CN114802659B - High-resistance underwater cabled robot and control method thereof - Google Patents
High-resistance underwater cabled robot and control method thereof Download PDFInfo
- Publication number
- CN114802659B CN114802659B CN202210278303.4A CN202210278303A CN114802659B CN 114802659 B CN114802659 B CN 114802659B CN 202210278303 A CN202210278303 A CN 202210278303A CN 114802659 B CN114802659 B CN 114802659B
- Authority
- CN
- China
- Prior art keywords
- robot
- underwater
- propeller
- data
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 238000004088 simulation Methods 0.000 claims abstract description 20
- 239000012530 fluid Substances 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 13
- 238000004458 analytical method Methods 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 8
- 238000007667 floating Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000013480 data collection Methods 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000013078 crystal Substances 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 239000003643 water by type Substances 0.000 description 3
- 238000011835 investigation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000009418 renovation Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Images
Classifications
-
- 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
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
- B63B1/40—Other means for varying the inherent hydrodynamic characteristics of hulls by diminishing wave resistance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
- B63B71/10—Designing vessels; Predicting their performance using computer simulation, e.g. finite element method [FEM] or computational fluid dynamics [CFD]
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
-
- 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
- B63G8/08—Propulsion
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a high-resistance underwater cabled robot and a control method thereof, which relate to the technical field of underwater robots and comprise a robot shell, wherein the robot shell is constructed by an underwater fluid motion simulation method, the device is of a streamline spindle structure and is arranged in a closed mode, and an ultra-short baseline positioning system, an antenna, an illuminating lamp, a camera, a mechanical scanning sonar, a velocimeter and a propeller and a main control circuit for controlling the underwater cabled robot are mounted on a robot shell; the underwater robot carrier is reasonable in structure arrangement, reduces running resistance, improves underwater running speed and anti-flow stability, further improves indexes such as underwater positioning accuracy and the like, is provided with data acquisition equipment, is convenient to check and use in complex water areas, has the functions of depth setting control, directional control and real-time monitoring, and is more intelligent and informationized in underwater monitoring work.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater cabled robot capable of safely operating under a water flow condition with a high flow rate.
Background
The ROV has higher economical efficiency, higher flexibility and multiple advantages, and can be effectively adapted to various working environments, so that the research on the ROV is enhanced at home and abroad at present. The method is widely applied to the aspects of ocean resource development, underwater engineering investigation and the like. In order to ensure the stable operation of the waterway, the repair work of the inland waterway is indispensable. Buildings along the inland river are the key points of the renovation work.
Meanwhile, the river is used for building the dykes and dams at two sides, bridges, wharfs, stone throwing and the like, particularly the Yangtze river channel, and has the advantages of large river basin area, changeable conditions, high flow velocity and turbid water body. The underwater robot in the current stage has single function, so that the underwater robot has general data acquisition precision on the underwater environment, is not comprehensive and is inconvenient to view and use. For the difficulty of the current underwater machine in the course of channel disease investigation, an underwater robot platform which can be used in the inland river is needed to complete intelligent, informationized and stable control; meanwhile, the average flow velocity of water at the lower reaches of the Yangtze river is 2-3 m/s, and ROV equipment which can be applied to a high-current environment is not available at present. Traditional rov is an open framework, has a large flow-facing area and a resistance coefficient as high as 1.2, and has a large resistance coefficient, so that the traditional rov cannot move quickly in the diving process. The international more recent ROV product navigation speed to be described is not more than 3 knots, such as v8 series, and the Falcon series maximum speed is 3 knots, which also brings trouble to the running of the underwater robot.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the invention, which should not be used to limit the scope of the invention.
The present invention has been made in view of the above-described problems occurring in the conventional underwater robot.
Therefore, one of the purposes of the invention is to provide a high-resistance underwater cabled robot and a use method thereof, which utilizes reasonable layout of data acquisition equipment on the underwater robot, and corresponding data processing to control the running state of the underwater robot, thereby controlling more intelligentization and informatization, improving the flat streamline spindle structure of an open machine body, reducing running resistance and improving the running speed and stability of the underwater.
In order to solve the technical problems, the invention provides the following technical scheme: the device comprises a robot shell, wherein the robot shell is constructed by an underwater fluid motion simulation method, is of a streamline spindle structure and is arranged in a closed mode, a hoisting universal joint, an ultra-short baseline positioning system and an antenna are installed at the upper part of the robot shell, a head part is provided with a lighting lamp, a camera, a floating material block and a mechanical scanning sonar installed on the floating material block, a leg support frame and a velocimeter are installed at the bottom of the robot shell, a central axis of the robot shell is taken as a symmetrical axis, a lighting lamp, a camera and a mounting frame are installed in a horizontal symmetrical mode, and a propelling mechanism is installed on each mounting frame;
the underwater cabled robot comprises a processor, a data acquisition module, an I/O control equipment module, an interface end and a regulated power supply module, wherein the data acquisition module, the I/O control equipment module, the interface end and the regulated power supply module are correspondingly connected with the processor; the mechanical scanning sonar, the velocimeter, the camera, the ultra-short baseline positioning system and the antenna are all connected with the data acquisition module, the propulsion mechanism is connected with the I/O control equipment module, and the main control circuit is connected with the industrial control host through the interface end.
As a preferable scheme of the high-resistance underwater cabled robot, the invention comprises the following steps: the propulsion mechanism comprises a stern propeller for advancing movement and a side propeller for controlling sinking, rising, balancing or steering, wherein the stern propeller and the side propeller are electrically connected with the I/O control equipment module.
As a preferable scheme of the high-resistance underwater cabled robot, the invention comprises the following steps: the stern propeller comprises a propeller for driving, a guide shell cover positioned outside the propeller, a brushless motor connected with the propeller and a control cable electrically connected with the brushless motor;
the brushless motor in the stern propeller is driven by a magnetic coupling structure with the propeller driving shaft, and a sealing shell is arranged outside the brushless motor and the propeller driving shaft;
the transmission mechanism between the brushless motor power shaft and the propeller driving shaft is a planetary reduction gear.
As a preferable scheme of the high-resistance underwater cabled robot, the invention comprises the following steps: the illuminating lamp and the camera are symmetrically arranged at the bow part, the two side parts and the bottom of the robot shell by taking the central axis of the robot shell as a symmetrical axis.
As a preferable scheme of the high-resistance underwater cabled robot, the invention comprises the following steps: the interface end comprises a serial port communication unit, an I/O communication unit, a relay control unit, an MOS driving unit, a display unit and a crystal oscillator unit which are used for communication;
the serial communication unit comprises a filter circuit, a signal amplifying circuit, a photoelectric conversion circuit, a photoelectric isolation circuit, a serial communication circuit, a wireless data communication circuit and a data buffer circuit.
As a preferable scheme of the high-resistance underwater cabled robot, the invention comprises the following steps: the main control circuit of the underwater cabled robot is arranged based on one of a DSP chip, an FPGA chip or an MCU chip.
As a preferable scheme of the high-resistance underwater cabled robot, the invention comprises the following steps: the main control circuit of the underwater cabled robot further comprises sensing equipment connected with the processor; the sensing equipment comprises a temperature sensor, a flow rate sensor, a sensor for monitoring water quality, an encoder, a level gauge and an inclination sensor, wherein the temperature sensor and the flow rate sensor are arranged on the outer wall of the robot shell, the sensor is used for monitoring water quality, and the encoder is connected with a driving motor of the propulsion mechanism, and the level gauge and the inclination sensor are arranged inside the robot shell.
As a preferable scheme of the high-resistance underwater cabled robot, the invention comprises the following steps: the underwater fluid motion simulation method specifically comprises the following steps:
s1, establishing a control equation;
s2, determining initial conditions and boundary conditions;
s3, dividing a computing network to generate computing nodes;
s4, establishing a discrete equation;
s5, discretizing initial conditions and boundary conditions;
s6, determining and solving a control equation;
s7, solving a discrete equation;
s8, analyzing whether the analysis is correct or not;
s9, displaying and outputting a calculation result;
the method comprises the steps of establishing at least two robot shell physical models, determining the influence of the models on the surrounding environment, determining a calculation area, conducting grid division, setting boundary conditions, importing a divided grid graph into computational fluid dynamics analysis software, conducting a series of setting solutions, and conducting selective analysis processing on data to obtain a digital simulation analysis result;
the data are further obtained by carrying out simulation processing on the state speed scalar field and the vector field to obtain a corresponding simulation model and data, wherein the data comprise total resistance, friction resistance and viscous pressure resistance.
A control method of a high-resistance underwater cabled robot specifically comprises the following steps:
step one, assembling a system of an underwater cabled robot; the main control circuit is assembled in the robot shell, a temperature sensor, a flow rate sensor and a sensor for water quality monitoring are installed outside the robot shell, an encoder connected with a driving motor of the propulsion mechanism, a level meter and an inclination sensor are installed inside the robot shell, meanwhile, an ultra-short baseline positioning system, an antenna, an illuminating lamp, a camera, a mechanical scanning sonar, a velocimeter and a stern propeller and a side propeller are assembled on the robot shell, and the sensing device, the ultra-short baseline positioning system, the antenna, the illuminating lamp, the camera, the mechanical scanning sonar, the velocimeter and the stern propeller and the side propeller are electrically connected with the main control circuit and are debugged;
step two, the underwater cabled robot is operated, information data connection is established with an industrial control host on the shore, the underwater cabled robot is hoisted to a preset water area through a hoisting universal joint, the underwater cabled robot is based on data information collected by a data collection module and sensing equipment, the pushing mechanism is controlled to operate and conduct depth setting and directional control through an I/O control equipment module through data processing of a main control circuit, meanwhile, the data information collected by the data collection module and the sensing equipment is transmitted to the industrial control host for real-time monitoring, and the industrial control host can upload a server or locally conduct data storage.
As a preferable scheme of the control method of the high-resistance underwater cabled robot, the invention comprises the following steps: the depth setting and orientation control is carried out by a brushless motor of the underwater cabled robot pushing mechanism in a decoupling mode, a decoupling control mode of the brushless motor of the pushing mechanism is obtained, then a model is obtained in a regression fitting mode, the input and output relation of the brushless motor in the pushing mechanism is determined by presetting the state of depth control or orientation control, and then the world coordinate system is established with the coordinate system of the underwater cabled robot through coordinate transformation.
The invention has the beneficial effects that: the invention utilizes reasonable layout of data acquisition equipment on the underwater robot and corresponding data processing to control the running state of the underwater robot, is convenient for checking and using in complex water areas, has stable running, high detection precision and strong cable anti-interference performance, has the functions of depth-fixing control, directional control and real-time monitoring, ensures that the underwater monitoring work is more intelligent and informationized, improves the flat streamline spindle structure of an open machine body, reduces running resistance, improves the underwater running speed and the anti-flow stability, and further improves the indexes such as the underwater positioning precision of the underwater robot carrier.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
fig. 1 is a schematic structural diagram of a submersible cable robot in embodiments 1 and 2 of the present invention;
FIG. 2 is a schematic view of the stern propeller of FIG. 1 according to the present invention;
FIG. 3 is a schematic diagram of the modular assembly of the underwater cabled robot in embodiment 1 of the present invention;
fig. 4 is a modular block diagram of a master control circuit of the underwater cabled robot in embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of the master control circuit of the underwater cabled robot in embodiment 2 of the present invention;
FIG. 6-1 is a front view of FIG. 1 of the present invention;
FIG. 6-2 is a top view of FIG. 1 of the present invention;
fig. 6-3 are side views of the present invention of fig. 1;
FIGS. 6-4 are bottom views of FIG. 1 of the present invention;
FIG. 7 is a flow chart of the fluid motion simulation method of embodiments 1 and 2 of the present invention.
Reference numerals in the drawings: 1. a robot housing; 101. a floating material; 102. leg support frames; 103. hoisting the universal joint; 11. mechanically scanning sonar; 12. a camera; 13. a lighting lamp; 14. an ultra-short baseline positioning system; 15. an antenna; 16. a velometer; 2. A main control circuit; 21. a processor; 22. a data acquisition module; 23. an I/O control device module; 24. a regulated power supply module; 25. A sensing device;
3. a stern propeller; 301. a propeller; 302. a shell cover; 303. a brushless motor; 304. a control cable; 31. a side pusher;
4. and the industrial control host.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Based on the above-mentioned underwater robot through setting up data acquisition equipment to and the running state of corresponding data processing control underwater robot, be convenient for look over and use in complicated waters, the operation is stable, and the detection precision is high and the interference immunity who has the cable is strong, has depth control, directional control, real-time supervision's function, makes the more intelligent and informationization of underwater monitoring work, specifically as follows:
the propulsion mechanism of the present embodiment specifically includes a stern propeller 3 for forward movement and a side propeller 31 for controlling sinking, rising, balancing or steering, and the stern propeller 3 and the side propeller 31 are electrically connected to the I/O control device module 23.
Referring to fig. 2, the stern propeller 3 of the present embodiment further includes a propeller 301 for driving, a pod 302 located outside the propeller 301, a brushless motor 303 connected to the propeller 301, and a control cable 304 electrically connected to the brushless motor 303; the brushless motor 303 in the stern propeller 3 and the propeller 301 driving shaft are driven by adopting a magnetic coupling structure, and a sealing shell is arranged outside the brushless motor 303 and the propeller 301 driving shaft; the transmission mechanism between the power shaft of the brushless motor 303 and the driving shaft of the propeller 301 is a planetary reduction gear, so that the motor transmission efficiency is higher, the noise is smaller, the whole propeller is smaller in size and lighter in weight.
Based on the stern propeller 3, impact and vibration in the running process of the propeller can be effectively reduced, damage caused by overload is completely eliminated, the service life of the propeller is greatly prolonged, in addition, the whole propeller is in a static sealing state by the magnetic coupling driving technology, the risk of sealing leakage is greatly reduced, maintenance is avoided, and a large amount of maintenance cost can be saved.
The specific illuminating lamps 13 and the cameras 12 are arranged on the robot shell 1 in a plurality of groups, can perform monitoring and illuminating lamp functions, and are symmetrically arranged on the bow part, the two side parts and the bottom of the robot shell 1 by taking the central axis of the robot shell 1 as a symmetry axis.
In addition, the interface end comprises a serial port communication unit, an I/O communication unit, a relay control unit, an MOS driving unit, a display unit and a crystal oscillator unit which are used for communication; the serial communication unit comprises a filter circuit, a signal amplifying circuit, a photoelectric conversion circuit, a photoelectric isolation circuit, a serial communication circuit, a wireless data communication circuit and a data buffer circuit, wherein the circuits are arranged to improve the stability and the accuracy of operation of an electric control and data transmission system.
Preferably, the main control circuit 2 of the underwater cabled robot is arranged based on one of a DSP chip, an FPGA chip or an MCU chip.
Referring to fig. 7, the robot housing 1 is constructed in a streamlined spindle structure and is provided in a closed type by an underwater fluid movement simulation method, which specifically includes the steps of:
s1, establishing a control equation;
s2, determining initial conditions and boundary conditions;
s3, dividing a computing network to generate computing nodes;
s4, establishing a discrete equation;
s5, discretizing initial conditions and boundary conditions;
s6, determining and solving a control equation;
s7, solving a discrete equation;
s8, analyzing whether the analysis is correct or not;
s9, displaying and outputting a calculation result;
the method comprises the steps of establishing at least two physical models of a robot shell 1, determining the influence of the models on the surrounding environment, determining a calculation area, conducting grid division, setting boundary conditions, importing a divided grid diagram into computational fluid dynamics analysis software, conducting a series of setting solutions, and conducting selective analysis processing on data to obtain a digital simulation analysis result; after the model of the robot shell 1 is determined, the model is simplified into a model used for fluid simulation, namely a 4kn state model and a 6kn state model, and a state speed scalar field and a vector field are subjected to simulation processing to obtain a corresponding simulation model and data, wherein the data comprise total resistance, friction resistance and viscous pressure resistance.
TABLE 1 simulation results of the performance of an underwater cabled robot
| Working conditions of | Total resistance (N) | Frictional resistance (N) | Viscous drag (N) |
| 4kn | 350.156 | 26.789 | 323.367 |
| 6kn | 349.533 | 45.533 | 304.000 |
The embodiment also provides a control method of the high-resistance underwater cabled robot based on the high-resistance underwater cabled robot, which specifically comprises the following steps:
step one, assembling a system of an underwater cabled robot; the main control circuit 2 is assembled in the robot shell 1, a temperature sensor, a flow rate sensor and a sensor for water quality monitoring are installed outside the robot shell 1, an encoder connected with a driving motor of a propulsion mechanism, a level meter and an inclination sensor are installed inside the robot shell 1, meanwhile, an ultra-short baseline positioning system 14, an antenna 15, an illuminating lamp 13, a camera 12, a mechanical scanning sonar 11, a velocimeter 16 and a stern propeller 3 and a side propeller 31 are assembled on the robot shell 1, and the sensing equipment 25, the ultra-short baseline positioning system 14, the antenna 15, the illuminating lamp 13, the camera 12, the mechanical scanning sonar 11, the velocimeter 16 and the stern propeller 3 and the side propeller 31 are electrically connected with the main control circuit 2 and are debugged;
step two, running the underwater cabled robot, establishing information data connection with the onshore industrial control host 4, hoisting the underwater cabled robot to a preset water area through a hoisting universal joint 103, controlling the running of a propulsion mechanism through an I/O control equipment module 23 and controlling the depth and orientation through data processing of a main control circuit 2 based on data information collected by a data collection module 22 and a sensing equipment 25, and simultaneously transmitting the data information collected by the data collection module 22 and the sensing equipment 25 to the industrial control host 4 for real-time monitoring work, wherein the industrial control host 4 can upload a server or locally store data.
The depth setting and directional control in this embodiment needs to be further described, a decoupling control mode of the brushless motor of the pushing mechanism is obtained by a brushless motor of the pushing mechanism of the underwater cabled robot in a decoupling layout, then a model is obtained by a regression fitting mode, the input and output relationship of the brushless motor in the pushing mechanism is determined by a state of preset depth control or directional control, and then a world coordinate system is established with a coordinate system of the underwater cabled robot by coordinate transformation.
It should be noted that, this embodiment is based on the above-mentioned understanding that this underwater robot structure sets up reasonable science, through fluid motion simulation under water out of physical model, reduced the running resistance, improve running rate under water and anti-current stability, and then improved index such as positioning accuracy under water of this underwater robot carrier, it carries on the data acquisition equipment of setting simultaneously, is convenient for look over and use in complicated waters, has the function of depth setting control, directional control, real-time supervision, the more intellectuality and the informationization of monitoring work under water.
The specific sensing device 25 of this embodiment includes a temperature sensor, a flow rate sensor, a sensor for water quality monitoring, an encoder connected to a driving motor of the propulsion mechanism, a level meter and an inclination sensor installed inside the robot housing 1, which are installed on the outer wall of the robot housing 1.
In summary, the invention utilizes reasonable layout of the data acquisition equipment on the underwater robot and corresponding data processing to control the running state of the underwater robot, is convenient for checking and using in complex water areas, has stable running, high detection precision and strong cable anti-interference performance, has the functions of depth control, directional control and real-time monitoring, ensures more intellectualization and informatization of the underwater monitoring work, improves the flat streamline spindle structure of an open machine body, reduces running resistance, improves the underwater running speed and the anti-flow stability, and further improves the indexes such as the underwater positioning precision of the underwater robot carrier.
Furthermore, the invention has the following application examples:
example 1 Tianjin Dagu turret test the Tianjin Dagu turret test site is a still water sea area immediately adjacent to the Tianjin harbor dock channel. The bank is provided with a simple wharf which is erected manually. When the high anti-flow equipment is placed and recovered, the equipment can be placed into seawater rapidly by utilizing the cooperation of a crane and a quick lock, and when the equipment is carried with BV5000 sonar, the equipment is launched in a test water area, and the maximum sailing speed can reach 6 knots (3 meters/second).
Example 2 Instrument to sign the water area test of the bank collapse, after the equipment calibration is completed, an autonomous anti-flow function is started in the Yangtze river channel, and the impact of 2m/s flow velocity water flow in the Yangtze river channel on the equipment can be completely resisted in the Yangtze river channel.
Example 3 Luzhou shen back mouth section channel test, the flow velocity of the channel section at the upper reaches of the Yangtze river is stronger, the device can successfully finish the autonomous navigation capability and the anti-flow capability test of the channel at the Luzhou shen back mouth section, and the high anti-flow ROV of the invention can completely resist the impact of the 3m/s flow velocity water flow to the device.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (2)
1. The high-resistance underwater cabled robot comprises a robot shell (1) and is characterized in that the robot shell (1) is constructed by an underwater fluid motion simulation method, is of a streamline spindle structure and is arranged in a closed mode, a hoisting universal joint (103), an ultra-short baseline positioning system (14) and an antenna (15) are arranged at the upper part of the robot shell, a head is provided with an illuminating lamp (13), a camera (12), a floating material (101) block and a mechanical scanning sonar (11) arranged on the floating material (101) block, a leg support frame (102) and a velocimeter (16) are arranged at the bottom of the robot shell, the two side parts and the stern take the central axis of the robot shell (1) as symmetrical shafts, and are provided with the illuminating lamp (13), the camera (12) and a mounting frame in a horizontal symmetrical mode, and a propelling mechanism is arranged on each mounting frame;
the underwater cabled robot control system comprises a main control circuit (2) for controlling the underwater cabled robot, wherein the main control circuit (2) comprises a processor (21), a data acquisition module (22), an I/O control equipment module (23), an interface end and a regulated power supply module (24), wherein the data acquisition module (22), the I/O control equipment module (23) and the regulated power supply module are correspondingly connected with the processor (21); the mechanical scanning sonar (11), the velocimeter (16), the camera (12), the ultra-short baseline positioning system (14) and the antenna (15) are all connected with the data acquisition module (22), the propulsion mechanism is connected with the I/O control equipment module (23), and the main control circuit (2) is connected with the industrial control host (4) through an interface end;
the propulsion mechanism comprises a stern propeller (3) for advancing movement and a side propeller (31) for controlling sinking, rising, balancing or steering, wherein the stern propeller (3) and the side propeller (31) are electrically connected with an I/O control equipment module (23);
the stern propeller (3) comprises a propeller (301) for driving, a shell cover (302) positioned outside the propeller (301), a brushless motor (303) connected with the propeller (301) and a control cable (304) electrically connected with the brushless motor (303);
the brushless motor (303) in the stern propeller (3) and the propeller (301) driving shaft are driven by adopting a magnetic coupling structure, and a sealing shell is arranged outside the brushless motor (303) and the propeller (301) driving shaft;
the transmission mechanism between the power shaft of the brushless motor (303) and the driving shaft of the propeller (301) is a planetary reduction gear;
the illuminating lamp (13) and the camera (12) are symmetrically arranged at the bow part, the two side parts and the bottom of the robot shell (1) by taking the central axis of the robot shell (1) as a symmetrical axis;
the interface end comprises a serial port communication unit, an I/O communication unit, a relay control unit, an MOS driving unit, a display unit and a crystal oscillator unit which are used for communication;
the serial communication unit comprises a filter circuit, a signal amplifying circuit, a photoelectric conversion circuit, a photoelectric isolation circuit, a serial communication circuit, a wireless data communication circuit and a data buffer circuit;
the main control circuit (2) of the underwater cabled robot further comprises a sensing device (25) connected with the processor (21); the sensing equipment (25) comprises a temperature sensor, a flow rate sensor, a water quality monitoring sensor, an encoder, a level gauge and an inclination sensor, wherein the temperature sensor, the flow rate sensor and the water quality monitoring sensor are arranged on the outer wall of the robot shell (1), the encoder is connected with a driving motor of the propulsion mechanism, and the level gauge and the inclination sensor are arranged inside the robot shell (1);
the underwater fluid motion simulation method specifically comprises the following steps:
s1, establishing a control equation;
s2, determining initial conditions and boundary conditions;
s3, dividing a computing network to generate computing nodes;
s4, establishing a discrete equation;
s5, discretizing initial conditions and boundary conditions;
s6, determining and solving a control equation;
s7, solving a discrete equation;
s8, analyzing whether the analysis is correct or not;
s9, displaying and outputting a calculation result;
the method comprises the steps of establishing at least two physical models of a robot shell (1), determining the influence of the models on the surrounding environment, determining a calculation area, conducting grid division, setting boundary conditions, importing a divided grid diagram into computational fluid dynamics analysis software, conducting a series of setting solutions, and conducting selective analysis processing on data to obtain a digital simulation analysis result;
further, the data are obtained by carrying out simulation processing on a state speed scalar field and a vector field to obtain a corresponding simulation model and data, wherein the data comprise total resistance, friction resistance and viscous-pressure resistance;
the method also comprises the following steps:
step one, assembling a system of an underwater cabled robot; the main control circuit (2) is assembled in the robot shell (1), a temperature sensor, a flow rate sensor and a sensor for water quality monitoring are arranged outside the robot shell (1), an encoder connected with a driving motor of a propelling mechanism, a level meter and an inclination sensor are arranged inside the robot shell (1), meanwhile, an ultra-short baseline positioning system (14), an antenna (15), an illuminating lamp (13), a camera (12), a mechanical scanning sonar (11), a velocimeter (16) and a stern propeller (3) and a side propeller (31) are assembled on the robot shell (1), and the sensing device (25), the ultra-short baseline positioning system (14), the antenna (15), the illuminating lamp (13), the camera (12), the mechanical scanning sonar (11), the velocimeter (16) and the stern propeller (3) and the side propeller (31) are electrically connected with the main control circuit (2) and are debugged;
step two, running an underwater cabled robot, establishing information data connection with an onshore industrial control host (4), hoisting the underwater cabled robot to a preset water area through a hoisting universal joint (103), controlling a propelling mechanism to run and perform depth setting and orientation control through an I/O control equipment module (23) through data processing of a main control circuit (2) based on data information acquired by a data acquisition module (22) and sensing equipment (25), obtaining a decoupling control mode of a brushless motor of the propelling mechanism through a decoupling layout of the brushless motor of the underwater cabled robot, obtaining a model through a regression fitting mode, determining an input and output relation of the brushless motor in the propelling mechanism, and establishing a relation between a world coordinate system and a coordinate system of the underwater cabled robot through coordinate transformation; meanwhile, data information collected by the data collection module (22) and the sensing equipment (25) is transmitted to the industrial control host (4) to conduct real-time monitoring work, and the industrial control host (4) can upload a server or locally conduct data storage.
2. The high-resistance underwater cabled robot according to claim 1, wherein the main control circuit (2) of the underwater cabled robot is based on one of a DSP chip, an FPGA chip and an MCU chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210278303.4A CN114802659B (en) | 2022-03-21 | 2022-03-21 | High-resistance underwater cabled robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210278303.4A CN114802659B (en) | 2022-03-21 | 2022-03-21 | High-resistance underwater cabled robot and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114802659A CN114802659A (en) | 2022-07-29 |
| CN114802659B true CN114802659B (en) | 2023-06-06 |
Family
ID=82530935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210278303.4A Active CN114802659B (en) | 2022-03-21 | 2022-03-21 | High-resistance underwater cabled robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114802659B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123504B (en) * | 2022-08-31 | 2022-11-15 | 应急管理部国家自然灾害防治研究院 | Underwater detection robot device for artificial island shore protection and breakwater structure displacement |
| CN115453576B (en) * | 2022-09-16 | 2024-09-06 | 盛东如东海上风力发电有限责任公司 | Marine wind power cabled underwater robot positioning device and positioning method thereof |
| CN115542779B (en) * | 2022-12-01 | 2023-06-20 | 深之蓝海洋科技股份有限公司 | Method and device for testing anti-current performance of underwater robot based on simulation platform |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6001085B2 (en) * | 2011-12-15 | 2016-10-05 | コリア インスティチュート オブ オーシャン サイエンス アンド テクノロジー | An articulated submarine robot having a combined movement function of walking and swimming, and a submarine exploration system using the same |
| CN105253278B (en) * | 2015-11-16 | 2017-08-29 | 青岛海西电机有限公司 | Deep-sea magnetic coupling propulsion plant |
| CN106828838B (en) * | 2017-01-24 | 2018-04-24 | 哈尔滨工程大学 | A kind of portable streamlined remote underwater robot |
| CN108008733B (en) * | 2017-11-29 | 2020-02-14 | 中国地质大学（武汉） | Underwater robot attitude control method, device and storage device |
| CN108319793B (en) * | 2018-02-12 | 2021-07-09 | 大连理工大学 | CFD-based analysis method for free movement of low-speed inclined water inlet |
| CN208181382U (en) * | 2018-02-27 | 2018-12-04 | 天津大学 | It is a kind of to hang robot under water |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| CN109501986A (en) * | 2019-01-07 | 2019-03-22 | 福州大学 | A kind of underwater torpedo humanoid robot and its detection method for water quality detection |
| CN111994238A (en) * | 2020-08-11 | 2020-11-27 | 中国科学院沈阳自动化研究所 | High-mobility large-submergence-depth autonomous underwater robot body structure |
| CN113022827A (en) * | 2021-04-07 | 2021-06-25 | 中国科学院沈阳自动化研究所 | 100-meter-level ARV underwater robot structure |
| CN113156982B (en) * | 2021-04-20 | 2023-08-04 | 中山大学 | Underwater robot control system and control method thereof |
-
2022
- 2022-03-21 CN CN202210278303.4A patent/CN114802659B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114802659A (en) | 2022-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114802659B (en) | High-resistance underwater cabled robot and control method thereof | |
| CN203601547U (en) | Underwater robot | |
| CN202350833U (en) | Signal acquisition and displaying device of underwater robot sensor | |
| CN101670886B (en) | Method and device for diagnosing information fusion fault of underwater robot propeller | |
| CN103439971B (en) | A kind of reservoir area underwater topography and water-quality guideline sniffing robot | |
| CN101487704B (en) | Submerged buoy for ocean monitoring | |
| CN101344460B (en) | Underwater robot sensor fault diagnosis method and system | |
| CN103303450A (en) | Bionic underwater scientific investigation platform based on modular design | |
| CN103419915A (en) | Underwater robot device for shallow water observation | |
| CN211107934U (en) | Collaborative exploration system based on unmanned cableless submersible | |
| CN102539182A (en) | Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device | |
| CN104406753B (en) | The dynamic response test device of deep-sea slender standpipe under vertical forced oscillation | |
| CN201362352Y (en) | Fault-tolerant control device of unmanned underwater robot sensor | |
| CN103869807A (en) | Fault diagnosis device for small underwater robot | |
| CN106918328A (en) | A kind of underwater robot of high-definition camera | |
| CN108375464A (en) | Aquatic bionic perceives and marine settings experimental provision | |
| CN108956202A (en) | A kind of water quality sampling submariner device with depth measurement function | |
| CN114771772B (en) | Underwater salvaging device integrating vision and force sense mechanical arm | |
| CN104802969B (en) | The method for designing of underwater robot power propulsion system | |
| CN111498066A (en) | Underwater weak magnetic signal collection robot and method for detecting target object by using same | |
| CN204606175U (en) | Under-water robot power propulsion system | |
| CN210083511U (en) | Mini underwater robot capable of monitoring water quality | |
| CN217125105U (en) | Underwater robot suitable for inspection operation | |
| CN211291917U (en) | Dam body leak source detection robot | |
| CN115871867A (en) | Detection and auxiliary operation robot device suitable for underwater complex working environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |