JP2003025265A - Underwater robot operation support simulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater robot operation support simulator supporting operation of an underwater robot performing transfer between wall surfaces in a rectangular waterway. SOLUTION: This underwater robot operation support simulator is constituted by providing an underwater robot simulation model formed by having a robot model 24 calculating a position and an attitude of an underwater robot, a sensor model 25 calculating a measured value of an inclinometer and an ultrasonic sensor, a control logic model 26 performing simulation calculation of PID control to obtain a thrust command value converted into a rotational speed command value, and a thruster characteristic model 27 obtaining thruster thrust. The simulator can be switched between an automatic mode and a manual mode, not to operate the control logic model at manual mode time but operate only the other model, so as to perform simulation of manual operation control of a robot operator by a robot manual operation control means (keyboard 28).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater robot operation assisting simulator, and more specifically, an underwater robot operation assisting simulator for transferring waterway wall surfaces in a rectangular waterway such as an underdrain to transfer between waterway wall surfaces. Regarding

[0002]

2. Description of the Related Art Since shells and the like adhere to the wall surface of the underdrain (rectangular water channel) provided as a seawater intake and drainage channel at a power plant, at present, an underwater robot that removes the shellfish that adheres to the channel surface is being used. Development is in progress. FIG. 3 shows a state in which an underwater robot transfers between wall surfaces of a channel in an underdrain (rectangular channel).

As shown in FIG. 3, the underdrain 1 has a rectangular cross section, and in this underdrain 1, the underwater robot 2 receives the underdrain 1.
4 wall surfaces (lower surface, right surface, left surface, upper surface) 1a, 1b,
Transfer to 1c, 1d, each wall surface 1a, 1b,
Perform cleaning work such as removing shells adhering to 1c and 1d.

The underwater robot 1 has a thruster and can perform underwater operations such as levitation, rotation, and landing by the thrust of the thruster (details will be described later). Since the underdrain 1 is a rectangular waterway, for example, when transferring from a wall surface (lower surface) 1a of the underdrain 1 to another wall surface (right surface) 1b as shown in FIG. 3, the underwater robot 2 has (1), (2), It operates like (3).

That is, the underwater robot 2 first levitates from the state of landing on the wall surface (lower surface) 1a as shown in (1) to the central portion of the underdrain 1 by the thrust of the thruster (levitation operation). Then, the thrust of the thruster rotates 90 degrees counterclockwise (roll) in the central part of this underdrain to lower the lower surface 2a of the underwater robot 2 to the wall surface (right surface) 1
The state is directed to b (rotation operation). Thereafter, while maintaining this posture, the thruster thrusts toward (in translation) the wall surface (right surface) 1b as shown in (3) and lands on the wall surface (right surface) 1b. Thus, the transfer between the walls of the waterway is completed.

[0006]

However, conventionally, the robot operator manually performs (remote operation) the transfer operation (floating, rotating, landing) between the waterway wall surfaces of the underwater robot 1 as described above. , The skill of the robot operator (operation know-how) was required, and it was necessary to spend a lot of time to train the robot operator (it took time to learn). Therefore, at present, an underwater robot is being developed in which the transfer between the wall surfaces in the rectangular water channel is automated by PID control to simplify the robot operation.

In such a situation, considering that the control operation of the underwater robot 2 can be easily grasped and that even if the underwater robot 2 is automated, it may be manually operated by a robot operator. It was desired to develop a simulator that supports the operation.

Therefore, in view of the above circumstances, it is an object of the present invention to provide an underwater robot operation support simulator for assisting the operation of an underwater robot that transfers between wall surfaces in a rectangular water channel.

[0009]

[Means for Solving the Problems] First to solve the above problems
The underwater robot operation support simulator of the invention includes thrust generating means, rotation angle measuring means, distance measuring means, and control means, and performs a floating operation, a rotation operation, and a landing operation in a rectangular waterway in order to transfer between waterway wall surfaces. An underwater robot operation support simulator, which calculates the position and orientation of an underwater robot based on the thrust calculated by the thrust generation means characteristic model, and the position and orientation of the underwater robot calculated by this robot model. Based on the sensor model for calculating the measurement value of the rotation angle measurement means and the measurement value of the distance measurement means, based on the measurement value of the rotation angle measurement means and the measurement value of the distance measurement means calculated by this sensor model , A thrust command value is obtained by performing a simulation calculation of PID control in the control means, and this thrust command value is used as a rotation speed command value. A control logic model for conversion, based on the rotational speed command value calculated by the control logic model,
An underwater robot simulation model comprising: a thrust generating means characteristic model for obtaining the thrust of the thrust generating means.

The underwater robot operation support simulator of the second invention is the underwater robot operation support simulator of the first invention, in which an automatic mode for operating all the models constituting the underwater robot simulation model and the underwater robot simulation model. The control logic model can be switched to the manual mode in which only the other models are operated, and the robot manual operation operation means is provided, and the robot operator operates the robot manual operation operation means in the manual mode. It is characterized in that it is configured to simulate a manual driving operation of an underwater robot by performing a manual driving operation and inputting a rotation speed command value corresponding to the manual driving operation signal to a thruster characteristic model.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. First, an actual machine (actual underwater robot) to be simulated will be described, and then an underwater robot operation support simulator will be described.

[Actual Machine (Actual Underwater Robot)] FIG. 1 is an overall system configuration diagram of the underwater robot, FIG. 2A is a perspective view of the underwater robot from below, and FIG. It is the perspective view seen.

As shown in FIG. 1, water (seawater or the like) flows in the direction of arrow A inside an underdrain (rectangular waterway) 1 such as a seawater intake and drainage channel in a power plant. As described above, the underdrain 1 has a rectangular cross section (see FIG. 3), and in this underdrain 1, the underwater robot 2 has four wall surfaces (lower surface, right surface, left surface, upper surface) 1a, 1b of the underdrain 1, Transfer to 1c, 1d and perform cleaning work such as removal of shellfish adhering to the wall surfaces 1a, 1b, 1c, 1d. FIG. 1 shows a state in which the underwater robot 2 is cleaning the wall surface (left surface) 1c.

As shown in FIGS. 1 and 2, the underwater robot 2 has a rectangular parallelepiped shape, and wheels 3a, 3b, 3c, 3d are provided on both left and right sides of the lower surface 2a. By rotating 3b, 3c, 3d by a drive motor (not shown), it is possible to travel on the waterway wall surface 1a, 1b, 1c or 1d. A brush 12 is provided on the side surfaces 2d and 2c and the lower surface 2a of the underwater robot 2, and cleaning work such as shellfish removal is performed by rotating the brush 12 with a drive motor (not shown).

Further, four thrusters 4a, 4b, 4c and 4d are provided at four corners of the underwater robot 2 as thrust generating means for performing underwater operations such as floating, rotation and landing. These thrusters 4a, 4
b, 4c, 4d generate thrust by rotating the impeller forward or backward by a drive motor (not shown). Thrust is generated in the robot lower surface direction (arrow B direction in FIG. 2) at the time of forward rotation, and thrust is generated in the robot upper surface direction (arrow C in FIG. 2) at the time of thrust reverse rotation.

The underwater robot 2 has inclinometers 5a, 5b and 5c as rotation angle measuring means, and an ultrasonic sensor 6 as means for measuring the distance between the underwater robot 2 and the wall surface of the water channel.
a, 6b, 6c, 6d, 6e, 6f are provided. The inclinometers 5a, 5b, 5b are general ones in which a liquid is enclosed, and the rotation angle is measured from a change in electric resistance due to the liquid surface of the liquid tilting as the underwater robot 2 tilts. Is. Of course, another type of inclinometer may be used. Then, as shown in FIG. 1, the water flow direction of the underdrain 1 (direction of arrow A) is the X axis, the width direction of the underdrain 1 is the Y axis,
Assuming that the vertical direction of the underdrain 1 is the Z axis, the inclinometer 5a measures the rotation angle ∠X around the X axis and the inclinometer 5b measures the rotation angle ∠Y around the Y axis as shown in FIG. 5c in total
Then, measure the rotation angle ∠Z around the Z axis.

The ultrasonic sensors 6a and 6b are the underwater robot 2
Is provided in front of and behind the lower surface 2a, and the distance to the waterway wall surface 1a, 1b, 1c or 1d facing the lower surface 2a is measured. The ultrasonic sensors 6c and 6d are provided in front of and behind the right surface 2c of the underwater robot 2, and measure the distance to the water channel wall surface 1a, 1b, 1c or 1d facing the right surface 2c. The ultrasonic sensors 6e, 6f are provided in front of and behind the left surface 2d of the underwater robot 2, and measure the distance to the water channel wall surface 1a, 1b, 1c or 1d facing the left surface 2d.

Further, as shown in FIG. 1, a composite cable 7 is attached to the rear part of the underwater robot 2. Via this cable 7, the measurement signals of the inclinometers 5a, 5b and 5b, the measurement signals of the ultrasonic sensors 6a, 6b, 6c, 6d, 6e and 6f, and also an underwater camera (not shown) attached to the underwater robot 2. The image pickup signal and the like are transmitted to the control device 8 provided on the ground. Then, the control device 8 performs PID control such as levitation, rotation, and landing of the underwater robot 2 based on these measurement signals (details will be described later), and the CRT based on these measurement signals and imaging signals.
Each measured value and waterway wall surface 1a, 1b, 1c, 1 in 9
The image of d, etc. are displayed. Also, via the cable 7,
From the ground power supply 10, the thruster 4 of the underwater robot 2
Electric power is supplied to each device such as a, 4b, 4c, 4d. The power frequency supplied to the thrusters 4a, 4b, 4c, 4d, that is, the rotation speed of the thrusters 4a, 4b, 4c, 4d is adjusted by the inverter 11 based on the PID control signal (thrust command) from the control device 8. .

Further, the cable 7 also plays a role of supporting the underwater robot 2 so that the underwater robot 2 is not washed by water. The cable 7 is wound around a drum (not shown) on the proximal end side, so that when the underwater robot 2 travels in the water flow direction or in the opposite direction, the drum is rotated to be rewound or wound up. Has become.

Here, PID control by the control device 8 will be described with reference to FIGS. FIG. 3 is an explanatory view showing a state when the underwater robot 2 transfers between the wall surfaces of the channel in the underdrain (rectangular channel) 1 as described above. Figure 4
Is a block diagram of floating PID control, FIG. 5 is a block diagram of roll PID control, FIG. 6 is a block diagram of landing PID control,
FIG. 7 is a block diagram of pitch PID control. FIG. 8 is an explanatory diagram of a planned flying distance value and a planned flying velocity value in the levitation PID control, and FIG. 9 is an explanatory diagram of a planned roll angle value and a planned roll angular velocity value in the roll PID control.
FIG. 10 is an explanatory diagram of the landing distance plan value and the landing speed plan value given in the landing PID control. Further, FIG. 11 is an explanatory diagram showing the switching timing of the floating PID control, the roll PID control, and the landing PID control.

As described above, since the underdrain 1 is a rectangular channel, for example, the wall surface (lower surface) 1a of the underdrain 1 as shown in FIG.
When moving to another wall surface (right surface) 1b from, the underwater robot 2 sequentially performs a levitating operation, a rotating operation, and a landing operation as shown in (1), (2), and (3) of FIG. And usually
These operations are not automatically performed by the robot operator, but are automatically performed by PID control. The levitating operation, rotating operation, and landing operation will be described in detail below. In addition,
The same applies to transfers between the walls of other waterways.

(1) Levitation operation The underwater robot 2 performs the levitation PID control based on the measurement value of the distance from the waterway wall surface (lower surface) 1a measured by the ultrasonic sensors 6a and 6b on the lower surface 2a of the underwater robot 2. At the center of the underdrain (water channel) 1 (for example
Ascend to 2.5m from a).

The flying PID control will be described with reference to FIG. It should be noted that the processing units of the levitation PID control shown in FIG. Further, s in FIG. 4 is a Laplace operator. As shown in FIG. 4, the measurement signals are fed back from the ultrasonic sensors 6a and 6b of the underwater robot 2 and the average value of them is used as the flying distance measurement value (S1). Then, the deviation between the measured flying distance and the planned flying distance (S2) is obtained (S3), and the deviation is integrated with the value obtained by multiplying the deviation by the proportional gain K (S4) (S3).
5) Then, this integrated value is multiplied by an integral gain KI (S6) to add (S7). Further, the flying distance measurement value (S1) is time differentiated (S8), the deviation between this differential value and the planned flying speed value (S9) is obtained (S10), and this deviation is multiplied by the differential gain KD (S11). The value is also added to the value obtained by multiplying the proportional gain K and the value obtained by multiplying the integral gain KI (S7).

Thus, the thrust command value F is obtained. Then, from the thrust command value F, the thrust command value F1 for the thrusters 4a, 4b, 4c, 4d is calculated by the following equation.
(Thruster 4c), F2 (Thruster 4a), F3
(Thruster 4b), F4 (Thruster 4d)
These thrust command values F1, F2, F3 and F4 are output to the inverter 11. F1 = F2 = F3 = F4 = -F / 4

In the inverter 11, thrust force command values F1 and F
2, F3, F4 based on the thrusters 4a, 4b,
By adjusting the power frequency supplied to 4c, 4d, each thruster 4a, 4b, 4c, 4d is set to a predetermined rotational speed (rotational speed at which thrust corresponding to thrust command values F1, F2, F3, F4 is obtained). To do. At this time, F1, F2, F
The signs of 3, F4 are negative, and the thrusters 4a, 4b, 4
By reversing c and 4d, thrust is generated in the direction in which the underwater robot 2 levitates from the waterway wall surface (lower surface) 1a.

Further, in the levitation PID control, the levitation distance plan value and the levitation speed plan value as shown in FIG. 8 are given.
As the flying distance planned value, a pattern that changes in an S shape with time, that is, a pattern in which the increase near the rising edge and near the final target value (2.5 m in the illustrated example) is gradual is given. As the ascent rate planning value, a pattern that changes into a trapezoidal shape over time in correspondence with the ascent distance planning value, that is,
A pattern is given in which it increases to a final target value over a certain period of time, maintains the final target value for a certain period of time, and then decreases over a certain period of time. By providing such a flying distance plan and a flying speed plan value, it is possible to set the gains K and KD to sufficiently large values and enhance the responsiveness of the control operation. If the planned value is fixed and the gains K and KD are increased, the overshoot becomes large and the response (stability) of the control operation is deteriorated.

During this floating operation, the roll PID
The roll angle ψ (= ∠X) is controlled to be constant at 0 degrees by the control. That is, the thrust command values F1, F2, F3, F4 obtained by the roll PID control are also added to the thrust command values F1, F2, F3, F4 obtained by the levitation PID control and output to the inverter 11. At this time, it is desirable that the yaw angle φ (= ∠Z) is also controlled to be constant at 0 degrees, but the thrusters 4a, 4b, 4 provided for the underwater robot 2 are controlled.
Since the yaw angle cannot be changed with the arrangements of c and 4d, the yaw angle φ is not controlled here. Of course, when the thrusters are arranged so that the yaw angle φ can be changed, the yaw PID control for controlling the yaw angle φ to be constant at 0 degrees may be performed.

(2) Rotation operation After the levitation operation is completed, the rotation operation is subsequently performed. That is,
At the center of the underdrain 1, while performing roll PID control based on the measured value of the roll angle ψ (= ∠X) of the underwater robot 2 measured by the inclinometer 5a,
Rotate it by 0 degrees and turn the lower surface 2a of the underwater robot 2 toward the water channel wall surface (right surface) 1b side.

The roll PID control will be described with reference to FIG. It should be noted that the processing units of the roll PID control shown in FIG. 5 are denoted by reference numerals such as S21 and S22. Further, s in FIG. 5 is a Laplace operator. As shown in FIG. 5, a measurement signal is fed back from the inclinometer 5a of the underwater robot 2 and is used as a roll angle measurement value (S21).
Then, the roll angle measured value and the roll angle planned value (S2
2) is obtained (S23), the deviation is multiplied by a proportional gain K (S24), and the deviation is integrated (S2).
5) The value obtained by multiplying the integral value by the integral gain KI (S26) is added (S27). Further, the roll angle measurement value (S21) is time differentiated (S28), and the deviation between this differential value and the roll angular velocity planned value (S29) is obtained (S3).
0), the value obtained by multiplying this deviation by the differential gain KD (S31) is also added to the value obtained by multiplying the proportional gain K and the integral gain KI (S27).

Thus, the thrust command value (torque) Fψ is obtained. Then, from the thrust command value Fψ, the thrust command values F1, F4, F2, F3 for the thrusters 4a, 4b, 4c, 4d are obtained by the following formula, and these thrust command values F1, F2, F3, F4 are obtained. Output to the inverter 11. Note that Lc is the distance from the center of gravity G of the underwater robot 2 to the thrusters 4a, 4b, 4c, 4d as shown in FIG. F1 = F4 = −Fψ / (4 × Lc) F2 = F3 = Fψ / (4 × Lc)

In the inverter 11, thrust command values F1, F
2, F3, F4 based on the thrusters 4a, 4b,
By adjusting the power frequency supplied to 4c, 4d, each thruster 4a, 4b, 4c, 4d is set to a predetermined rotational speed (rotational speed at which thrust corresponding to thrust command values F1, F2, F3, F4 is obtained). To do. Since the signs of F1, F4 are different from those of F2, F3, the thrusters 4a, 4d and the thrusters 4b, 4c have opposite rotation directions (thrust directions), so that the underwater robot 2 rolls.

In this roll PID control, a roll angle plan value and a roll angular velocity plan value as shown in FIG. 9 are given. That is, as the roll angle planned value, a pattern that changes in an S shape with time, that is, a pattern in which the increase near the rising edge and near the final target value (90 degrees) is gentle is given. As the roll angular velocity planned value, a pattern that changes into a trapezoidal shape over time in accordance with the roll angular planned value,
That is, the pattern is such that it increases to the final target value (90 degrees) over a fixed time, maintains the final target value for a fixed time, and then decreases over a fixed time. By providing the planned roll angle value and the planned roll angular velocity value, it is possible to set the gains K and KD to sufficiently large values and enhance the responsiveness of the control operation. If the planned value is fixed and the gains K and KD are increased, the overshoot becomes large and the response (stability) of the control operation is deteriorated.

During this rotation operation, the yaw angle φ (= ∠
It is desirable to control Z) to be constant at 0 degrees, but as described above, the thrusters 4a, 4 provided in the underwater robot 2 are provided.
Since the yaw angle cannot be changed with the arrangements of b, 4c, and 4d, the yaw angle φ is not controlled here. Of course, when the thruster is arranged so that the yaw angle can be changed, the yaw PID control for controlling the yaw angle φ to be constant at 0 degrees may be performed.

(3) Landing operation After the rotation operation is completed, the landing operation is subsequently performed. That is,
While performing the landing PID control based on the measured value of the distance to the waterway wall surface (right surface) 1b measured by the ultrasonic sensors 6a and 6b on the lower surface 2a of the underwater robot 2, the underwater robot 2 is moved to the center of the underdrain (waterway) 1. From the section to the waterway wall surface 1b (translation) to land.

The landing PID control will be described with reference to FIG. It should be noted that reference numerals S41, S42, etc. are given to the respective processing units of the landing PID control shown in FIG. In addition, s in FIG.
Is the Laplace operator. As shown in FIG. 6, the measurement signals are fed back from the ultrasonic sensors 6a and 6b of the underwater robot 2 and the average value of them is used as the landing distance measurement value (S41). Then, the deviation between the measured landing distance value and the planned landing distance value (S42) is obtained (S43), and the deviation is multiplied by a proportional gain K (S44) and the deviation is integrated (S45), and this integration is performed. Integral gain KI (S4
The value multiplied by 6) is added (S47). Further, the landing distance measurement value (S41) is time differentiated (S48), the deviation between this differential value and the landing speed planned value (S49) is determined (S50), and this deviation is multiplied by the differential gain KD (S51). The value is also added to the value obtained by multiplying the proportional gain K and the value obtained by multiplying the integral gain KI (S47).

Thus, the thrust command value F is obtained. Then, from the thrust command value F, the thrust command values F1, F1 for the thrusters 4a, 4b, 4c, 4d are expressed by the following equation.
F4, F2, F3 are calculated, and these thrust command values F1, F
2, F3 and F4 are output to the inverter 11. F1 = F2 = F3 = F4 = F / 4

In the inverter 11, thrust command values F1, F
2, F3, F4 based on the thrusters 4a, 4b,
By adjusting the power frequency supplied to 4c, 4d, each thruster 4a, 4b, 4c, 4d is set to a predetermined rotational speed (rotational speed at which thrust corresponding to thrust command values F1, F2, F3, F4 is obtained). To do. At this time, F1, F2, F
The signs of 3, F4 are positive, and the thrusters 4a, 4b, 4
The underwater robot 2 rotates the c and 4d in the forward direction so that the underwater robot 2 can
Generate thrust in the direction of approaching (landing).

In this landing PID control, a landing distance plan value and a landing speed plan value as shown in FIG. 10 are given. In other words, as the landing distance plan value, S
A pattern that changes in a letter shape, that is, a pattern in which the decrease near the fall and the decrease near the final target value (0 m) is gentle is given.
The landing speed plan value corresponds to the landing distance plan value and changes into a trapezoidal shape over time, that is, it increases to the final target value over a certain period of time, and after maintaining the final target value for a certain period of time, Gives a pattern that decreases over time. By providing the landing distance plan value and the landing speed plan value as described above, it is possible to set the gains K and KD to sufficiently large values and enhance the responsiveness of the control operation. If the planned value is fixed and the gains K and KD are increased, the overshoot becomes large and the response (stability) of the control operation is deteriorated.

During this landing operation, the roll PID
By control, the roll angle ψ (= ∠X) is constant at the target angle (9
(0 degree), and the pitch angle θ is obtained from the difference in the distance to the waterway wall surface (right surface) 1b measured by the ultrasonic sensors 6a and 6b of the underwater robot 2, and the pitch angle θ is kept constant at 0 degrees. Pitch angle PID control is performed so as to maintain it. When the underwater robot 2 is significantly tilted, horizontal control is necessary in order to prevent the tip of the robot from contacting and damaging the wheels ahead of the wheels.

The pitch PID control will be described with reference to FIG. It should be noted that the processing units of the pitch angle PID control shown in FIG. Also, FIG.
The s inside is a Laplace operator. As shown in FIG. 7, the measurement signals are fed back from the ultrasonic sensors 6a and 6b of the underwater robot 2, and the pitch angle θ is calculated from the difference between these measurement values.
And use this as the pitch angle measurement value (S6
1). Then, the deviation between the measured pitch angle value and the planned pitch angle value (S62) is obtained (S63). At this time, the planned pitch angle value is constant at 0 degrees. Subsequently, this deviation is multiplied by a proportional gain K (S64) and the deviation is integrated (S
65), and the value obtained by multiplying the integral value by the integral gain KI (S66) is added (S67). Further, the pitch angle measurement value (S61) is time differentiated (S68), and the deviation between this differential value and the pitch angular velocity planned value (S69) is obtained (S7).
0). At this time, the pitch angular velocity planned value is set to 0. Then, the value obtained by multiplying this deviation by the differential gain KD (S71) is also added to the value obtained by multiplying the proportional gain K and the value obtained by multiplying the integral gain KI (S67).

In this way, the thrust force command value (torque) Fφ is obtained, and from this thrust force command value Fφ, the thrust force command value F for the thrusters 4a, 4b, 4c, 4d is expressed by the following equation.
1, F4, F2, F3 are calculated, and these thrust command values F
In addition to the thrust command values F1, F2, F3, F4 obtained by the landing PID control and the thrust command values F1, F2, F3, F4 obtained by the roll PID control, inverters 1 and 2 are also provided. Output to. Incidentally, La is from the center of gravity G of the underwater robot 2 to the thruster 4a, as shown in FIG.
It is the distance to 4b, 4c and 4d. F1 = F2 = Fφ / (4 × La) F3 = F4 = −Fφ / (4 × La)

In the inverter 11, the thrust command values F1, F
2, F3, F4 based on the thrusters 4a, 4b,
By adjusting the power frequency supplied to 4c, 4d, each thruster 4a, 4b, 4c, 4d is set to a predetermined rotational speed (rotational speed at which thrust corresponding to thrust command values F1, F2, F3, F4 is obtained). To do. Since the signs of F1 and F2 are different from those of F3 and F4, the thrusters 4a and 4c and thrusters 4b and 4d have opposite rotation directions (thrust directions), so that the underwater robot 2 performs pitch rotation.

The switching of the levitation operation (levitation PID control), rotation operation (roll PID control), and landing operation (landing PID control) converges within a predetermined range with respect to the target value in each PID control. The switching may be performed at that time, or may be switched at a preset time (see FIG. 23).

According to the underwater robot 2 as described above, the levitation operation, the rotation operation and the landing operation at the time of transferring between the wall surfaces of the canal in the underdrain (water canal) 1 are automatically performed by the PID control, so that the robot can be easily operated. Therefore, the learning period of the robot operator is shortened, and the reliability of the operation is improved. Moreover, as the roll angle plan value, the flying distance plan value, and the landing distance plan value, a pattern that changes in an S shape with time is given, and as the roll angular velocity plan value, the flying velocity plan value, and the landing velocity plan value, with time. Roll PID control, floating PI by giving a pattern that changes into a trapezoid
Since the D control and the landing PID control are performed, the gain K and the gain KD can be set to sufficiently large values to enhance the responsiveness of the control operation.

An underwater robot operation support simulator for supporting the operation of the underwater robot 2 will be described below.

[Underwater Robot Operation Support Simulator] FIG. 11 is an overall configuration diagram of the underwater robot operation support simulator according to the present embodiment. In FIG. 11, reference numeral 21 is an underwater robot operation support simulator (hereinafter, also simply referred to as “simulator”). Although a personal computer is used as the simulator 21 in the illustrated example, the simulator is not limited to this and may be, for example, one that simulates the shape of an actual operating device.

As shown in FIG. 11, the simulator 21 includes a main body 22 having a CPU, a storage device (IC memory, hard disk, etc.), a keyboard 28 for manual operation and data input, and a simulation unit. CR that displays status (calculated command value, measured value, etc.)
And T23. A program (software) representing a simulation model of the underwater robot 2 and the like are stored in the storage device of the main body 22. The underwater robot simulation model is composed of a robot model 24, a sensor model 25, a control logic model 26, and a thruster characteristic model 27.

(1) In the robot model 24, the thrust forces (F1, F2, F) calculated by the thruster characteristic model 27 are calculated.
3, F4), the position of the underwater robot 2 (X,
Y, Z) and posture (ψ, θ, φ) are calculated. These give initial values. After solving the equation of motion in the robot coordinate system fixed to the underwater robot 2 and calculating the velocity and acceleration, it is converted into the absolute coordinate system fixed to the underdrain (water channel) 1. The conversion to the absolute coordinate system is for convenience of calculation of sensor measurement values. In addition, in the equation of motion, the running water drag force obtained from the relative speed of the underwater robot 2 to the running water is reflected. In addition, the effect of the tension of the cable 7 is considered on the assumption that the cable 7 is always parallel to the underdrain (water channel) 1. (2) In the sensor model 25, the inclinometers 5a, 5b, 5c are measured based on the position (X, Y, Z) and the posture (ψ, θ, φ) of the underwater robot 2 calculated by the robot model 24. Value and the ultrasonic sensor 6 on the lower surface 2a of the underwater robot 2
Calculate the measured values of a and 6b. (3) In the control logic model 26, the sensor model 2
PID control (roll PID control, pitch angle PID control,
Floating PID control, landing PID control) simulation calculation is performed to obtain thrust force command values (torque command, translational force command) for the thrusters 4a, 4b, 4c, 4d, and this thrust force command value is used as the rotation speed command value (R1). , R2, R
3, R4). (4) In the thruster characteristic model 27, the rotation speed command values (R1, R2, R
3, R4), the thrusters 4a, 4b, 4c,
Relationship between rotation speed and thrust at 4d (thruster characteristics)
Thrust force of thrusters 4a, 4b, 4c, 4d (F
1, F2, F3, F4).

When the PID control is simulated to check the controllability, the keyboard is operated to set the processing in the main body 22 to the automatic mode to operate the control logic model 26, that is, the underwater robot. All the models 24, 25, 26, 27 that constitute the simulation model are operated. On the other hand, when the robot operator intends to perform a floating operation, a rotating operation, and a landing operation of the underwater robot 2 by manual operation for training, first, the keyboard 28 is operated to automatically perform the processing in the main body 22. By switching from the mode to the manual mode, the control logic model 26 of the underwater robot simulation model does not operate, and the other models 24, 2
Only activate 5, 27.

Thereafter, the robot operator manually observes the measured values of the inclinometer and the ultrasonic sensor displayed on the CRT 23 so that the underwater robot 2 can perform the levitating operation, the rotating operation and the landing operation on the simulator 21. The keyboard 28 as a driving operation means performs a manual driving operation on the thrusters 4a, 4b, 4c, 4d of the underwater robot 2, and inputs this manual driving operation signal to the main body portion 22.
In the main body 22, the rotation speed command values (R1, R2, R3, R4) corresponding to the operation of the robot operator are calculated by the control logic model 25 (R1, R2, R4).
3, R4) and inputs to the thruster characteristic model 27. Thus, a manual driving operation can be simulated. The CRT 23 has a sensor model 2
In addition to the measured values calculated in 5, other models 24, 26, 27
Various numerical values such as the position and orientation of the underwater robot 2, thrust command and rotation speed command calculated in step may be displayed.

In the following, the simulation model 24,
25, 26, and 27 will be further described.

(Robot model) FIG. 12 is an explanatory diagram showing the definition of the robot model, FIG. 13 is an explanatory diagram of the absolute coordinate system and the robot coordinate system, and FIG. 14 shows the relationship (coordinate conversion) between the absolute coordinate system and the robot coordinate system. 15 and 16 are overall configuration diagrams of the robot model, FIG. 17 is an explanatory diagram of W translational motion calculation in the robot model, FIG. 18 is an explanatory diagram of P rotational motion calculation in the robot model, and FIG. 19 is a robot model. FIG. 20 is an explanatory diagram of the running water drag force calculation in FIG. 20, and FIG. 20 is an explanatory diagram of the cable tension calculation in the robot model.

In the robot model 24, the position (X, Y, Z) and attitude (X, Y, Z) of the underwater robot 2 are calculated from the thrusts (F1, F2, F3, F4) given by the calculation results of the thruster characteristic model 27 as described above. ψ, θ, φ) is calculated using the following assumptions.

(1) Thruster thrust (F1, F2, F
As for the direction of (3, F4), the downward direction (the direction of pressing the underwater robot 2 against the wall surface of the waterway) is the positive direction as shown in FIG. (2) As shown in FIGS. 12 (a) and 12 (b), the shape of the underwater robot 2 approximates a rectangular parallelepiped, and the underwater robot 2
The center of gravity G of is the center of the rectangular parallelepiped. As the position of the underwater robot 2, the position of this center of gravity G is represented by (X, Y, Z). The lengths of the sides of the rectangular parallelepiped (underwater robot 2) are Lx, Ly, and Lz [m]. (3) It is assumed that the center of gravity and the center of gravity of the underwater robot 2 match. (4) Thruster thrusts (F1, F2, F3, F4) are obtained at the central portions of the thrusters 4a, 4b, 4c, 4d. As shown in FIG. 12B, the underwater robot 2
Distances from the center of gravity G of the thrusters 4a, 4b, 4c, and 4d to La and Lc. (5) The moment of inertia of rotation of the underwater robot 2 is
It is determined that the weight of the underwater robot 2 is evenly distributed over the approximated rectangular parallelepiped. (6) Consider the drag force of running water of the underdrain 1 and the tension of the cable 7. In addition, the running water drag force and the cable tension are changed to give a disturbance.

As shown in FIG. 13, the absolute coordinate system (XY
-Z) is fixed to the underdrain (rectangular water channel) 1, and has an X axis in the water channel direction (the water flow direction of arrow A shown in FIG. 1), a Z axis in the gravity direction (upward), and a Y axis in the water channel width direction. . On the other hand, the robot coordinate system (UVW) is fixed to the underwater robot 2, and has a U axis in the robot front direction, a W axis in the robot upward direction, and a V axis in the robot width direction. Further, when representing the rotational motion of the underwater robot 2, the U-axis rotation is P rotation, the V-axis rotation is Q rotation, and the W-axis rotation is R rotation.

In the absolute coordinate system, the attitude of the underwater robot 2 is represented by a roll angle ψ, a pitch angle θ, and a yaw angle φ, as shown in FIG. When the underwater robot 2 is parallel to the water channel as indicated by the one-dot chain line in FIG. 13, ψ = θ = φ = 0
Degree. The coordinate conversion shown in FIG. 14 will be described.
It is as follows.

(1) The XYZ axis is rotated by φ around the Z axis to form the X ₁ -Y ₁ -Z axis. (2) Next, rotate by θ around the Y ₁ axis to make U-Y ₁ -Z
_{Use 1} axis. (3) Then, ψ rotation is performed around the U axis to form the UVW axis.

Further, the contents of the robot model 24 will be described with reference to FIGS. 15 and 16. Note that (A), (B), (C), and (D) of FIG.
(B), (C) and (D) respectively. Further, the reference numerals S100, S101, etc. are given to the respective units in FIGS. 15 and 16.

As shown in FIG. 15, the robot model 24
Then, based on the thruster thrusts (F1, F2, F3, F4) calculated by the thruster characteristic model 27 (S10
0), P rotation motion and Q rotation motion are calculated (S10).
1, S102). Also, the R rotation motion is calculated (S1
05).

In the calculation of P rotational motion (S101),
Thruster thrusts F1 and F4 become negative and raster thrust F
2, F3 becomes positive (S103), and these are multiplied by the distance Lc from the center of gravity G to the thrusters 4a, 4b, 4c, 4d to obtain the P rotation torque Tp (S171). Also, Q
In the rotational movement calculation (S102), thruster thrusts F1 and F2 are positive and thruster thrusts F3 and F4 are negative (S104).
The Q rotation torque Tq is obtained by multiplying the distances La to a, 4b, 4c and 4d (S172). On the other hand, in the R rotational motion calculation, the thruster thrust that causes the R rotational motion cannot be obtained from the arrangement of the thrusters 4a, 4b, 4c, 4d, so the thruster thrust is set to 0 (S106).
Although the flowing water drag force with respect to the P, Q rotary motion and R rotary motion is set to 0 and ignored here (S107), this may be taken into consideration.

Then, in the P rotational motion calculation, (S1
01), the angular velocities p of the P rotation are calculated in consideration of the angular velocities q and r obtained by the Q rotary motion calculation and the R rotary motion calculation. Q
In the rotational motion calculation (S102), the angular velocity q of the Q rotation is determined in consideration of the angular velocities p and r obtained by the P rotational motion calculation and the R rotational motion calculation and the rotational torque Sq due to the cable tension. In addition, in the R rotational motion calculation (S10
5) The angular velocity r of the R rotation is determined in consideration of the angular velocities q and r obtained by the P rotational motion calculation and the Q rotational motion calculation and the rotational torque Sr due to the cable tension.

The P rotational motion calculation will be described with reference to FIG. 17. The rotational torque Tp due to the thrust of thruster and the drag force (torque) due to running water are added (S101-1, S).
101-2, S101-3: However, the running water drag force is assumed to be 0 here), and a value obtained by multiplying the angular velocity q and the angular velocity r by (lyy-lzz) is also added (S101-4). ~ S101-7, S101-3), the moment of inertia is obtained by dividing this added value by lxx (S101-8), and this is integrated (S101-).
9), the angular velocity p is calculated (S101-10). Note that l
xx is the moment of inertia of rotation about the X axis of the underwater robot, and lyy and lzz are the moments of inertia of rotation of the Y axis and Z axis, respectively. Although a detailed description is omitted, the same applies to the calculation of the Q rotary motion and the R rotary motion.

Further, as shown in FIG. 15, in the robot model 24, thruster thrust (F1, F2, F3, F4)
(S100), the W translational motion is calculated (S100).
108). Further, the V translation motion is also calculated (S10
9). Note that the U translational motion (S110) is not currently calculated, but the U translational motion (translational force in the U direction) may be considered based on the water flow drag force FU. In the W translational motion calculation (S108), thruster thrusts F1, F2, F3, F4 in the W-axis direction are set to be negative (S11).
1), these are added to obtain the W translational force TW. In addition,
In the V translation calculation, the thrusters 4a, 4b, 4
The thruster thrust (translational force) is set to 0 (S113) because the thruster thrust that causes the V translational motion cannot be obtained from the arrangement of c and 4d.

In the W translational motion calculation, (S1
08), running water drag force FW, cable tension SW, and translational velocities v and u obtained by V translational motion calculation and U translational motion calculation.
Also, the velocity w in the W translation direction is obtained in consideration of the angular velocities p and q obtained by the P rotational motion calculation and the Q rotational motion calculation. Further, in the V translation calculation (S109), the running water drag force FV, the cable tension SV, the translation velocities w and u obtained by the W translation calculation and the U translation calculation, and the P rotational motion calculation and the R rotational motion calculation. Considering the angular velocities p and r obtained in
The velocity v in the V translation direction is obtained. However, the translational speed u is set to 0 (S121). When U translation is lateral movement, left / right turning is possible by controlling the left / right rotation of the wheels.
Moreover, since a steering function can be added, u =
It does not need to be fixed at 0.

Referring to FIG. 18, the W translational motion calculation will be described. Thruster thrust TW and running water drag FW
And the cable tension SW are added (S108-1 to S1
08-5), a value obtained by multiplying a value obtained by multiplying the translational velocity u by the angular velocity q by the mass m of the underwater robot 2, and a value obtained by multiplying a value obtained by multiplying the translational velocity v by the angular velocity p by the mass m. Is added (S108-6 to S108-14, S108-5), and the acceleration is calculated by dividing the added value by the mass m (S108-1).
5) and integrate this to obtain the translational velocity w (S108-
16, S108-17). Although a detailed explanation is omitted,
Calculation of V translation is similar. The P-rotational motion and the W translational motion have been described above, but this model is a block of Euler's formula.

In calculating the cable tension (S11
4) The cable tension is calculated, and the V and W components SV and SW of the cable tension are obtained in consideration of the posture of the underwater robot 2 (output of S130 in FIG. 16). Further, in the cable tension calculation (S114), the rotational torques Sq and Sr for Q rotation and R rotation due to the cable tension are obtained in consideration of the length from the cable tension to the position of the center of gravity of the underwater robot 2 (S115).

The cable tension calculation will be described with reference to FIG. 19. The cable tension is set to 0 until the position (X position) of the underwater robot 2 in the X-axis direction is equal to or less than the reference position X ₀ , that is, until the cable 7 is no longer loose. When the X position of the underwater robot 2 exceeds the reference position X ₀ , the cable 7 extends like a spring in accordance with the exceeded distance,
The cable tension is calculated assuming that the cable tension increases as shown in the figure. The X position of the underwater robot changes because it is swept by the drag force received by the underwater robot from the running water. However, the cable tension prevents the underwater robot from being washed away. That is, the X position changes to the point where the cable tension and the drag force from the running water are balanced (cable tension = drag force from the running water). The V and W components of the cable tension are component forces in the V-axis direction and the W-axis direction according to the posture of the underwater robot 2.

As shown in FIG. 15, in the calculation of the drag force due to running water (S117), first, the underdrain (water channel)
The flow velocity of the water (seawater etc.) flowing through 1 is set (S12).
0). The flowing water resistance can be given as a disturbance by inputting this flowing water speed from the keyboard 28 so that the setting can be arbitrarily changed, or by changing the flowing water speed intentionally. Then, the posture of the underwater robot 2 is considered with respect to the set running speed (see FIG. 16).
Output of S130), the U, V, W components of the water flow velocity are obtained (S118), and the relative velocity of the translational velocities w and v obtained by the W translational motion calculation and the V translational motion calculation with respect to this water flow velocity is obtained (S119). Then, the drag due to running water is calculated using this relative velocity (S117).

The running water drag force calculation will be described with reference to FIG. 20. The running water drag force F is calculated by the following equation. In the following equation, ρ is the density of water (seawater), A is the projected area of the underwater robot 2 in the direction of the water flow, V is the velocity (relative velocity), and C _D is a coefficient depending on the shape of the underwater robot 2 and is an experimental value. . ^{F = 1/2 (ρAV 2} C D)

Further, as shown in FIG. 16, the angular velocities p, q and r obtained by the P rotary motion calculation, the Q rotary motion calculation and the R rotary motion calculation are converted from the robot coordinate system to the absolute coordinate system (S122). , The angular velocity of this absolute coordinate system is integrated (S
123, S124, S125), and the angles (roll angle, pitch angle, yaw angle) of the absolute coordinate system are calculated (S126, S1).
27, S128). Further, this angle is subjected to coordinate conversion (S1
29), the velocity is converted from the robot coordinate system to the absolute coordinate system (S131 to S136), and this is integrated to obtain the X position, Y position, and Z position (S137 to S14).
2). That is, when the underwater robot 2 translates at translational speeds w and v in the W direction and the V direction, the X position and Y of the underwater robot 2 are translated.
Underwater robot 2 how the position and Z position change
The posture of the underwater robot 2 (roll angle, pitch angle, yaw angle) and the translational speeds w and v are different.
X position, Y position and Z position are obtained from and. Further, the angles are coordinate-converted (S130) and used for calculating the U, V, and W components of the water flow velocity and the cable tension as described above (S1).
14, S118).

(Sensor Model) FIG. 21 is an explanatory diagram of a sensor model. As shown in the figure, in the sensor model 24, the X position, Y position, and Z position of the underwater robot 2 calculated by the robot model 24, the roll angle ψ, the pitch angle θ, and the yaw angle representing the attitude of the underwater robot 2 are shown. Based on φ, the measured values ∠X, ∠Y, ∠Z of the inclinometers 5a, 5b, 5b and the measured values UD1, UD2 of the ultrasonic sensors 6a, 6b on the lower surface 2a of the underwater robot 2 are calculated. The measurement error is not taken into consideration here. Further, in the illustrated example, the side surfaces 2c, 2
The measurement value of the ultrasonic sensors 6c, 6d, 6e, 6f of d is P
Although not calculated because it is not used for ID control, these measured values may also be calculated and displayed on the CRT 23, for example.

(Control Logic Model) FIG. 22 is an explanatory view of the control logic model, FIG. 23 is an explanatory view showing switching timing of PID control, and FIG. 24 is an explanatory view of conversion from thrust command to rotation speed command in the control logic model. Is.

As shown in FIG. 22, in the control logic model 26, the measured value ∠X of the inclinometer 5a calculated by the sensor model 26 and the ultrasonic sensors 6a, 6 on the lower surface 2a of the robot.
Based on the measured values UD1 and UD2 of b (the average value of both is used as the measured distance, and the angle is obtained from the difference between the two),
Roll PID control, pitch angle PID control, levitation PID control, and landing PID control are calculated (S154, S15).
5, S156, S157). That is, the simulation calculation of the floating PID control, roll PID control, landing PID control, and pitch angle PID control shown in FIGS. 4, 5, 6 and 7 is performed. At this time, as the target values, as in the case of the actual machine, the flying distance plan value and the flying speed plan value shown in FIG. 8, the roll angle plan value and the roll angular velocity plan value shown in FIG. 9, and the landing distance plan value and landing speed shown in FIG. Give the planned value.

The switching timing of the PID control may be switched when the measured value converges within a predetermined range with respect to the target value in each PID control, and as shown in FIG. You may make it switch at the set time. In FIG. 23, after the levitation operation (levitation PID control) is performed for 2 seconds, the levitation operation is changed to the rotation operation, the rotation operation (roll PID control) is performed for 1 second, and then the rotation operation is changed to the landing operation. A landing operation (landing PID control) is performed for a second.

Further, as shown in FIG. 22, when the thrust force command value is calculated, this thrust force command value is converted into a rotation speed command value (S158, S159). Referring to FIG. 24, first, the thrust command value (Q rotation torque command value) is 1 /
The product of (4 × La), the thrust command value (P rotation torque command value) multiplied by 1 / (4 × Lc), and the thrust command value (translation command in the W direction) multiplied by 1/4. The thrust command value of each thruster is obtained by adding the multiplied value (S158-1).
~ S158-13). Then, the thrust command value is converted into a rotation speed command value based on the thrust value at a predetermined rotation speed (1800 rpm in the illustrated example) (S158-14), and the rotation speed command value of each thruster is output via the limiter. Yes (S15
8-15, S159). That is, here, the inverter 11
Is simulating.

(Thruster characteristic model) FIG. 24 is an explanatory diagram of the thruster characteristic model. As shown in the figure, in the thruster characteristic model 27, the thrust thrust corresponding to the rotation speed command value is obtained based on the relationship between the rotation speed and the thrust (thruster characteristics) calculated from the thruster shape. Since the thrust characteristics differ between forward rotation and reverse rotation, both thrust characteristics are used.

25 to 29 show the results of simulating the PID control of the levitating motion, the rotating motion and the landing motion as shown in FIG. 3 by the underwater robot operation support simulator 21.

FIG. 26 shows changes in the position of the center of gravity of the robot.
The horizontal axis represents time (seconds) and the vertical axis represents position (m). This Figure 2
From FIG. 6, it is understood that the target position is reached in about 2 seconds for both the levitating motion and the landing motion. FIG. 27 shows changes in robot posture, where the horizontal axis represents time (seconds) and the vertical axis represents angle (degrees). From FIG. 27, it can be seen that the roll angle changes from 0 degree to 90 degrees by the rotating operation. In the simulation at this time, it took 9 seconds to complete the rotation operation for 1 second.
Since it has not converged to 0 degree, it can be seen to converge to 90 degree even after entering the landing operation. FIG. 28 shows changes in the number of rotations of the thruster, the horizontal axis represents time (seconds), and the vertical axis represents rotation speed (rpm). From FIG. 28, all the thrusters 4a, 4b, 4c, 4d have the same rotational speed during the floating operation and the landing operation, and the left and right thrusters 4a, 4a during the rotational operation.
It can be seen that the rotational speeds of 4b, 4c, and 4d are opposite to each other. The fact that the positive and negative signs of the rotational speed are reversed in each operation means that the brake is applied in order to prevent the speed from becoming too fast. FIG. 29 shows changes in the ultrasonic sensor measurement values, where the horizontal axis represents time (seconds) and the vertical axis represents measurement distance (m). From FIG. 29, it can be seen that the measured distances in the levitation operation and the landing operation show changes according to the levitation distance plan value and the landing distance plan value. The steep change on the way is a change in the measured distance with respect to the corner of the underdrain (rectangular water channel) 1.

As described above, according to the underwater robot operation support simulator 21 of the present embodiment, an underwater robot simulation model including the robot model 24, the sensor model 25, the control logic model 26 and the thruster characteristic model 27 is obtained. By being provided, the control operation of the underwater robot 2 can be easily grasped, which can contribute to the operation support of the robot operator and also increase the added value of the actual machine (actual underwater robot). .

Further, by switching from the automatic mode to the manual mode so that the levitation operation, the rotation operation and the landing operation by the manual operation of the robot operator can be simulated, the training of the manual operation operation can be easily carried out. Therefore, the skill of the robot operator can be improved, so that the learning period can be shortened, and the reliability of the levitating operation, the rotating operation, and the landing operation by the manual operation are improved.

[0081]

As described above in detail with the embodiments of the invention, the underwater robot operation assisting simulator of the first invention comprises thrust generating means, rotation angle measuring means, distance measuring means and control means. , An operation support simulator for an underwater robot that performs levitation motion, rotation motion, and landing motion in sequence in a rectangular waterway to transfer between waterway wall surfaces, based on the thrust calculated by a thrust generation means characteristic model. A robot model that calculates the position and orientation, and a sensor model that calculates the measurement value of the rotation angle measurement means and the measurement value of the distance measurement means based on the position and orientation of the underwater robot calculated by this robot model, The PID in the control means is based on the measured value of the rotation angle measuring means and the measured value of the distance measuring means calculated by the sensor model.
The thrust command value is obtained by performing a control simulation calculation, and based on the control logic model that converts this thrust command value to the rotation speed command value and the rotation speed command value obtained by this control logic model, An underwater robot simulation model including a thrust generation means characteristic model for obtaining thrust is provided.

Therefore, according to the underwater robot operation support simulator of the first aspect of the present invention, the control operation of the underwater robot can be easily grasped, so that it is possible to contribute to the operation support of the robot operator and the actual machine ( It will also increase the added value of the actual underwater robot).

Further, the underwater robot operation support simulator of the second invention is the underwater robot operation support simulator of the first invention, in which an automatic mode for operating all models constituting the underwater robot simulation model and the underwater robot simulation model. The control logic model can be switched to the manual mode in which only the other models are operated, and the robot manual operation operation means is provided, and the robot operator operates the robot manual operation operation means in the manual mode. It is characterized in that it is configured to simulate a manual driving operation of an underwater robot by performing a manual driving operation and inputting a rotation speed command value corresponding to the manual driving operation signal to a thruster characteristic model.

Therefore, according to the underwater robot operation support simulator of the second aspect of the present invention, the training of the manual driving operation can be easily performed and the skill of the robot operator can be improved, so that the learning period can be shortened. In addition, the reliability of the levitating operation, the rotating operation, and the landing operation by the manual operation is improved.

[Brief description of drawings]

FIG. 1 is an overall system configuration diagram of an underwater robot according to an embodiment of the present invention.

FIG. 2A is a perspective view of the underwater robot seen from below, and FIG. 2B is a perspective view of the underwater robot seen from above.

FIG. 3 is an explanatory diagram showing a state in which an underwater robot transfers between channel wall surfaces in an underdrain (rectangular channel).

FIG. 4 is a block diagram of floating PID control.

FIG. 5 is a block diagram of roll PID control.

FIG. 6 is a block diagram of landing PID control.

FIG. 7 is a block diagram of pitch PID control.

FIG. 8 is an explanatory diagram of a levitation distance plan value and a levitation speed plan value given in levitation PID control.

FIG. 9 is an explanatory diagram of a roll angle planned value and a roll angular velocity planned value given in roll PID control.

FIG. 10 is an explanatory diagram of a landing distance plan value and a landing speed plan value given in landing PID control.

FIG. 11 is an overall configuration diagram of an underwater robot operation support simulator according to the present embodiment.

FIG. 12 is an explanatory diagram showing the definition of a robot model.

FIG. 13 is an explanatory diagram of an absolute coordinate system and a robot coordinate system.

FIG. 14 is an explanatory diagram showing a relationship (coordinate conversion) between an absolute coordinate system and a robot coordinate system.

FIG. 15 is an overall configuration diagram of a robot model.

FIG. 16 is an overall configuration diagram of a robot model.

FIG. 17 is an explanatory diagram of W translational motion calculation in the robot model.

FIG. 18 is an explanatory diagram of P rotational motion calculation in the robot model.

FIG. 19 is an explanatory diagram of flowing water drag calculation in the robot model.

FIG. 20 is an explanatory diagram of cable tension calculation in the robot model.

FIG. 21 is an explanatory diagram of a sensor model.

FIG. 22 is an explanatory diagram of a control logic model.

FIG. 23 is an explanatory diagram showing switching timing of PID control.

FIG. 24 is an explanatory diagram of conversion of a thrust command into a rotation speed command in a control logic model.

FIG. 25 is a diagram showing simulation results.

FIG. 26 is a diagram showing a simulation result.

FIG. 27 is a diagram showing simulation results.

FIG. 28 is a diagram showing a simulation result.

FIG. 29 is a diagram showing simulation results.

[Explanation of symbols]

1 Underdrain (rectangular waterway) 1a Wall surface (bottom surface) 1b Wall surface (right side) 1c Wall surface (left side) 1d wall surface (upper surface) 2 Underwater robot 2a lower surface 2b upper surface 2c Side (right) 2d Side (left side) 3a-3d wheels 4a-4d thruster 5a-5c inclinometer 6a to 6f ultrasonic sensor 7 cable 8 control device 9 CRT screen 10 power supplies 11 inverter 12 brushes 21 Underwater robot operation support simulator 22 Body 23 CRT 24 Robot model 25 sensor model 26 Control logic model 27 Thruster characteristic model 28 keyboard

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Nishimae Etsushi             2-1-1 Niihama, Arai-cho, Takasago, Hyogo Prefecture             Takasago Laboratory, Mitsubishi Heavy Industries, Ltd. F-term (reference) 3C007 AS15 AS28 CS08 HS27 JS01                       KS18 KS20 KS36 KV18 KX02                       LV23 LW07 WA16 WA25 WA27                       WC03 WC04

Claims (2)

[Claims] 1. An operation of an underwater robot, which comprises thrust generating means, rotation angle measuring means, distance measuring means and control means, and performs a levitating operation, a rotating operation and a landing operation in order in a rectangular waterway to transfer between waterway wall surfaces. It is a support simulator, and based on the thrust calculated by the thrust generation means characteristic model,
A robot model that calculates the position and orientation of the underwater robot, and a sensor model that calculates the measurement value of the rotation angle measurement means and the measurement value of the distance measurement means based on the position and orientation of the underwater robot calculated by this robot model. Based on the measured value of the rotation angle measuring means and the measured value of the distance measuring means calculated by this sensor model, a thrust force command value is obtained by performing a simulation calculation of PID control in the control means, and this thrust force command value is calculated. Underwater robot simulation model having a control logic model for converting to a rotation speed command value and a thrust generation means characteristic model for obtaining the thrust of the thrust generation means based on the rotation speed command value obtained by this control logic model An underwater robot operation support simulator characterized by having. 2. The underwater robot operation support simulator according to claim 1, wherein an automatic mode in which all models forming the underwater robot simulation model are activated, and a control logic model in the underwater robot simulation model is not activated. It is possible to switch to a manual mode in which only other models are operated, and a robot manual operation operating means is provided. In the manual mode, a robot operator manually operates the robot manual operation operating means to perform this manual operation. An underwater robot operation support simulator characterized by being configured to simulate a manual operation operation of an underwater robot by inputting a rotation speed command value corresponding to an operation signal into a thruster characteristic model.