CN114655398A - Dual-mode motion control method for underwater robot with autonomous rotating gliding wing - Google Patents
Dual-mode motion control method for underwater robot with autonomous rotating gliding wing Download PDFInfo
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- CN114655398A CN114655398A CN202111613690.4A CN202111613690A CN114655398A CN 114655398 A CN114655398 A CN 114655398A CN 202111613690 A CN202111613690 A CN 202111613690A CN 114655398 A CN114655398 A CN 114655398A
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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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- 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
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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
- B63G8/18—Control of attitude or depth by hydrofoils
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a dual-mode motion control method for an underwater robot with an autonomous rotating glider, which comprises the following steps: after the underwater robot is placed in water, executing a mission task, autonomously switching a high maneuvering sailing motion mode or a low power consumption gliding motion mode according to the ocean current condition of a target area, and executing an observation task under water; the high maneuvering navigation motion mode is that the underwater robot retracts the rotary gliding wing to change into zero net buoyancy and zero longitudinal inclination angle, and the underwater robot provides power by the propeller and the horizontal and vertical steering engines to cruise quickly; the low-power-consumption gliding motion mode is that the underwater robot unfolds the rotary gliding wing, closes the propeller according to the target net buoyancy and the pitch angle, is powered by the buoyancy adjusting unit and the vertical rudder, and glides at low speed. By changing the method for the underwater robot to autonomously rotate the gliding wing, the invention increases the gliding movement mode with low power consumption for the original autonomous underwater robot which only can move with high maneuvering, and can save the movement energy consumption and increase the endurance.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a dual-mode motion control method of an underwater robot with an autonomous rotating gliding wing, which has a gliding motion mode with low power consumption and long voyage and a fast and strong maneuvering sailing motion mode.
Background
Underwater robots are an important means for human beings to observe marine environments. With the rapid development of marine observation equipment in the aspects of energy, propulsion, control and the like, people have strong demands on the performances of marine observation equipment, such as long endurance, long voyage, ocean current resistance and the like.
At present, the large-scale marine environment observation equipment mainly comprises an Underwater Glider (AUG for short) and an Autonomous Underwater robot (AUV for short). The AUG realizes heave and pitch angle control through the buoyancy adjusting device and the movable sliding block and realizes long-distance underwater gliding movement by means of the fixed wing, and can realize long-endurance and long-range marine observation, but because the AUG lacks a propeller, a horizontal rudder and a vertical rudder, ocean current resistant stable navigation in a strong flow area is difficult to realize, and the maneuverability is greatly limited; the AUV can realize depth/height fixing, speed fixing and directional navigation through the propeller, the horizontal rudder and the vertical rudder, has stronger maneuverability and can resist ocean current disturbance with certain strength, but is difficult to carry out ocean observation in long voyage and long voyage due to limited energy sources carried by the AUV.
In order to realize the long-term large-range ocean observation and ocean current resistance and high-precision track tracking capability, the ocean observation equipment which has long endurance, long voyage, strong maneuverability, autonomous heaving and autonomous mission execution is required to be designed.
Disclosure of Invention
Based on the defects and shortcomings of the prior art, the invention provides the double-motion-mode underwater robot with the autonomous rotating gliding wings, which aims at the defect that the existing underwater robot cannot combine low-power-consumption gliding motion and high-maneuvering navigation motion, can automatically switch the low-power-consumption gliding motion mode and the high-maneuvering motion mode on line according to mission task requirements, saves energy consumption, increases ocean observation operation time and cruising power, and completes the detection task of the underwater robot on the seabed.
The technical scheme adopted by the invention for solving the problems is as follows:
a dual-mode motion control method for an underwater robot with an autonomous rotating glider wing comprises the following steps: after the underwater robot is placed into water, executing an mission task, autonomously switching a high maneuvering navigation motion mode or a low power consumption gliding motion mode according to the ocean current condition of a target area, and executing an observation task under water;
the high maneuvering navigation motion mode is that the underwater robot retracts the rotary gliding wing to change into zero net buoyancy and zero longitudinal inclination angle, and the underwater robot provides power by the propeller and the horizontal and vertical steering engines to cruise quickly;
the low-power-consumption gliding motion mode is that the underwater robot unfolds the rotary gliding wings, the propeller is closed according to the target net buoyancy and the longitudinal inclination angle, the fore-aft buoyancy adjusting unit and the vertical rudder provide power, and the underwater robot glides at low speed.
The ocean current condition of the target area is acquired in real time according to an acoustic Doppler current profiler carried on an underwater robot body; and the ocean current condition is graded according to the detection parameters and the threshold value.
Under the high maneuvering navigation mode, the detection control unit outputs a command signal to execute the following control steps:
A1. controlling the autonomous rotary glider to retract to an initial position, so that the rotary glider is kept longitudinally parallel to the body of the underwater robot to reduce the advancing resistance;
A2. controlling the propulsion unit and the fore and aft buoyancy regulating units to open switches to be electrified to work;
A3. calculating force values provided by bow and stern buoyancy adjusting units for changing the drainage volume when the net buoyancy and the trim angle are zero;
A4. the bow buoyancy adjusting unit and the stern buoyancy adjusting unit receive the force value instruction signals, and the net buoyancy and the longitudinal inclination angle of the water adjusting robot are zero;
A5. and controlling the propeller, the horizontal rudder and the vertical rudder to provide power to perform high-mobility rapid cruise motion.
The calculation of the force values provided by the bow and stern buoyancy adjustment units required for changing the displacement volume at zero net buoyancy and zero trim angle comprises:
wherein, FdIndicating the resultant force, F, required to be provided for fore-aft buoyancy adjustmentbIndicating the force value to be provided for the adjustment of the bow buoyancy, FsIndicating the force value, L, required to be provided for stern buoyancy adjustmentbIndicates the distance from the bow buoyancy adjustment center to the floating center of the underwater robot, LsThe distance from the stern buoyancy adjusting center to the floating center of the underwater robot is shown;
according to the formula, the specific force values needed to be provided by the fore-aft buoyancy regulating unit can be respectively obtained as follows:
under the low-power consumption gliding movement mode, the detection control unit outputs a command signal to execute the following control steps:
B1. controlling the autonomous rotary glider to rotate to a preset unfolding angle, so that the rotary glider is kept at the preset angle with the body of the underwater robot in the longitudinal direction and is used for providing advancing power;
B2. controlling the propulsion unit to be powered off, and controlling the bow buoyancy regulating unit and the stern buoyancy regulating unit to be powered on to work;
B3. calculating force values provided by bow and stern buoyancy adjusting units for changing the drainage volume when the target net buoyancy and the target pitch angle are calculated; changing the net buoyancy and pitch angle of the underwater robot;
B4. the bow and stern buoyancy adjusting units receive the force value command signals and adjust the net buoyancy and the trim angle of the underwater robot to target values;
B5. under the state that the rotary gliding wing is spread, the horizontal rudder and the vertical rudder provide power to perform gliding motion with low power consumption.
Rotatory glider rotates to predetermineeing the expansion angle, includes:
1) the rotary gliding wing provides forward maximum power for linear motion when being rotationally unfolded to the direction vertical to the longitudinal direction of the underwater robot body;
2) other deployment angles provide centripetal force to the underwater robot for curvilinear or spiral motion.
The calculation of the force values provided by the bow and stern buoyancy adjustment units required for changing the displacement volume at the target net buoyancy and the target pitch angle comprises the following steps:
wherein, TdThe resultant moment required to be provided by the fore-aft buoyancy adjustment is represented;
according to the formula, the specific force values needed to be provided by the fore-aft buoyancy regulating unit can be respectively obtained as follows:
an underwater robot with an autonomous rotating gliding wing, comprising: the robot comprises a robot body, a bow detection controller, an autonomous rotating glider, a bow buoyancy adjusting unit, a stern buoyancy adjusting unit, a horizontal rudder, a vertical rudder, a propeller, a propulsion unit and an energy unit; the autonomous rotating gliding wing is arranged on the upper part of the robot body; the bow buoyancy adjusting unit and the stern buoyancy adjusting unit are used for adjusting buoyancy; the horizontal rudder and the vertical rudder are used for changing the horizontal or vertical traveling direction; the propeller is used for providing advancing power; the propulsion unit comprises a propeller, a horizontal rudder and a vertical rudder; the energy unit is used for providing power supply; the bow detection controller stores an mission task program, executes any one of the method steps when the program is loaded, and automatically switches a high maneuvering navigation mode or a low power consumption gliding motion mode according to the current state of a target area after the underwater robot is placed in water, so as to execute an observation task underwater.
The rotary gliding wing comprises a straight wing and a rotary motor, the straight wing is arranged above the body of the underwater robot, the rotary motor is arranged in the body of the underwater robot, and a motor output shaft is connected with the straight wing.
The invention has the following beneficial effects and advantages:
1. the invention can have the gliding movement mode with low power consumption and long voyage and the sailing movement mode with high maneuverability and ocean current resistance.
2. The invention can automatically switch the glide motion mode and the sailing motion mode on line during the underwater motion according to mission requirements.
3. According to the invention, the autonomous heave gliding movement is realized through the fore-aft buoyancy adjusting unit and the autonomous rotation gliding wing unit, and the limitation that the conventional autonomous underwater robot can only execute navigation movement with fixed depth or height is expanded.
4. The invention keeps the propulsion unit closed when executing the gliding movement mode, can save energy consumption and increase the time and the range of the flight.
Drawings
FIG. 1 is an effect diagram of an underwater robot with an autonomous rotating glider wing deployed according to the present invention;
FIG. 2 is an effect diagram of the underwater robot with the autonomously rotating glider wing retracted according to the present invention;
wherein: the device comprises an autonomous rotary glider 1, an autonomous glider rotary motor 2, a bow buoyancy adjusting unit 3, a detection control unit 4, a horizontal rudder and a vertical rudder 5, a propeller 6, a propulsion unit 7, a stern buoyancy adjusting unit 8 and an energy unit 9.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The invention relates to a double-motion-mode underwater robot with an autonomous rotating glider, which comprises: the robot comprises a robot body, a detection control unit, an autonomous rotary glider, a bow buoyancy adjusting unit 3, a stern buoyancy adjusting unit 8, a horizontal rudder and a vertical rudder 5, a propeller 6, a propulsion unit 7 and an energy unit 9; the autonomous rotary glider wing is arranged on the upper part of the robot body; the bow buoyancy adjusting unit 3 and the stern buoyancy adjusting unit 8 are used for adjusting buoyancy; the horizontal rudder and the vertical rudder 5 are used for changing the horizontal or vertical traveling direction; the propeller 6 is used for providing advancing power; the propulsion unit 7 comprises a propeller 6, a horizontal rudder and a vertical rudder 5, and the energy unit 9 is used for providing power; the bow detection controller 4 stores an mission task program, and executes the following method steps when the program is loaded, so that the underwater robot can autonomously switch a high maneuvering sailing mode or a low power consumption gliding motion mode according to the current condition of a target area after being placed in water, and execute an observation task under water. The ocean current condition of the target area is acquired in real time according to an ocean parameter sensor carried on the underwater robot body; and the ocean current condition is graded according to the water flow speed detected by an acoustic Doppler current profiler carried by the underwater robot and a set threshold value. The rotary gliding wing comprises a straight wing and a rotary motor, the straight wing is horizontally arranged above the body of the underwater robot, the rotary motor is arranged in the body of the underwater robot, and a motor output shaft is connected with the straight wing.
The invention enables the underwater robot to have a low-power-consumption gliding mode and a high-maneuvering sailing mode, and the two movement modes can be switched online during the task execution. According to the mission, when the mission is in a long endurance mode, the underwater robot automatically rotates the gliding wing 1 to a direction vertical to the longitudinal direction of the body of the underwater robot, the propulsion unit is closed, the net buoyancy and the longitudinal inclination angle of the underwater robot are changed by the fore-aft buoyancy adjusting unit 3 to form periodic gliding movement, so that the underwater robot moves to enter a low-power-consumption gliding mode; when the mission is in a high maneuvering mode, the autonomous rotating glider 1 rotates to keep a direction parallel to the longitudinal direction of the body of the underwater robot, the propulsion unit 7 is opened, the fore-aft buoyancy adjusting unit 3 adjusts the underwater robot to zero net buoyancy and zero longitudinal inclination, and the underwater robot moves to enter the high maneuvering mode by means of the propeller 7, the horizontal rudder and the vertical rudder 5 to carry out sailing movement. The invention changes the method that the underwater robot autonomously rotates the gliding wing 1, so that the original autonomous underwater robot which can only sail fast with high maneuvering speed is added with a low-power consumption and slow gliding mode, and can save the movement energy consumption and increase the endurance.
The method flow embodiment of the invention comprises the following steps:
the first step is as follows: high maneuver navigation mode
After the underwater robot is placed in water, mission tasks are started to be executed. When the mission-mid motion mode is set to the high maneuvering mode, the autonomous rotary glider 1 is kept longitudinally parallel to the body of the underwater robot body, as in the glide-winged state in fig. 1.
The propulsion unit 7 and the fore-aft buoyancy regulating unit 3 are powered on by the on-off switch.
The fore-aft buoyancy adjusting unit 3 receives the water to adjust the underwater robot to zero net buoyancy and zero trim angle by changing the displacement volume mode. The control force required to be provided by the fore-aft buoyancy regulating unit 3 is calculated by the following formula:
wherein, FdIndicates the resultant force that needs to be provided by the fore-aft buoyancy regulating units (3, 8), FbIndicating the force value that the bow buoyancy regulating unit 3 needs to provide, FsIndicating the force value, L, that the stern buoyancy adjustment unit 8 needs to providebIndicating bowDistance L from center of partial buoyancy adjusting unit to floating center of underwater robotsAnd the distance from the center of the stern buoyancy adjusting unit to the floating center of the underwater robot is shown.
According to the formula, the concrete force values needed to be provided by the bow and stern buoyancy adjusting units (3 and 8) are respectively obtained as follows:
after the fore-aft buoyancy adjusting units (3 and 8) are adjusted to the target force, the power supplies of the fore-aft buoyancy adjusting units (3 and 8) are closed; the underwater robot carries out navigation movement by means of the propeller 4, the horizontal rudder and the vertical rudder 5, so that the underwater robot moves to enter a high-maneuverability navigation mode.
The second step is that: low power consumption glide mode
When the mission-engaged motion mode is set to the glide mode, the autonomous rotary glider rotates in a direction perpendicular to the longitudinal direction of the underwater robot body, as shown in fig. 2, in which the glider is retracted. Net buoyancy and a longitudinal inclination angle of the underwater robot are changed by means of bow and stern buoyancy adjusting units (3 and 8) to form periodic gliding movement, so that the underwater robot moves to enter a gliding mode with low power consumption.
The power supply of the propulsion unit is closed, and the power supply of the fore-aft buoyancy adjusting units (3 and 8) is opened.
Fore-aft buoyancy adjustment units (3, 8) receive the adjustment of the underwater robot to a target net buoyancy and a target pitch angle by varying the displacement volume. The control force required to be provided by the fore-aft buoyancy regulating units (3, 8) is calculated by the following formula:
wherein, TdThe resultant moment required to be provided by the fore-aft buoyancy regulating units (3, 8) is shown.
According to the formula, the concrete force values needed to be provided by the bow and stern buoyancy adjusting units (3 and 8) are respectively obtained as follows:
in the embodiment, the bow buoyancy adjusting unit, the stern buoyancy adjusting unit, the horizontal rudder, the vertical rudder and the propeller are disclosed in 2016, 6, 8, and the Chinese invention patent with the publication number of CN 105644742A and the application number of 201410627537.0 is applied to the long-term fixed-point vertical profile observation type underwater robot: a bow buoyancy adjusting section 15, a stern buoyancy adjusting section 5, a rudder 2, an elevator 17, a propeller 1 and a propelling section 4.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (7)
1. A dual-mode motion control method of an underwater robot with an autonomous rotating glider is characterized by comprising the following steps: after the underwater robot is placed in water, executing a mission task, autonomously switching a high maneuvering sailing motion mode or a low power consumption gliding motion mode according to the ocean current condition of a target area, and executing an observation task under water;
the high maneuvering navigation motion mode is that the underwater robot retracts the rotary gliding wing to change into zero net buoyancy and zero longitudinal inclination angle, and the underwater robot provides power by the propeller and the horizontal and vertical steering engines to cruise quickly;
the low-power-consumption gliding motion mode is that the underwater robot unfolds the rotary gliding wings, the propeller is closed according to the target net buoyancy and the longitudinal inclination angle, the fore-aft buoyancy adjusting unit and the vertical rudder provide power, and the underwater robot glides at low speed.
2. The underwater robot dual-mode motion control method with the autonomous rotating glider wing is characterized in that the ocean current condition of the target area is acquired in real time according to an acoustic Doppler current profiler carried on an underwater robot body; and the ocean current condition is graded according to the detection parameters and the threshold value.
3. The underwater robot dual-mode motion control method with the autonomous rotating glider wing according to claim 1, wherein in the high maneuvering sailing mode, the detection control unit outputs a command signal to execute the following control steps:
A1. controlling the autonomous rotary glider to retract to an initial position, so that the rotary glider is kept longitudinally parallel to the body of the underwater robot to reduce the advancing resistance;
A2. controlling the propulsion unit and the fore and aft buoyancy regulating units to open switches to be electrified to work;
A3. calculating force values provided by bow and stern buoyancy adjusting units for changing the drainage volume when the net buoyancy and the trim angle are zero;
A4. the bow buoyancy adjusting unit and the stern buoyancy adjusting unit receive force value instruction signals, and the net buoyancy and the trim angle of the water adjusting robot are both zero;
A5. and controlling the propeller, the horizontal rudder and the vertical rudder to provide power to perform high-mobility rapid cruise motion.
4. The underwater robot dual-mode motion control method with the autonomous rotating glider wing according to claim 1, wherein in the low power consumption gliding motion mode, the detection control unit outputs a command signal to execute the following control steps:
B1. controlling the autonomous rotary glider to rotate to a preset unfolding angle, so that the rotary glider is kept at the preset angle with the body of the underwater robot in the longitudinal direction and is used for providing advancing power;
B2. controlling the propulsion unit to be powered off, and controlling the bow buoyancy regulating unit and the stern buoyancy regulating unit to be powered on to work;
B3. calculating force values provided by bow and stern buoyancy adjusting units for changing the drainage volume when the target net buoyancy and the target pitch angle are calculated; changing the net buoyancy and pitch angle of the underwater robot;
B4. the fore buoyancy adjusting unit and the stern buoyancy adjusting unit receive the force value instruction signals and adjust the net buoyancy and the pitch angle of the underwater robot to target values;
B5. under the state that the rotary gliding wing is spread, the horizontal rudder and the vertical rudder provide power to perform gliding motion with low power consumption.
5. The underwater robot dual-mode motion control method with the autonomous rotating glider according to claim 1, wherein the rotating glider rotates to a preset deployment angle, comprising:
1) the rotary gliding wing provides forward maximum power for linear motion when being rotationally unfolded to the direction vertical to the longitudinal direction of the underwater robot body;
2) other deployment angles provide centripetal force to the underwater robot for curvilinear or spiral motion.
6. The utility model provides a take underwater robot of autogyration glider which characterized in that includes: the robot comprises a robot body, a bow detection controller, an autonomous rotating glider, a bow buoyancy adjusting unit, a stern buoyancy adjusting unit, a horizontal rudder, a vertical rudder, a propeller, a propelling unit and an energy unit; the autonomous rotating gliding wing is arranged on the upper part of the robot body; the bow buoyancy adjusting unit and the stern buoyancy adjusting unit are used for adjusting buoyancy; the horizontal rudder and the vertical rudder are used for changing the horizontal or vertical traveling direction; the propeller is used for providing advancing power; the propulsion unit comprises a propeller, a horizontal rudder and a vertical rudder; the energy unit is used for providing power supply; the bow detection controller stores an mission program, executes the method steps according to any one of claims 1-8 when the program is loaded, and automatically switches a high maneuvering sailing mode or a low power consumption gliding mode according to the current situation of a target area after the underwater robot is deployed into water, so as to execute an observation task underwater.
7. The underwater robot with the autonomous rotating gliding wing according to claim 6, wherein the rotating gliding wing comprises a straight wing and a rotating motor, the straight wing is disposed above the body of the underwater robot, the rotating motor is disposed in the body of the underwater robot, and an output shaft of the motor is connected with the straight wing.
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