CN109506701B - Device and method for measuring and calibrating buoyancy state of full-sea deepwater robot - Google Patents
Device and method for measuring and calibrating buoyancy state of full-sea deepwater robot Download PDFInfo
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- CN109506701B CN109506701B CN201811423231.8A CN201811423231A CN109506701B CN 109506701 B CN109506701 B CN 109506701B CN 201811423231 A CN201811423231 A CN 201811423231A CN 109506701 B CN109506701 B CN 109506701B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 24
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 86
- 229910052742 iron Inorganic materials 0.000 claims description 39
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012821 model calculation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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- 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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Abstract
The invention relates to the technical field of underwater robots, in particular to a device and a method for measuring and calibrating buoyancy state of a full-sea deepwater underwater robot. The device comprises an underwater robot carrier, a submerged ballast and an altimeter, wherein the submerged ballast and the altimeter are arranged below the underwater robot carrier, the submerged ballast is of a chain type structure with known mass distribution, the altimeter is used for measuring the length h value of the un-bottomed part of the submerged ballast of the underwater robot carrier after the underwater robot carrier is stabilized on the sea floor, and the measurement and calibration of the buoyancy state of the underwater robot carrier are realized through the known mass distribution and the h value of the submerged ballast. The invention realizes accurate measurement and calibration of the buoyancy state of the underwater robot on the deep-seated ocean floor of ten thousand meters, provides reliable data support for the buoyancy state configuration thereof, and ensures high efficiency and stability during subsequent deep-seated exploration operation.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a device and a method for measuring and calibrating buoyancy state of a full-sea deepwater underwater robot.
Background
The underwater robot realizes high-efficiency detection and operation at a designated depth, strict requirements are put forward on the buoyancy state of the underwater robot at the depth, and the underwater robot is not beneficial to realizing high-efficiency and stable work of the underwater robot when deviating from the positive buoyancy state or the negative buoyancy state with larger neutral buoyancy. With the change of ocean depth and sea area, the environmental parameters such as sea water density, temperature, pressure, gravity field and the like can be changed, and the buoyancy state of the underwater robot is directly influenced. The full-sea deepwater underwater robot has deepwater submarine detection operation capability with the maximum depth of 11000 meters, and the accurate measurement and calibration of the buoyancy state are significant for realizing the efficient and stable deepwater detection operation. The prior ocean environment parameters are utilized and combined with a theoretical calculation method of the average bulk modulus of the underwater robot, so that the difference between a theoretical calculation estimated value and an actual value of the buoyancy state of the underwater robot is often caused due to the deviation between the actual environment parameters and the error of the theoretical model calculation. Particularly for full sea deepwater robots spanning depths up to 11000 meters, accurate calculation of buoyancy conditions is often not possible. Therefore, a convenient and effective accurate buoyancy state measuring and calibrating method is urgently needed, accurate measurement and calibration of the buoyancy state of the robot under the whole sea deep water in the deep-water ocean floor of ten thousand meters are realized, and data support and configuration basis of an ideal buoyancy state are provided for efficient deep-water exploration operation of the robot.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the device and the method for measuring and calibrating the buoyancy state of the full-sea deepwater robot, which can accurately measure and calibrate the buoyancy state of the underwater robot on the deep-in-ten-thousand-meter sea floor by one-time technical submergence, provide reliable data support for the buoyancy state configuration of the underwater robot, and ensure the high efficiency and stability during the subsequent deep-in-one detection operation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the device is characterized by comprising an underwater robot carrier, a submerged ballast and a altimeter, wherein the submerged ballast and the altimeter are arranged below the underwater robot carrier, the submerged ballast is of a chain type structure with known mass distribution, the altimeter is used for measuring the length h value of the un-bottomed part of the submerged ballast of the underwater robot carrier after the underwater robot carrier is stabilized on the sea floor, and the buoyancy state value of the underwater robot carrier is calculated through the known mass distribution and the h value of the submerged ballast, so that the measurement and calibration of the buoyancy state of the underwater robot carrier are realized.
The submerged ballast comprises a chain body and a plurality of ballast iron blocks which are mounted on the chain body at equal intervals.
The chain body is an iron chain, and the iron chain is formed by sequentially connecting a plurality of chain rings.
Each of said links has a length of 20 mm and a mass of 6 g.
The chain body is six meters long, and one ballast iron block is hung at each interval from top to bottom.
The ballast iron block is a dumbbell of one kilogram.
The underwater robot carrier comprises a main body and vertical thrusters arranged on two sides of the main body, and a thrust model of the vertical thrusters is known.
The method for measuring and calibrating the buoyancy state of the full-sea deepwater underwater robot comprises the steps of measuring the height h value of the top end of the submerged ballast from the seabed through an altimeter after the underwater robot carrier is stabilized, and calculating the buoyancy state value of the underwater robot carrier through the measured h value and the known mass of the submerged ballast: hn+xm, the accurate measurement and calibration of the buoyancy state of the carrier of the underwater robot are realized, wherein h is the measured value of the altimeter; n is the mass per meter length of the chain; x is the number of ballast iron blocks on the submerged ballast that do not fall on the sea floor, and m is the mass of each ballast iron block on the submerged ballast.
After the underwater robot carrier is stabilized, when a certain ballast iron block of the submerged ballast is just contacted with the seabed, a known thrust T is generated by rotating a vertical propeller of the underwater robot carrier, so that the certain ballast iron block just contacted with the seabed is completely dropped on the seabed, and the measurement and calibration of the buoyancy state of the underwater robot carrier 1 are realized through the propeller thrust T and the h value measured by the altimeter.
In the case where a certain ballast iron block of the submerged ballast is just in contact with the sea floor, the buoyancy value of the underwater robot carrier is: hn+xm+t, where h is the altimeter measurement; n is the mass per meter length of the chain; x is the number of ballast iron blocks which do not fall on the seabed on the submerged ballast, and m is the mass of each ballast iron block on the submerged ballast; t is the thrust of the vertical propeller.
The invention has the advantages and beneficial effects that:
1. the method is convenient and effective, low in cost and easy to realize. The invention utilizes the necessary submerged ballast of the deep-sea underwater robot, and has the characteristics of low cost and easy acquisition by ingenious design of the configuration form, simple operation and convenient realization, and the submerged ballast is formed by commercially available standard iron chains and dumbbell.
2. The invention aims at the buoyancy state of the full-sea deepwater robot at the deep-sea seabed and has the characteristics of accurate measurement and reliable calibration. The chain length change of the submerged ballast of the chain type distribution mount is accurately measured by utilizing the altimeter with high precision and high resolution, so that an accurate buoyancy state value of the underwater robot is calculated, and the measured value can be measured and corrected by utilizing the propeller model even under special conditions, so that the reliability is high and the stability is good.
3. The device is beneficial to the compactness, the light weight and the miniaturization of the underwater robot carrier. The buoyancy state measuring method of the invention fully utilizes the existing device and the existing capability of the underwater robot, does not need additional device assistance, simplifies the configuration of the underwater robot carrier, and is beneficial to the compactness of the overall structure, the weight and the volume of the robot.
4. The configuration mode of the submerged ballast provided by the invention also has the function of protecting the carrier safety of the underwater robot. After the chain body is firstly on the bottom of the underwater robot carrier, the speed of the underwater robot is reduced, the chain body plays a role in buffering, the underwater robot carrier can be favorably landed in a soft mode and can reach a stable hovering state, the impact is avoided, and the safety of the underwater robot carrier is ensured.
5. The method of the invention plays a role in all kinds of robots under the whole sea deep water. For an autonomous underwater robot, according to the configuration form of the submerged ballast, the robot autonomously senses altimeter information and records and stores the altimeter information, and the buoyancy state can be obtained by carrying out data analysis after completing the submerged operation; for a remote-control underwater robot, real-time online processing can be realized through a cable, and a buoyancy state is obtained in real time; for the autonomous remote control hybrid underwater robot, the buoyancy state measurement and calibration can be realized by autonomous or optical fiber remote control according to the method.
6. The method of the invention has universality. The method can be widely applied to deep-sea underwater robots, deep-sea manned submersible vehicles and the like, and has more strict requirements on buoyancy state.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a schematic diagram of a test method according to the present invention;
FIG. 4 is a second schematic diagram of the testing method of the present invention.
In the figure: 1 is an underwater robot carrier, 2 is a main body, 3 is a vertical propeller, 4 is a submerged ballast, 5 is a chain body, 6 is a ballast iron block, 7 is a altimeter, and M is the sea floor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the device for measuring and calibrating the buoyancy state of the full-sea deepwater underwater robot provided by the invention comprises an underwater robot carrier 1, a submerged ballast 4 and a altimeter 7, wherein the submerged ballast 4 is of a chain structure with known mass distribution, the altimeter 7 is used for measuring the length h value of the non-bottomed part of the submerged ballast 4 of the underwater robot carrier 1 after the underwater robot carrier 1 is stabilized, and the buoyancy state value of the underwater robot carrier 1 is calculated through the known mass distribution and h value of the submerged ballast 4, so that the measurement and calibration of the buoyancy state of the underwater robot carrier 1 are realized.
The underwater robot carrier 1 includes a main body 2 and vertical thrusters 3 provided on both sides of the main body 2, and a thrust model of the vertical thrusters 3 is known. A pair of vertical thrusters 3 which are distributed symmetrically left and right are used as auxiliary measuring and calibrating means and are positioned in the middle of a main body 2 of the underwater robot carrier 1.
The submerged ballast 4 is located on a vertical central axis at the bottom of the main body 2 of the underwater robot carrier 1, the submerged ballast 4 comprises a chain body 5 and a plurality of ballast iron blocks 6 which are mounted on the chain body 5 at equal intervals, the chain body 5 is an iron chain, and the iron chain is formed by sequentially connecting a plurality of links.
In the embodiment of the invention, each link has a length of 20 mm and a mass of 6 g and the chain body 5 has a mass of 300 g per meter length. The chain body 5 is six meters long, and a ballast iron block 6 is hung at intervals of one meter from top to bottom, the total of six ballast iron blocks 6 are six, and the ballast iron blocks 6 adopt a dumbbell of one kilogram.
After the underwater robot carrier 1 is stably bottomed, the height h value of the top end of the submerged carrier 4 from the seabed is measured by the altimeter 7, and then the buoyancy state value of the underwater robot carrier 1 is calculated by the measured h value and the known mass of the submerged carrier 4: hn+xm, thereby realizing accurate measurement and calibration of the buoyancy state of the underwater robot carrier 1, as shown in fig. 3. Where h is the measured value of altimeter 7 in meters; n is the mass per meter length of the chain body 5 in grams; x is the number of ballast iron pieces 6 on the submerged ballast 4 that do not fall on the sea floor, and m is the mass of each ballast iron piece 6 on the submerged ballast 4 in grams.
After the underwater robot carrier 1 is stably bottomed, under the condition that a certain ballast iron block 6 of the submerged ballast 4 just contacts with the seabed, a known thrust T is generated by rotating a vertical propeller 3 of the underwater robot carrier 1, so that the certain ballast iron block 6 just contacting with the seabed is completely landed on the seabed, meanwhile, a part of chain body 5 is bottomed, and the measurement and calibration of the buoyancy state of the underwater robot carrier 1 are realized through the propeller thrust T and the h value measured by an altimeter 7, as shown in fig. 4.
In the case where a certain ballast iron block 6 of the submerged ballast 4 is just in contact with the sea floor, the buoyancy value of the underwater robot carrier 1 is: hn+xm+t, where h is the measurement of the altimeter 7 in meters; n is the mass per meter length of the chain body 5 in grams; x is the number of ballast iron blocks 6 on the submerged ballast 4 which do not fall on the sea floor, m is the mass of each ballast iron block 6 on the submerged ballast 4 in grams; t is the thrust of the vertical thruster 3 in grams.
Examples
The submerged ballast 4 has a chain structure with a length of six meters and consists of a chain body 5 and a ballast iron block 6. Six ballast iron blocks 6 with the mass of one kilogram are hung on each chain body 5 at intervals of 1 meter from bottom to top. The chain body 5 is an iron chain with a length of six meters and each link has a length of 20 millimeters and a mass of about 6 grams, i.e. 50 links form a chain body of one meter and the mass of each chain body is 300 grams. The ballast iron blocks 6 are selected from standard one kilogram dumbbell and are tied and fixed on the links of the chain body 5 according to a distance of one meter.
The altimeter 7 is located at the bottom of the main body 2 and is flush with the top end of the chain body 5 of the submerged ballast 4, and the length of the top end of the chain body 5 away from the seabed can be measured through the altimeter 7, so that the buoyancy state of the submerged robot carrier 1 is calculated.
The buoyancy state measuring principle and method are as follows:
if the underwater robot is stably on the bottom, and a certain ballast iron block 6 is not attached to the seabed, as shown in fig. 3, the height h of the bottom of the underwater robot carrier 1, namely the top end of the chain body 5 of the submerged ballast 4, from the seabed can be measured through the altimeter 7, so that the length change of the chain body 5 is calculated, and the accurate measurement and calibration of the buoyancy state of the underwater robot carrier 1 are realized. The buoyancy state value of the underwater robot carrier 1 is: 300h+2000 in grams, where the height h is in meters.
If, after the underwater robot is stabilized, a certain ballast iron block 6 of the submerged ballast 4 just contacts with the seabed, as shown in fig. 4, a known thrust T is generated by rotating the vertical thruster 3, so that the certain ballast iron block 6 just contacting with the seabed is completely dropped on the seabed, and a part of the chain links with the chain body 5 are dropped on the seabed, that is, the state shown in fig. 3 is realized, and the measurement and calibration of the buoyancy state of the underwater robot carrier 1 are realized by the thruster thrust T and the vertical length h of the chain body 5 of the submerged ballast 4, which has the following values: t+300h+2000, in grams, where the thrust T is in grams and the height h is in meters.
The submerged ballast 4 reaches the sea bottom at the underwater robot, and can be discarded after the buoyancy state measurement is completed according to the length change of the chain body 5.
The invention adopts the chain-type distributed mounted submerged ballast 4 and is assisted with the vertical propeller 3 of the known model, and the length change of the chain body 5 of the submerged ballast 4 is observed through the altimeter 7, so that the purposes of measuring and calibrating the buoyancy state of the underwater robot carrier 1 formed by the main body 2, the vertical propeller 3 and the altimeter 7 are realized.
The vertical thrusters 3 are symmetrically distributed left and right, and the thrust model is known, and when the underwater robot is stably landed, a certain ballast iron block 6 of the submerged ballast 4 just contacts with the seabed, the vertical thrusters 3 are rotated to generate known thrust, so that the change of the length of the chain body 5 is realized, and the measurement and calibration of the buoyancy state are realized.
The invention adopts a chain type distributed mounting submerging ballast mode as a main mode and adopts a measurement method based on a propeller model as an auxiliary overall implementation method. After the robot reaches the deep-sea ocean floor of ten thousand meters and is stable, the measurement and calibration of the buoyancy state of the robot are realized by identifying the chain length change of known mass distribution. The invention can conveniently and effectively realize the accurate measurement and calibration of the buoyancy state of the robot under the whole sea deep water, provide reliable reference data for the subsequent buoyancy configuration of the robot, and realize the high-efficiency deep-water detection operation of the robot; the invention has universality for the deep sea type underwater robot, does not need an additional device, and is convenient for the compactness, the light weight and the miniaturization of the robot; in addition, the invention also has the advantages of slowing down the landing speed of the underwater robot, playing a buffering role and playing a protection role from the perspective of the safety of the robot.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The device for measuring and calibrating the buoyancy state of the full-sea deepwater underwater robot is characterized by comprising an underwater robot carrier (1), a submerged ballast (4) and a altimeter (7), wherein the submerged ballast (4) is of a chain structure with known mass distribution, the altimeter (7) is used for measuring the h value of the length of an un-bottomed part of the submerged ballast (4) of the underwater robot carrier (1) after the underwater robot carrier (1) is stabilized, and the buoyancy state value of the underwater robot carrier (1) is calculated through the known mass distribution and the h value of the submerged ballast (4), so that the measurement and calibration of the buoyancy state of the underwater robot carrier (1) are realized;
the submerging ballast (4) comprises a chain body (5) and a plurality of ballast iron blocks (6) which are equally spaced and mounted on the chain body (5);
the underwater robot carrier (1) comprises a main body (2) and vertical thrusters (3) arranged on two sides of the main body (2), wherein a thrust model of the vertical thrusters (3) is known.
2. The device for measuring and calibrating the buoyancy state of the full-sea deepwater robot according to claim 1, wherein the chain body (5) is an iron chain, and the iron chain is formed by sequentially connecting a plurality of chain rings.
3. The device for measuring and calibrating the buoyancy state of a full sea deepwater robot according to claim 2, wherein each link is 20 millimeters in length and 6 grams in mass.
4. The device for measuring and calibrating the buoyancy state of the full sea deepwater robot according to claim 1, wherein the chain body (5) is six meters long and is hung with one ballast iron block (6) from top to bottom at intervals of one meter.
5. The device for measuring and calibrating the buoyancy state of the full sea deepwater robot according to claim 1, wherein the ballast iron block (6) is a dumbbell of one kilogram.
6. Method for measuring and calibrating the buoyancy state of a full sea deepwater robot according to any of the claims 1-5, characterized in that after the underwater robot carrier (1) has stabilized, the height h value of the top end of the submerged ballast (4) from the sea floor is measured by means of a altimeter (7), and the buoyancy state value of the underwater robot carrier (1) is calculated from the measured h value and the known mass of the submerged ballast (4): hn+xm, the accurate measurement and calibration of the buoyancy state of the underwater robot carrier (1) are realized, wherein h is a measured value of an altimeter (7); n is the mass per meter length of the chain body (5); x is the number of ballast iron blocks (6) on the submerged ballast (4) that do not fall on the sea floor, and m is the mass of each ballast iron block (6) on the submerged ballast (4).
7. Method according to claim 6, characterized in that after the underwater robot carrier (1) has been stabilized, in the case of a certain ballast iron block (6) of the submerged ballast (4) just in contact with the sea floor, a known thrust T is generated by rotating the vertical thruster (3) of the underwater robot carrier (1) so that the certain ballast iron block (6) just in contact with the sea floor falls completely on the sea floor, the measurement and calibration of the buoyancy state of the underwater robot carrier 1 being effected by the thruster thrust T and the value of h measured by the altimeter (7).
8. Method according to claim 7, characterized in that the buoyancy value of the underwater robot carrier (1) in case a certain ballast iron block (6) of the submerged ballast (4) is just in contact with the sea floor is: hn+xm+T, where h is the measurement of the altimeter (7); n is the mass per meter length of the chain body (5); x is the number of ballast iron blocks (6) on the submerged ballast (4) which do not fall on the sea floor, and m is the mass of each ballast iron block (6) on the submerged ballast (4); t is the thrust of the vertical propeller (3).
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| CN201811423231.8A CN109506701B (en) | 2018-11-27 | 2018-11-27 | Device and method for measuring and calibrating buoyancy state of full-sea deepwater robot |
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| CN109506701B true CN109506701B (en) | 2023-10-27 |
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| CN112504656A (en) * | 2020-12-17 | 2021-03-16 | 中国科学院沈阳自动化研究所 | Buoyancy adjusting mechanism testing device for simulating underwater pressure environment |
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