CN109050847B - Gravity center adjusting device and method for AUV (autonomous Underwater vehicle) in multitasking - Google Patents
Gravity center adjusting device and method for AUV (autonomous Underwater vehicle) in multitasking Download PDFInfo
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- CN109050847B CN109050847B CN201811090730.XA CN201811090730A CN109050847B CN 109050847 B CN109050847 B CN 109050847B CN 201811090730 A CN201811090730 A CN 201811090730A CN 109050847 B CN109050847 B CN 109050847B
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- 230000005484 gravity Effects 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 20
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- 238000003754 machining Methods 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 4
- 239000000945 filler Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 2
- 238000012856 packing Methods 0.000 claims description 2
- 239000004677 Nylon Substances 0.000 description 4
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 description 4
- 229920006351 engineering plastic Polymers 0.000 description 4
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- 229920001778 nylon Polymers 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- B63G8/14—Control of attitude or depth
Abstract
The invention discloses a gravity center adjusting device and a method for AUV (autonomous Underwater vehicle) to execute multitasking, wherein the device comprises a loading module, a counterweight strip and a filling strip; the loading module is formed by splicing three parts of a front loading module, a middle loading module and a rear loading module together, and the three parts are detachably connected; the middle loading module comprises at least one loading unit, the end face of the loading unit is provided with a plurality of through holes, and after the through holes of all loading units with the same structure are aligned, a plurality of long holes for placing the counterweight bars and the filling bars are formed; the filling strip is used for filling a gap between the counterweight strip and the long hole; the surface of the intermediate loading module is provided with at least one groove along the width direction, and the throat hoop is placed in the groove. According to the invention, after the AUV is changed with different equipment, the gravity and the gravity center position of the AUV can be quickly and efficiently adjusted, so that the AUV can meet the positive buoyancy and the posture required by normal navigation. The device has the advantages of simple and convenient operation, simple and reliable structure, low cost and wide applicability.
Description
Technical Field
The invention belongs to the field of autonomous underwater vehicles, and relates to a gravity center adjusting device and a gravity center adjusting method for an AUV (autonomous Underwater vehicle) to execute multitasking.
Background
An autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV for short) is an unmanned, cable-less underwater robot that performs different functions by carrying on different devices, such as underwater target detection, underwater imaging, underwater photography, hydrologic data acquisition, and the like. In the actual use process, in order to improve the use efficiency of the AUV, several different devices are tested in turn in one outgoing experiment. Because the positive buoyancy and the posture of the AUV in the water static state play a very critical role in the navigation of the AUV, the gravity and the buoyancy of the AUV are generally changed after equipment is replaced, the gravity center and the position of the floating center of the AUV are also changed, the requirements of the positive buoyancy and the posture required by the navigation cannot be met, the motion control effect of the AUV is further influenced, the navigation resistance of the AUV is possibly increased, and the effective navigation range is reduced.
The existing balancing schemes mainly comprise the following two types: one method is to adjust the pitch and roll of the AUV by moving internal weights by mechanical means; in the patent document with the publication number of CN 102145740A and the name of an underwater robot gravity center adjusting device, the technical scheme of the underwater robot gravity center adjusting device is mentioned, but on one hand, the technical scheme can only adjust the gravity center, but not adjust the gravity, and is suitable for the gravity center adjustment when a single task is executed; on the other hand, the mechanical device occupies valuable internal space and increases the cost of the AUV. Another method is to make the weight (such as lead plate) into the same shape as the AUV shell and then fix it outside the AUV directly by tape or other means, which is inconvenient to adjust, and the size and position of the weight are usually different for different tasks, and the adhesion degree of the weight and AUV is not ideal, so that the overall shape of the AUV is changed under different tasks, and the flow field around the AUV is changed when sailing, and the sailing characteristics are affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a gravity center adjusting device for an AUV to execute multitasking, which aims to solve the technical problems that: 1. after the equipment is replaced, the gravity and the gravity center of the AUV can be quickly and effectively regulated, namely, the AUV is balanced into a sailing state meeting a certain positive buoyancy, pitch angle and roll angle; 2. the invention does not occupy the internal space of the AUV, so that each balancing can be operated outside the AUV without dismantling the cabin of the AUV, the balancing efficiency is improved, and the system risk caused by dismantling the cabin of the AUV is avoided; 3. the invention is fixed outside the AUV, has streamline design and plays a role in reducing resistance.
The aim of the invention is realized by the following technical scheme: a gravity center adjusting device for AUV when performing multitasking comprises a loading module, a counterweight bar and a filling bar; the loading module is formed by splicing three parts of a front loading module, a middle loading module and a rear loading module together, and the three parts are detachably connected; the middle loading module comprises at least one loading unit, the end face of the loading unit is provided with a plurality of through holes, and after the through holes of all loading units with the same structure are aligned, a plurality of long holes for placing counterweight bars and filling bars are formed so as to adjust the weight and the transverse rolling of the AUV; the filling strip is used for filling a gap between the counterweight strip and the long hole, so that the counterweight strip is prevented from sliding in the long hole; the surface of the intermediate loading module is provided with at least one groove along the width direction, and the hose clamp is placed in the groove and used for fixedly connecting the gravity center adjusting device with the AUV shell.
Further, the counterweight bar is made of high-density materials, including lead or copper; the filler strip has a density close to that of water (1.05 g/cm) 3 ) Materials which have low water absorption, meet the requirements of strength and pressure resistance and are convenient for machining, including ABS, nylon, engineering plastics and organic glass; the material of the loading module is selected to have a density close to that of water (1.05 g/cm 3 ) Materials which have low water absorption, meet the requirements of strength and pressure resistance and are convenient for machining, including ABS, nylon, engineering plastics and organic glass.
Further, the cross-sectional dimensions of the weight bar and the filling bar are the same, a straight prism shape or a cylindrical shape can be adopted, and the shape of the through hole is matched with the shape of the weight bar and is changed along with the shape of the weight bar.
Further, the end surfaces of the front loading module/the rear loading module, which are contacted with the middle loading module, are plane or provided with grooves matched with the long holes, and the front loading module and the rear loading module are used for providing axial limit for the counterweight strip together with the filling strip.
Further, the loading module is designed to be in a streamline shape attached to the AUV shell, so that the whole gravity center adjusting device can generate smaller resistance in navigation.
Further, the front loading module, the middle loading module and the rear loading module are provided with through mounting holes, long screws penetrate through the mounting holes, and the three loading modules are connected in series and fastened through fasteners.
Furthermore, the middle loading module adopts a modularized design, so that the number of loading units can be increased or decreased according to the requirement, and the space for accommodating the counterweight bars can be increased or decreased.
A method of adjusting the center of gravity of an AUV using a center of gravity adjustment device, the method comprising:
estimating the number of weight bars, and fixing a gravity center adjusting device to the shell of the AUV through a throat hoop;
after the AUV is launched: if the positive buoyancy required by sailing cannot be achieved due to the estimation error, increasing or reducing the number of the counterweight bars;
if the AUV pitch angle is deviated, the gravity center adjusting device is axially moved;
if the AUV roll angle is deviated, moving the counterweight bar in the gravity center adjusting device into different long holes;
after the AUV performs a task once and replaces the test equipment again, balancing is carried out again according to the method.
Further, when the counterweight bar is adjusted, the front loading module or the rear loading module is disassembled; when the pitch angle is adjusted, the throat hoop is unscrewed, and the gravity center adjusting device is axially moved.
The beneficial effects of the invention are as follows: the gravity center adjusting device is arranged outside the AUV, and can quickly and efficiently adjust the gravity and the gravity center position of the AUV after different equipment is replaced, so that the AUV can meet the positive buoyancy and the gesture required by normal navigation. The intermediate loading module can increase or decrease the number of the loading units according to the requirement, and the adjustable gravity range is larger. The whole gravity center adjusting device is connected to the outside of the AUV through two hoops, and when the counterweight bar is adjusted, the front loading module or the rear loading module is disassembled, so that the counterweight bar and the filling bar inside can be taken out; unscrewing the throat hoop when adjusting the pitch angle, and axially moving the gravity center adjusting device according to the estimated distance; and (3) when the transverse rolling is regulated, the counterweight bar is moved to a corresponding position according to a calibrated value. The gravity center adjusting device can be well attached to the AUV in shape, and the shape is streamline, so that resistance during navigation can be reduced. The gravity center adjusting device is simple and convenient to operate, and the whole device is simple and reliable in structure, low in cost and wide in applicability.
Drawings
FIG. 1 is a schematic illustration of the components of a centering device;
FIG. 2 is a combined center of gravity adjustment device;
FIG. 3 is a center of gravity adjustment device secured to an AUV;
fig. 4 is a cross section of an intermediate load module.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific examples.
The invention provides a gravity center adjusting device for an AUV (autonomous Underwater vehicle) to execute multitasking, which comprises a loading module 1, a counterweight strip 2 and a filling strip 3; the loading module 1 is formed by splicing three parts of a front loading module 11, a middle loading module 12 and a rear loading module 13 together, and the three parts are detachably connected; the intermediate loading module 12 includes at least one loading unit 121 (the number of loading units 121 is selected according to the length of the required loading counterweight bar 2), the end surface of the loading unit 121 is provided with a plurality of through holes 4, and after the through holes of all loading units 121 with the same structure are aligned, a plurality of long holes for placing the counterweight bar 2 and the filling bar 3 are formed so as to adjust the weight and the roll of the AUV 7; the filling strip 3 is used for filling a gap between the counterweight strip 2 and the long hole, so that the counterweight strip 2 is prevented from sliding in the long hole; the intermediate loading module 12 has at least one groove 5 in the width direction on its surface, and a hose clamp 6 is placed in the groove 5 for fixedly connecting the center of gravity adjusting device with the housing of the AUV 7.
Further, the counterweight bar 2 is made of high-density materials including lead or copper; the packing strip 3 has a density close to that of water (1.05 g/cm 3 ) Materials which have low water absorption, meet the requirements of strength and pressure resistance and are convenient for machining, including ABS, nylon, engineering plastics and organic glass; the material of the loading module 1 is selected to have a density close to that of water (1.05 g/cm 3 ) Materials which have low water absorption, meet the requirements of strength and pressure resistance and are convenient for machining, including ABS, nylon, engineering plastics and organic glass.
Further, the cross-sectional dimensions of the weight bar 2 and the filling bar 3 are the same, a straight prism shape or a cylindrical shape can be adopted, and the shape of the through hole 4 is matched with the shape of the weight bar 2, and is changed according to the shape of the weight bar 2.
Further, the end surfaces of the front loading module 11/the rear loading module 13, which are contacted with the middle loading module 12, are plane or provided with grooves matched with long holes, and the front loading module 11 and the rear loading module 13 are used for providing axial limit for the counterweight strip 2 together with the filling strip 3.
Further, the loading module 1 is designed to be in a streamline shape fitting with the housing of the AUV7, so that the whole gravity center adjusting device can generate less resistance in navigation. The simulation calculation was performed on the AUV without the center of gravity adjusting device, with the bluff center of gravity adjusting device, and with the streamline center of gravity adjusting device, respectively, to obtain the resistance of the AUV in direct voyage, as shown in table 1.
Table 1 gravity center adjusting device brings resistance change
| Resistance to direct voyage | |
| Without means for adjusting the centre of gravity | D |
| Gravity center adjusting device with bluff shape | 1.18D |
| Take streamlined focus adjusting device | 1.09D |
Further, the front loading module 11, the middle loading module 12 and the rear loading module 13 each have a mounting hole 8 therethrough, and a long screw 9 passes through the mounting hole 8, connects the three loading modules in series, and is fastened by a fastener 10.
Further, the intermediate loading module 12 adopts a modular design, and the number of loading units 121 can be increased or decreased according to the requirement, so that the space for accommodating the counterweight bars 2 can be increased or decreased.
The method for adjusting the gravity center of the AUV by using the gravity center adjusting device comprises the following steps:
estimating the number of weight bars 2, and fixing a gravity center adjusting device to the shell of the AUV7 through a throat hoop;
AUV7 after launch: if the positive buoyancy required by sailing cannot be achieved due to the estimation error, the number of the counterweight bars 2 is increased or reduced;
if the AUV pitch angle is deviated, the gravity center adjusting device is axially moved;
if the AUV roll angle is deviated, moving the weight bar 2 in the gravity center adjusting device into different long holes, such as a long hole for moving the weight bar 2 from the most edge long hole to the middle position;
after the AUV performs a task once and replaces the test equipment again, balancing is carried out again according to the method.
When the counterweight strip 2 is adjusted, the front loading module 11 or the rear loading module 13 is disassembled; when the pitch angle is adjusted, the throat hoop 6 is unscrewed, and the gravity center adjusting device is axially moved.
Before using the gravity center adjusting device, determining the position of the floating center of the AUV, and marking the AUV; adjusting the AUV to a required posture, and taking the posture as a reference;
if n devices are added/subtracted on the basis, the weights are respectively m1, m2, … and mn, the positions from the floating center are respectively X1, X2, … and Xn, in order to maintain the above-mentioned posture, the weight of the weight bar in the gravity center adjusting device is required to be reduced/increased (m1+m2+, … and +mn), and the gravity center adjusting device is moved along the axial direction to offset the generated pitching moment, the moving distance is marked as X,
after the equipment is added, a roll moment is generated on the central axis of the AUV, so that the roll angle of the AUV is changed; assuming that the weights of n devices are m1, m2, … and mn respectively, the included angles between the connecting line of the center of gravity of the devices and the point on the central axis and the vertical plane are θ1, θ2, … and θn respectively, and the mass of one counterweight bar in the center of gravity adjusting device is m, the angle θ that the counterweight bar needs to move is:
the hole site interval of the gravity center adjusting device is fixed, and if one counterweight bar cannot meet the adjustment requirement of the roll angle, a plurality of counterweight bars can be adjusted together.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (5)
1. A method for adjusting the center of gravity of an AUV when performing multiple tasks, the method being implemented based on a center of gravity adjustment device for the AUV when performing multiple tasks, the device comprising a loading module, a counterweight bar and a filler bar; the loading module is formed by splicing three parts of a front loading module, a middle loading module and a rear loading module, the three parts are detachably connected, the front loading module, the middle loading module and the rear loading module are all provided with through mounting holes, long screws penetrate through the mounting holes, and the three loading modules are connected in series and fastened through fasteners; the middle loading module comprises at least one loading unit, the end face of the loading unit is provided with a plurality of through holes, and after the through holes of all loading units with the same structure are aligned, a plurality of long holes for placing counterweight bars and filling bars are formed so as to adjust the weight and the transverse rolling of the AUV; the filling strip is used for filling a gap between the counterweight strip and the long hole, so that the counterweight strip is prevented from sliding in the long hole; the surface of the intermediate loading module is provided with at least one groove along the width direction, and the hose clamp is placed in the groove and used for fixedly connecting the gravity center adjusting device with the AUV shell;
the method specifically comprises the following steps:
estimating the number of weight bars, and fixing a gravity center adjusting device to the shell of the AUV through a throat hoop;
after the AUV is launched: if the positive buoyancy required by sailing cannot be achieved due to the estimation error, increasing or reducing the number of the counterweight bars;
if the AUV pitch angle is deviated, the gravity center adjusting device is axially moved;
if the AUV roll angle is deviated, moving the counterweight bar in the gravity center adjusting device into different long holes;
after the AUV finishes executing a task once and replaces the test equipment again, balancing again according to the method;
when the counterweight bar is adjusted, the front loading module or the rear loading module is disassembled; unscrewing the throat hoop when adjusting the pitch angle, and axially moving the gravity center adjusting device; the loading module is designed into a streamline shape attached to the AUV shell, so that the whole gravity center adjusting device can generate smaller resistance in navigation.
2. The method for center of gravity adjustment when the AUV performs multiple tasks according to claim 1, wherein the weight bar is made of a high-density material; the packing strip has a density of 1.05g/cm 3 The material has low water absorption, meets the requirements of strength and pressure resistance and is convenient for machining; the material of the loading module is selected to have the density of 1.05g/cm 3 Low water absorption, meeting the requirements of strength and pressure resistance and being convenient for machining.
3. The gravity center adjusting method for an AUV performing a multitasking operation according to claim 1, wherein the cross-sectional dimensions of the weight bar and the filler bar are the same, a straight prism shape or a cylindrical shape is adopted, and the shape of the through hole is matched with the shape of the weight bar, and is changed according to the shape of the weight bar.
4. A method for center of gravity adjustment when the AUV performs multiple tasks according to claim 1, wherein the front loading module/rear loading module is planar or has a recess matching the slot on the end face that contacts the intermediate loading module, the front loading module and rear loading module acting together with the filler strip to provide an axial limit for the weight strip.
5. The gravity center adjusting method for performing multiple tasks of an AUV according to claim 1, wherein the intermediate loading module adopts a modular design, and increases or decreases the number of loading units according to the requirement, thereby increasing or decreasing the space for accommodating the weight bars.
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| CN201811090730.XA CN109050847B (en) | 2018-09-18 | 2018-09-18 | Gravity center adjusting device and method for AUV (autonomous Underwater vehicle) in multitasking |
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| CN111204428B (en) * | 2019-12-18 | 2021-09-10 | 杭州电子科技大学 | Towed body suitable for diving area |
| CN111301725B (en) * | 2020-03-20 | 2021-09-17 | 上海大学 | Balancing structure and balancing method of mechanical wrist |
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| KR20000032191A (en) * | 1998-11-13 | 2000-06-05 | 김종수 | Device for dividing weight sinker of underwater equipment by using explosion bolt |
| CN103587666A (en) * | 2013-11-15 | 2014-02-19 | 华中科技大学 | Center-of-mass adjusting device of deep sea glider |
| CN204279898U (en) * | 2014-08-15 | 2015-04-22 | 国家深海基地管理中心 | Split blade type load-carrying block and loader mechanism thereof |
| CN205524895U (en) * | 2016-02-29 | 2016-08-31 | 中海蓝水自动化装备有限公司 | A counter weight device for underwater vehicle |
| CN208760876U (en) * | 2018-09-18 | 2019-04-19 | 浙江九段智能科技有限公司 | A kind of gravity adjusting device when the execution multitask for AUV |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10773780B2 (en) * | 2016-06-22 | 2020-09-15 | Bae Systems Information And Electronic Systems Integration Inc. | Unmanned underwater vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000032191A (en) * | 1998-11-13 | 2000-06-05 | 김종수 | Device for dividing weight sinker of underwater equipment by using explosion bolt |
| CN103587666A (en) * | 2013-11-15 | 2014-02-19 | 华中科技大学 | Center-of-mass adjusting device of deep sea glider |
| CN204279898U (en) * | 2014-08-15 | 2015-04-22 | 国家深海基地管理中心 | Split blade type load-carrying block and loader mechanism thereof |
| CN205524895U (en) * | 2016-02-29 | 2016-08-31 | 中海蓝水自动化装备有限公司 | A counter weight device for underwater vehicle |
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