CN114655398B - Dual-mode motion control method for underwater robot with autonomous rotating glide wings - Google Patents

Dual-mode motion control method for underwater robot with autonomous rotating glide wings Download PDF

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Publication number
CN114655398B
CN114655398B CN202111613690.4A CN202111613690A CN114655398B CN 114655398 B CN114655398 B CN 114655398B CN 202111613690 A CN202111613690 A CN 202111613690A CN 114655398 B CN114655398 B CN 114655398B
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underwater robot
buoyancy
bow
stern
power
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CN114655398A (en
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姜志斌
王福利
祁胜
刘铁军
闫兴亚
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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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
    • 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
    • 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

Abstract

The invention discloses a double-mode motion control method of an underwater robot with an autonomous rotating glide wing, which comprises the following steps: the underwater robot performs mission tasks after being placed in water, automatically switches a high-maneuver sailing movement mode or a low-power consumption gliding movement mode according to the ocean current condition of a target area, and performs observation tasks under water; the high-mobility sailing movement mode is that the underwater robot withdraws the rotary glider to be changed into zero net buoyancy and zero pitch angle, and the power is provided by a propeller, a horizontal steering engine and a vertical steering engine to quickly cruise; the low-power consumption gliding movement mode is that the underwater robot expands and rotates the gliding wings, the propeller is closed according to the target net buoyancy and the pitch angle, and the buoyancy adjusting unit and the vertical rudder machine provide power for low-speed gliding. According to the invention, by changing the method for automatically rotating the gliding wings of the underwater robot, the autonomous underwater robot which can only move in a high-maneuver mode is increased in a low-power-consumption gliding movement mode, so that the movement energy consumption of the autonomous underwater robot can be saved, and the endurance of the autonomous underwater robot can be increased.

Description

Dual-mode motion control method for underwater robot with autonomous rotating glide wings
Technical Field
The invention belongs to the technical field of underwater robots, in particular to a double-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 endurance and a fast and strong maneuvering navigation motion mode.
Background
Underwater robots are an important means for humans to observe the marine environment. With the rapid development of marine observation equipment in the aspects of energy, propulsion, control and the like, people simultaneously provide strong demands for the performances of long voyage, ocean current resistance and the like of the marine equipment.
Currently, the large-scale marine environment observation equipment mainly comprises an underwater glider (Autonomous Underwater Glider, AUG for short) and an autonomous underwater robot (Autonomous Underwater Vehicle, AUV for short). AUG realizes heave and pitch angle control through a buoyancy adjusting device and a movable sliding block, realizes long-distance underwater gliding movement by means of a fixed wing, and can realize ocean observation of long voyage and long voyage, but due to lack of a propeller, a horizontal rudder and a vertical rudder, stable voyage of ocean current resistance in a strong current area is difficult to realize, and mobility is greatly limited; AUV can realize fixed depth/fixed height, fixed speed and directional navigation through propeller, horizontal rudder and vertical rudder, has stronger maneuverability and can resist the ocean current disturbance of certain intensity, but because its carried energy is limited, it is difficult to carry out ocean observation in long voyage and long journey.
In order to realize long-term large-range ocean observation, ocean current resistance and high-precision track tracking capability, ocean observation equipment with long endurance, long voyage, strong maneuverability, autonomous heave and capability of autonomously executing mission tasks needs 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 glide wings, which aims at overcoming the defects that the existing underwater robot is difficult to have low-power-consumption glide motion and high-mobility navigation motion, and can switch the low-power-consumption glide motion mode and the high-mobility motion mode on line and autonomously according to the mission requirement, thereby saving energy consumption, increasing ocean observation operation time and endurance and completing the detection mission of the underwater robot on the seabed.
The invention solves the problems by adopting the following technical scheme:
an underwater robot dual-mode motion control method with autonomous rotating glider, comprising: the underwater robot performs mission tasks after being placed in water, automatically switches a high-maneuver sailing movement mode or a low-power consumption gliding movement mode according to the ocean current condition of a target area, and performs observation tasks under water;
the high-mobility sailing movement mode is that the underwater robot withdraws the rotary glider to be changed into zero net buoyancy and zero pitch angle, and the power is provided by a propeller, a horizontal steering engine and a vertical steering engine to quickly cruise;
the low-power consumption gliding movement mode is that the underwater robot expands the rotary gliding wings, the propeller is closed according to the target net buoyancy and the pitch angle, and the power is provided by the bow-stern buoyancy adjusting unit and the vertical rudder, so that the underwater robot glides at a low speed.
The ocean current condition of the target area is acquired in real time according to an acoustic Doppler flow velocity profiler carried on the underwater robot body; the current condition is ranked according to the detection parameter and a threshold.
In the high maneuver mode, the detection control unit outputs a command signal to execute the following control steps:
A1. controlling the autonomous rotating glider to retract to an initial position, so that the rotating glider is kept longitudinally parallel to the body of the underwater robot to reduce forward resistance;
A2. the control propulsion unit and the bow and stern buoyancy adjusting unit are powered on by opening a switch;
A3. calculating a force value provided by a bow buoyancy adjusting unit and a stern buoyancy adjusting unit required for changing the drainage volume when the zero net buoyancy and the zero pitch angle are calculated;
A4. the bow and stern buoyancy adjusting units receive force value instruction signals and adjust the net buoyancy and the pitch angle of the water robot to be zero;
A5. and controlling the propeller, the horizontal rudder and the vertical rudder to provide power for high-mobility quick cruising motion.
The calculation of the force value provided by the bow and stern buoyancy adjusting unit required for changing the drainage volume when the zero net buoyancy and the zero pitch angle are adopted comprises the following steps:
wherein F is d Representing the resultant force required to be provided by the adjustment of the buoyancy of the bow and the stern, F b Representing the force value required to be provided by the bow buoyancy adjustment, F s Indicating the force value, L, required to be provided by stern buoyancy adjustment b Representing the distance from the bow buoyancy regulating center to the floating center of the underwater robot, L s Representing the centre of buoyancy adjustment of the stern to the centre of buoyancy of the underwater robotA distance;
from the above formula, it can be derived respectively that the buoyancy adjustment unit of bow stern needs the utensil physical power value that provides to be:
in 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 rotating glider to rotate to a preset unfolding angle, so that the rotating glider keeps a preset angle with the longitudinal direction of the underwater robot body and is used for providing travelling power;
B2. controlling the propulsion unit to be powered down, and controlling the bow and stern buoyancy adjusting unit to open a switch to power up;
B3. calculating a force value provided by a bow buoyancy adjusting unit required 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 unit receives the force value command signal and adjusts the net buoyancy and the pitch angle of the underwater robot to target values;
B5. in the rotary glide spanwise open state, power is supplied through the horizontal rudder and the vertical rudder to perform low-power-consumption glide motion.
The rotating glider rotates to a preset unfolding angle, comprising:
1) The rotary glider provides forward maximum power for linear motion when being rotationally unfolded to be vertical to the longitudinal direction of the underwater robot body;
2) Other deployment angles provide centripetal force to the underwater robot for curvilinear or helical movement.
The calculation of the force value provided by the bow and stern buoyancy adjusting unit required for changing the drainage volume when the target net buoyancy and the target pitch angle comprise the following steps:
wherein T is d Representing the resultant moment which needs to be provided for adjusting the buoyancy of the bow and the stern;
from the above formula, it can be derived respectively that the buoyancy adjustment unit of bow stern needs the utensil physical power value that provides to be:
an underwater robot with autonomous rotating glider, comprising: the device comprises a robot body, a bow detection controller, an autonomous rotating glide wing, 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 at the upper part of the robot body; the bow and stern buoyancy adjusting unit is used for adjusting buoyancy; the horizontal rudder and the vertical rudder are used for changing the horizontal or vertical travelling direction; the propeller is used for providing travelling power; the propulsion unit comprises a propeller, a horizontal rudder and a vertical rudder; the energy source unit is used for providing power; the bow detection controller stores a mission task program, when the mission task program is loaded, the method steps are executed, after the underwater robot is placed in water, the high-maneuver sailing mode or the low-power consumption gliding movement mode is automatically switched according to the ocean current condition of a target area, and the observation task is executed underwater.
The rotary gliding wing comprises a straight wing and a rotary motor, the straight wing is arranged above the underwater robot body, the rotary motor is arranged in the underwater robot body, and an output shaft of the motor is connected with the straight wing.
The invention has the following beneficial effects and advantages:
1. the invention can have a gliding movement mode with low power consumption, long endurance and long range and a sailing movement mode with high maneuverability and ocean current resistance.
2. According to the invention, the gliding movement mode and the sailing movement mode can be automatically switched on line during the execution of the underwater movement according to the mission requirement.
3. According to the invention, the autonomous heave and glide movement is realized through the bow-stern buoyancy adjusting unit and the autonomous rotating glide wing unit, so that 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 endurance and range.
Drawings
FIG. 1 is an illustration of the effect of an autonomous rotary glide wing deployed underwater robot of the present invention;
FIG. 2 is a view showing the effect of the autonomous rotary glide wing retraction of the underwater robot of the present invention;
wherein: the self-rotating gliding wing device comprises a self-rotating gliding wing body 1, a self-rotating gliding wing 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 that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
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-movement-mode underwater robot with an autonomous rotating glide wing, comprising: the unmanned aerial vehicle comprises a main body of the robot, a detection control unit, an autonomous rotating glide wing, a bow buoyancy adjusting unit 3, a stern buoyancy adjusting unit 8, a horizontal rudder and vertical rudder 5, a propeller 6, a propulsion unit 7 and an energy unit 9; the autonomous rotating gliding wing is arranged at 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 travelling power; said propulsion unit 7 comprises a propeller 6, a horizontal rudder and a vertical rudder 5 said energy source unit 9 for providing power; the bow detection controller 4 stores a mission program, when the mission program is loaded, the following method steps are executed, after the underwater robot is placed in water, the high-maneuver sailing mode or the low-power-consumption gliding movement mode is automatically switched according to the ocean current condition of a target area, and the observation mission is executed underwater. 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; the ocean current condition is classified according to the detection of the water current speed and the set threshold value of an acoustic Doppler flow velocity profiler carried by the underwater robot. The rotary gliding wing comprises a straight wing and a rotary motor, the straight wing is horizontally arranged above the underwater robot body, the rotary motor is arranged in the underwater robot body, and an output shaft of the motor is connected with the straight wing.
The invention enables the underwater robot to have a low-power consumption gliding mode and a high-maneuvering navigation mode, and the two movement modes can be switched on line during the task execution. According to the mission, when the mission is in a long cruising mode, the autonomous rotating glider 1 rotates to be 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 virtue of the bow-stern buoyancy adjusting unit 3, and periodic gliding movement is formed, so that the underwater robot moves into a low-power consumption gliding mode; when the mission is in a high maneuver mode, the autonomous rotating glider 1 rotates to keep a parallel direction with the longitudinal direction of the body of the underwater robot, the propulsion unit 7 is opened, the bow-stern buoyancy adjusting unit 3 adjusts the underwater robot to zero net buoyancy and zero pitch angle, and the underwater robot moves into the high maneuver mode by means of the propeller 7, the horizontal rudder and the vertical rudder 5 for sailing. According to the invention, by changing the method for automatically rotating the glide wings 1 of the underwater robot, the autonomous underwater robot which can only travel with high maneuver and high speed originally is increased with a low-power consumption slow glide mode, so that the motion energy consumption of the autonomous underwater robot can be saved and the endurance of the autonomous underwater robot can be increased.
The method flow embodiment of the invention comprises the following steps:
the first step: high maneuver mode
After the underwater robot is placed in water, the mission task starts to be executed. When the mission movement mode is set to the high maneuver mode, the autonomous rotating glide wing 1 remains longitudinally parallel to the underwater robot body as in the glide spanwise state of fig. 1.
The propulsion unit 7 and the fore-aft buoyancy adjusting unit 3 are powered on by opening the switch.
The fore-aft buoyancy adjusting unit 3 receives the water discharged by the underwater robot to be adjusted to zero net buoyancy and zero pitch angle by changing the volume of the water discharged. The control force required to be provided by the fore-aft buoyancy adjusting unit 3 is calculated by the following formula:
wherein F is d Representing the resultant force required to be provided by the fore-aft buoyancy regulating units (3, 8), F b Representing the force value that the bow buoyancy regulating unit 3 needs to provide, F s Indicating the force value, L, that the stern buoyancy adjustment unit 8 is required to provide b Representing the distance from the center of the bow buoyancy regulating unit to the floating center of the underwater robot, L s Representing the distance from the center of the stern buoyancy adjustment unit to the center of the floating core of the underwater robot.
From the above formula, it can be derived respectively that the specific force value that needs to be provided by the fore-aft buoyancy adjusting unit (3, 8) is:
after the bow-stern buoyancy adjusting units (3, 8) are adjusted to the target force, closing the power supply of the bow-stern buoyancy adjusting units (3, 8); the underwater robot performs sailing movement by virtue of the propeller 4, the horizontal rudder and the vertical rudder 5, so that the underwater robot moves into a high-maneuvering sailing mode.
And a second step of: low-power consumption gliding movement mode
When the mission movement mode is set to the glide mode, the autonomous rotation glide wing is rotated to a direction perpendicular to the longitudinal direction of the underwater robot body, as in fig. 2, the glide wing is retracted. The net buoyancy and the pitch angle of the underwater robot are changed by virtue of the fore-aft buoyancy adjusting units (3 and 8), so that periodic gliding movement is formed, and the underwater robot is enabled to move into a low-power consumption gliding mode.
The power supply of the propulsion unit is closed, and the power supply of the fore-aft buoyancy adjusting units (3, 8) is opened.
The fore-aft buoyancy adjusting units (3, 8) receive the water discharged by the underwater robot by changing the water discharging volume mode to adjust to the target net buoyancy and the target pitch angle. The control force required to be provided by the fore-aft buoyancy adjusting units (3, 8) is calculated by the following formula:
wherein T is d Representing the resultant moment that the fore-aft buoyancy adjusting units (3, 8) need to provide.
From the above formula, it can be derived respectively that the specific force value that needs to be provided by the fore-aft buoyancy adjusting unit (3, 8) is:
in this embodiment, the bow buoyancy adjusting unit, the stern buoyancy adjusting unit, the horizontal rudder, the vertical rudder and the propeller are disclosed in year 2016, month 6 and day 8, and the chinese patent application No. CN105644742 a, application No. 201410627537.0 is "a 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 propulsion section 4.
The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the present invention. It should be noted that it is possible for a person skilled in the art to make several variants and modifications without departing from the inventive concept, which fall within the scope of protection of the present invention.

Claims (4)

1. An underwater robot dual-mode motion control method with an autonomous rotating glide wing, comprising: the underwater robot performs mission tasks after being placed in water, automatically switches a high-maneuver sailing movement mode or a low-power consumption gliding movement mode according to the ocean current condition of a target area, and performs observation tasks under water;
the high-mobility sailing movement mode is that the underwater robot withdraws the rotary glider to be changed into zero net buoyancy and zero pitch angle, and the power is provided by a propeller, a horizontal steering engine and a vertical steering engine to quickly cruise;
in the high maneuver mode, the detection control unit outputs a command signal to execute the following control steps:
A1. controlling the autonomous rotating glider to retract to an initial position, so that the rotating glider is kept longitudinally parallel to the body of the underwater robot to reduce forward resistance;
A2. the control propulsion unit and the bow and stern buoyancy adjusting unit are powered on by opening a switch;
A3. calculating a force value provided by a bow buoyancy adjusting unit and a stern buoyancy adjusting unit required for changing the drainage volume when the zero net buoyancy and the zero pitch angle are calculated; comprising the following steps:
wherein F is d Representing the resultant force required to be provided by the adjustment of the buoyancy of the bow and the stern, F b Representing the force value required to be provided by the bow buoyancy adjustment, F s Indicating the force value, L, required to be provided by stern buoyancy adjustment b Representing the distance from the bow buoyancy regulating center to the floating center of the underwater robot, L s Representing the distance from the stern buoyancy adjusting center to the floating center of the underwater robot;
by the formula, the specific force value required to be provided by the bow and stern buoyancy adjusting unit can be obtained respectively:
A4. the bow and stern buoyancy adjusting units receive force value command signals and adjust the net buoyancy and the pitch angle of the underwater robot to be zero;
A5. controlling the propeller, the horizontal rudder and the vertical rudder to provide power for high-mobility quick cruising movement;
the low-power consumption gliding movement mode is that the underwater robot expands the rotary gliding wings, the propeller is closed according to the target net buoyancy and the pitch angle, and the power is provided by the bow buoyancy adjusting unit, the stern buoyancy adjusting unit and the vertical rudder, so that the underwater robot glides at a low speed;
in 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 rotating glider to rotate to a preset unfolding angle, so that the rotating glider keeps a preset angle with the longitudinal direction of the underwater robot body and is used for providing travelling power; the rotating glider rotates to a preset unfolding angle, comprising:
1) The rotary glider provides forward maximum power for linear motion when being rotationally unfolded to be vertical to the longitudinal direction of the underwater robot body;
2) Providing centripetal force for the underwater robot at other unfolding angles for curvilinear motion;
B2. controlling the propulsion unit to be powered down, and controlling the bow and stern buoyancy adjusting unit to open a switch to power up;
B3. calculating a force value provided by a bow buoyancy adjusting unit required 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;
the calculation of the force value provided by the bow and stern buoyancy adjusting unit required for changing the drainage volume when the target net buoyancy and the target pitch angle comprise the following steps:
wherein T is d Representing the resultant moment which needs to be provided for adjusting the buoyancy of the bow and the stern;
by the formula, the specific force value required to be provided by the bow and stern buoyancy adjusting unit can be obtained respectively:
B4. the bow and stern buoyancy adjusting unit receives the force value command signal and adjusts the net buoyancy and the pitch angle of the underwater robot to target values;
B5. in the rotary glide spanwise open state, power is supplied through the horizontal rudder and the vertical rudder to perform low-power-consumption glide motion.
2. The method for controlling the dual-mode motion of the underwater robot with the autonomous rotating glide wing according to claim 1, wherein the ocean current condition of the target area is acquired in real time according to an acoustic Doppler flow velocity profiler carried on the body of the underwater robot; the current condition is ranked according to the detection parameter and a threshold.
3. An underwater robot with autonomous rotating glider, comprising: the device comprises a robot body, a bow detection controller, an autonomous rotating glide wing, 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 at the upper part of the robot body; the bow and stern buoyancy adjusting unit is used for adjusting buoyancy; the horizontal rudder and the vertical rudder are used for changing the horizontal or vertical travelling direction; the propeller is used for providing travelling power; the propulsion unit comprises a propeller, a horizontal rudder and a vertical rudder; the energy source unit is used for providing power; the bow detection controller stores a mission program, when the mission program is loaded, the control method according to any one of claims 1-2 is executed, after the underwater robot is placed in water, the high-mobility sailing movement mode or the low-power consumption gliding movement mode is automatically switched according to the ocean current condition of a target area, and the observation mission is executed under water.
4. An underwater robot with an autonomous rotary glide wing as defined in claim 3 wherein the rotary glide wing comprises a straight wing disposed above the body of the underwater robot and a rotary motor disposed within the body of the underwater robot, the motor output shaft being coupled to the straight wing.
CN202111613690.4A 2021-12-27 2021-12-27 Dual-mode motion control method for underwater robot with autonomous rotating glide wings Active CN114655398B (en)

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