information of the distance obstacle and can maneuver and avoid the distance obstacle.
(5) The current suitable motion state can be judged according to the environment and the self condition, and the motion state and the mode can be intelligently changed.
When in use, the robot is placed in water, the buoyancy of the robot is slightly larger than the gravity, and the robot slightly floats on the water surface in a static state, as shown in figure 6;
when the underwater robot needs to move forwards or backwards in a linear mode, the two main thrusters rotate forwards or backwards at the same time, as shown in fig. 7, the attitude sensor in the robot senses the pose of the robot at the moment, whether the robot moves linearly or not is judged, if the heading angle is inconsistent with the drift angle, the control computer outputs different signals to the two main thrusters by adopting corresponding strategies and algorithms, outputs different rotating speeds, and corrects the pose in real time so as to guarantee the linear motion of the robot.
When the underwater robot needs to dive, the fore-aft vertical propellers are opened to generate downward resultant force for diving, as shown in figure 8. The system judges whether the target depth is reached according to the information of the depth meter sensor, and corresponding control is carried out.
During hovering monitoring, the attitude sensor acquires position and attitude data of the current robot, the control computer calculates a current state, the current state is compared with an attitude required by a task, different rotating speeds are distributed to four propellers by adopting corresponding strategies, the positions and the initial angles of the two main push control robots in the longitudinal direction and the positions and the longitudinal inclination of the two vertical push control robots in the depth direction generate different forces, and the current attitude is adjusted as shown in the attached drawing 9. In the mode, the stability of the measurement data of the detection equipment under the complex water flow and the accurate detection of a certain area can be ensured.
When maneuvering action is needed, the control computer judges the self-state through data measured by a sensor of the robot, and adopts a corresponding strategy to distribute different rotating speeds to the two main thrusters to generate differential speed so as to realize maneuvering (the robot can realize in-situ 180-degree steering in ideal conditions), as shown in the attached figure 10.
When the system navigates in water, the system judges whether the drifting mode is started or not in the current state. As shown in fig. 12, the system calculates the current position of the underwater robot according to the GPS or the navigation position, compares the current position with the system map database, and starts the drifting mode if the current position is in the drifting area set by the system; and if the underwater robot is not in the drift area, performing safety evaluation according to conditions such as data N of the ranging sonar, the system state of the underwater robot and the like, and calculating the safety degree Q. Safety and sonar data Nn(n is 1 … 6), and the relationship between the own system fault state S is as follows:
Figure BDA0001554138550000041
defining a safety threshold Q0If Q is<Q0Then the drift mode is turned off, if Q>Q0If the robot is in a safe state, the drifting mode is started.
As shown in fig. 11, if the underwater robot is in a drifting state, only the heading, trim and depth controllers are started for automatic control, and the moving speed of the underwater robot at the moment is the water flow velocity; if the current state is not the drifting state, the speed, the heading, the trim and the depth controller are all started for automatic control.
Example two:
as shown in the attached figure 1, the invention consists of a bow ranging sonar 1, an acoustic Doppler profile velocimeter (ADCP)2, a ranging sonar 3, a bow vertical propeller 4, a battery compartment 5, a folding and unfolding hanging point 6, a control compartment 7, a stern vertical propeller 8, a conformal antenna 9, a main switch 10, a stern stabilizer 11, a stern ranging sonar 12, a longitudinal propeller 13, a DVL14 and a ranging sonar 15. The ranging sonar 1, 3, 12 and 15 adopt a modular design, a processing board and a transducer are integrated in a pressure-resistant shell, and a standard six-core watertight connector is used for power supply and data transmission; the underwater robot can meet the installation requirements of different detection equipment, watertight plugs with uniform sizes are reserved, the equipment can be quickly connected with the underwater robot, namely, standard watertight connectors are installed on the end covers of the pressure-resistant cabins 5 and 7, the underwater robot can install the required detection equipment according to different task requirements, and the underwater robot has modularization and universality. The underwater robot adopts a propeller arrangement mode of front and rear vertical thrusting and left and right main thrusting; the conformal antenna is adopted, and modules such as Beidou communication positioning, radio, WiFi and the like are integrated in the wing-shaped antenna, so that the number of boat body attachments is reduced, and the resistance generated by the attachments is reduced.
The ranging sonar 1, 3, 12 and 15 of the invention adopts low power consumption and modular design, the processor and the transducer are integrated in a pressure-resistant shell, and a standard six-core watertight connector is used for power supply and data transmission and is connected with the pressure-resistant cabins 5 and 7. The six range finding sonars are used for detecting the distance between the surrounding obstacles and the robot, and if the distance is smaller than the safe distance, the system executes corresponding action to enable the system to be far away from the obstacles.
The bow of the robot carries the ADCP, the flow velocity of any section of any water body can be measured in any state of the robot, and information is stored in a memory in a control cabin at any time.
Two high-density lithium batteries are placed and carried in the battery compartment 5 of the robot, and energy is provided for a control system and a power system respectively.
The retraction hoisting point 6 of the robot adopts single-point hoisting, so that the release and recovery of the robot can be realized rapidly.
The pressure-resistant cabin comprises a battery cabin 5 and a control cabin 7, the battery cabin and the control cabin are axially and hermetically connected through a sealing snap ring, and the whole pressure-resistant cabin is axially sealed by two end plane end covers and the sealing snap ring. The plane end cover is provided with a watertight joint for connecting each sensor and equipment.
The conformal antenna 9 integrates the radio, the GPS/Beidou, the WiFi and other antennas. The design can effectively reduce the number of the attachments of the underwater robot while ensuring the normal communication of the robot, and maintain the streamline integrity of the boat body, thereby reducing the influence of resistance generated by the attachments.
The control cabin 7 is internally provided with a basic control computer, a mission planning computer, an attitude sensor, an emergency load rejection control panel and other control equipment and key sensors. The attitude sensor can acquire the heading angle, the roll angle and the pitch angle of the current robot in real time, and the control computer calculates the current attitude and speed according to the data measured by the attitude sensor, compares the current attitude and speed with a target state required by a task and makes a corresponding decision.
The ranging sonar 1, 3, 12, 15, ADCP 2, the conformal antenna 9 and the DVL14 are all standard watertight joints, power lines and signal lines (serial lines, network lines and the like) are contained in the watertight joints, and equipment can be rapidly installed and disassembled.
The underwater robot can execute drift detection in water flow, and make intelligent decision according to task demand, real-time speed, attitude and surrounding obstacle information so as to ensure stable attitude and accurate monitoring information.
When in use, the robot is placed in water, the buoyancy of the robot is slightly larger than the gravity, and the robot slightly floats on the water surface in a static state, as shown in figure 6;
when the underwater robot needs to move forwards or backwards in a linear mode, the two main thrusters rotate forwards or backwards at the same time, as shown in fig. 7, the attitude sensor in the robot senses the pose of the robot at the moment, whether the robot moves linearly or not is judged, if the heading angle is inconsistent with the drift angle, the control computer outputs different signals to the two main thrusters by adopting corresponding strategies and algorithms, outputs different rotating speeds, and corrects the pose in real time so as to guarantee the linear motion of the robot.
When the underwater robot needs to dive, the fore-aft vertical propellers are opened to generate downward resultant force for diving, as shown in figure 8. The system judges whether the target depth is reached according to the information of the depth meter sensor, and corresponding control is carried out.
During hovering monitoring, the attitude sensor acquires position and attitude data of the current robot, the control computer calculates a current state, the current state is compared with an attitude required by a task, different rotating speeds are distributed to four propellers by adopting corresponding strategies, the positions and the initial angles of the two main push control robots in the longitudinal direction and the positions and the longitudinal inclination of the two vertical push control robots in the depth direction generate different forces, and the current attitude is adjusted as shown in the attached drawing 9. In the mode, the stability of the measurement data of the detection equipment under the complex water flow and the accurate detection of a certain area can be ensured.
When maneuvering action is needed, the control computer judges the self-state through data measured by a sensor of the robot, and adopts a corresponding strategy to distribute different rotating speeds to the two main thrusters to generate differential speed so as to realize maneuvering (the robot can realize in-situ 180-degree steering in ideal conditions), as shown in the attached figure 10.
When the system navigates in water, the system judges whether the drifting mode is started or not in the current state. As shown in fig. 12, the system calculates the current position of the underwater robot according to the GPS or the navigation position, and compares the current position with the map database of the system, if the current position is in the drift area set by the systemThe drift mode is started in the domain; and if the underwater robot is not in the drift area, performing safety evaluation according to conditions such as data N of the ranging sonar, the system state of the underwater robot and the like, and calculating the safety degree Q. Safety and sonar data Nn(n is 1 … 6), and the relationship between the own system fault state S is as follows:
Figure BDA0001554138550000061
defining a safety threshold Q0If Q is<Q0Then the drift mode is turned off, if Q>Q0If the robot is in a safe state, the drifting mode is started.
As shown in fig. 11, if the underwater robot is in a drifting state, only the heading, trim and depth controllers are started for automatic control, and the moving speed of the underwater robot at the moment is the water flow velocity; if the current state is not the drifting state, the speed, the heading, the trim and the depth controller are all started for automatic control.
The underwater robot can intelligently switch motion modes. When the water is released into the water area manually or mechanically, the water area is controlled to enter a designated water area remotely or manually, an automatic control mode is started, and the robot control mode is changed from manual control to automatic control. In the automatic mode, all the environment sensors are turned on to automatically sense the surrounding obstacles, water depth and other environment conditions, and if the active moving mode is triggered, the speed controller is turned on to control the speed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. The control method of the drift detection underwater robot device comprises a bow ranging sonar (1), an acoustic Doppler profile velocimeter (2), a ranging sonar I (3), a bow vertical propeller I (4), a battery compartment (5), a retractable hanging point (6), a control compartment (7), a stern vertical propeller II (8), a conformal antenna (9), a master switch (10), a stern stabilizing wing (11), a stern ranging sonar (12), a longitudinal propeller (13), a DVL (14) and a ranging sonar II (15);
the acoustic Doppler profile velocimeter (2), the bow vertical propeller I (4), the battery compartment (5), the control compartment (7), the stern vertical propeller II (8) and the stern ranging sonar (12) are sequentially connected; the acoustic Doppler profile velocimeter (2) consists of a cylindrical cavity and a conical machine body, and the bow ranging sonar (1) is arranged on the side face of the acoustic Doppler profile velocimeter (2); the bow vertical propeller I (4) and the stern vertical propeller II (8) are both cylinders, and the bottom surface circular radius is equal to that of the acoustic Doppler profile velocimeter (2); the battery compartment (5) is a three-section cylinder, the bottom surface circle radius is equal to that of the acoustic Doppler profile velocimeter (2), and the retractable lifting point (6) is a square sheet object with a round hole in the center and is arranged on the side surface of the battery compartment (5); the control cabin (7) is two sections of cylinders, and the bottom surface circle radius is equal to that of the acoustic Doppler profile velocimeter (2); the stern ranging sonar (12) is a curved-surface cylinder, the conformal antenna (9) and the ranging sonar II (15) are installed on the side face of the stern ranging sonar (12), the stern stabilizing wing (11) is composed of four pieces and evenly distributed on the top of the stern ranging sonar (12), and the longitudinal propeller (13) and the DVL (14) are installed in the inner cavity of the stern ranging sonar (12);
the method is characterized in that the method for controlling the drifting detection underwater robot device comprises the following steps:
(1) when the robot works, the propeller only adjusts the posture of the robot along with drift of water flow;
(2) during fixed-point hovering monitoring, the longitudinal propeller (13) controls the position and the heading angle of the robot in the longitudinal direction, and the fore vertical propeller I (4) and the stern vertical propeller II (8) control the position and the trim of the robot in the depth direction;
(3) when the motor-driven propeller is in motive action, the longitudinal propeller (13) has different rotating speeds to generate differential speed to realize the motive action;
(4) measuring distance obstacle information by using a distance measuring sonar carried by the underwater robot, and performing maneuvering avoidance;
(5) judging the current suitable motion state according to the environment and the self condition, and intelligently changing the motion state and the mode;
judging whether a drifting mode is started in the current state when the underwater vehicle navigates in water, calculating the current position of the underwater robot according to the GPS or the navigation position, comparing the current position with a map database, and starting the drifting mode if the current position is in a set drifting area; if the underwater robot is not in the drift area, safety evaluation is carried out according to the data N of the ranging sonar and the state condition of the system per se, the safety degree Q is calculated,
safety and sonar data Nn(n is 1 … 6), and the relationship between the own system fault state S is as follows:
Figure FDA0002255616710000011
defining a safety threshold Q0If Q is<Q0Then the drift mode is turned off, if Q>Q0If the robot is in a safe state, the drifting mode is started,
if the underwater robot is in a drifting state, only the heading, trim and depth controllers are started for automatic control, and the moving speed of the underwater robot at the moment is the water flow velocity; if the current state is not the drifting state, the speed, the heading, the trim and the depth controller are all started for automatic control.
2. The control method of the drifting detection underwater robot device according to claim 1 is characterized in that a bow ranging sonar (1), a ranging sonar I (3), a stern ranging sonar (12) and a ranging sonar II (15) adopt a modular design, a processing board and a transducer are integrated in a pressure shell, and a standard six-core watertight connector is used for power supply and data transmission; the battery compartment (5) and the control compartment (7) are pressure-resistant compartments, standard watertight connectors are installed, the battery compartment (5) and the control compartment (7) are axially and hermetically connected through a sealing snap ring, and the whole pressure-resistant compartment is axially sealed by two end plane end covers and the sealing snap ring.
3. The method for controlling the drifting detection underwater robot device according to claim 1, characterized in that a high-density lithium battery is placed and carried in the battery compartment (5); the retractable hoisting point (6) adopts single-point hoisting.
4. The control method of the drifting detection underwater robot device according to claim 1, characterized in that a basic control computer, a task planning computer, an attitude sensor and an emergency load rejection control panel are installed in the control cabin (7);
the attitude sensor acquires the heading angle, the roll angle and the pitch angle of the current robot in real time, and the basic control computer calculates the current attitude and speed according to the data measured by the attitude sensor, compares the current attitude and speed with a target state required by a task and makes a corresponding decision.
5. The control method of the drifting detection underwater robot device according to claim 1, characterized in that the conformal antenna (9) integrates a radio, a GPS/Beidou and a WiFi antenna.
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