US20220161911A1 - Underwater robot, and method and apparatus for controlling the same - Google Patents

Underwater robot, and method and apparatus for controlling the same Download PDF

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Publication number
US20220161911A1
US20220161911A1 US17/598,048 US202017598048A US2022161911A1 US 20220161911 A1 US20220161911 A1 US 20220161911A1 US 202017598048 A US202017598048 A US 202017598048A US 2022161911 A1 US2022161911 A1 US 2022161911A1
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United States
Prior art keywords
robot body
thruster
robot
central axis
propelling
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Pending
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US17/598,048
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English (en)
Inventor
Chong Zhang
Meizhao Zhang
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Qingdao Qiyuan Cxinkeji Co Ltd
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Qingdao Qiyuan Cxinkeji Co Ltd
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Assigned to QINGDAO QIYUAN CXINKEJI CO., LTD reassignment QINGDAO QIYUAN CXINKEJI CO., LTD ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ZHANG, Chong, ZHANG, Meizhao
Publication of US20220161911A1 publication Critical patent/US20220161911A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • the present application relates to the technical field of robots, for example, an underwater robot, and a method and apparatus for controlling an underwater robot.
  • an underwater robot can move forward or backward by being propelled by a thruster installed at the tail of the robot, alternatively an underwater robot can ascend or descend by means of a thruster installed at the bottom of the robot body, alternatively an underwater robot can move forward or backward by being propelled by a thruster installed at the tail of the robot and can also ascend or descend by means of a thruster installed at the bottom of the robot body.
  • the underwater robot in the related art can merely move forward and backward and ascend and descend, inflexible in adjusting a posture of the robot body and failing to achieve omni-directional movements, which tremendously limits movement flexibility of the underwater robot.
  • the present application provides an underwater robot and provides a method and apparatus for controlling an underwater robot. At least six thruster components disposed on sides of a body of the underwater robot are used to control the position and posture of the underwater robot.
  • An embodiment provides an underwater robot.
  • the underwater robot includes a robot body and at least three groups of thruster arrays disposed on sides of the robot body. Each group of thruster array includes two thruster components.
  • Each of the two thruster components includes a propelling mechanism and a housing.
  • the propelling mechanism and the housing is configured to carry the propelling mechanism.
  • the two thruster components in each group of thruster array are symmetrically disposed on two sides of the robot body about a central axis of the robot body; at least three values of included angles between propelling directions of at least three thruster components located on a same side of the central axis, and the central axis of the robot body are formed so that propelling mechanisms of the at least three thruster components provide the robot body with propelling forces in at least three propelling directions.
  • An embodiment provides a method for controlling an underwater robot.
  • the underwater robot includes a robot body and at least three groups of thruster arrays disposed on sides of the robot body; each group of thruster array includes two thruster components; and the two thruster components in each group of thruster array are symmetrically disposed on two sides of the robot body about a central axis of the robot body. At least three values of included angles between propelling directions of at least three thruster components located on a same side of the central axis, and the central axis of the robot body are formed.
  • the method for controlling an underwater robot includes: acquiring coordinates of a target position point; and making the robot body arrive at the target position point by using the at least three groups of thruster arrays disposed on the sides of the robot body, which is a step including:
  • An embodiment provides an apparatus for controlling an underwater robot.
  • the underwater robot includes a robot body and at least three groups of thruster arrays disposed on sides of the robot body.
  • Each group of thruster array includes two thruster components.
  • the two thruster components in each group of thruster array are symmetrically disposed on two sides of the robot body about a central axis of the robot body.
  • At least three values of included angles between propelling directions of at least three thruster components located on a same side of the central axis, and the central axis of the robot body are formed.
  • the apparatus for controlling an underwater robot includes: a target position acquisition mechanism which is configured to acquire coordinates of a target position point; and a position and posture adjustment mechanism.
  • the position and posture adjustment mechanism is configured to adjust a posture of the robot body by using at least two groups of thruster arrays disposed on the sides of the robot body so as to make a head of the robot body point to the target position point, and propel the robot body to move by using at least one group of thruster array disposed on the sides of the robot body so as to make the robot body arrive at the target position point or is configured to move the robot body by using the at least three groups of thruster arrays disposed on the sides of the robot body so as to make the robot body move to the target position point in any posture.
  • each group of thruster array includes two thruster components which are symmetrically disposed about the central axis of the robot body.
  • At least three thruster components located on the same side of the central axis are installed at positions such that at least three values of included angles between propelling directions of the at least three thruster components and the central axis of the robot body are formed.
  • the thruster components are enabled to provide the robot body with propelling forces in at least three propelling directions, and thus control over the position and posture of an underwater robot is achieved. For example, full-angle hovering control and movement control are achieved. Movement flexibility of the underwater robot is greatly improved and the control precision is improved.
  • FIG. 1A is a structural view of an underwater robot according to embodiment one;
  • FIG. 1B is a structural view of an underwater robot according to embodiment one;
  • FIG. 1C is a block diagram showing a structure of an underwater robot according to embodiment one;
  • FIG. 2 is a flowchart of a method for controlling an underwater robot according to embodiment two.
  • FIG. 3 is a block diagram showing a structure of an apparatus for controlling an underwater robot according to embodiment three.
  • this embodiment provides an underwater robot which includes a robot body 1 and at least three groups of thruster arrays 2 disposed on sides of the robot body 1 .
  • Each group of thruster array 2 includes two thruster components 21 .
  • the robot body 1 includes not only a control terminal of the underwater robot but also relevant components for preforming actions and functions of the underwater robot, such as components for search and rescue, pipe maintenance, and energy exploration, for example, at least one of a video camera, a camera, a lamp, or other observation components; at least one of a robotic arm, a cutter, a cleaning device, or other operation components.
  • relevant components for preforming actions and functions of the underwater robot such as components for search and rescue, pipe maintenance, and energy exploration, for example, at least one of a video camera, a camera, a lamp, or other observation components; at least one of a robotic arm, a cutter, a cleaning device, or other operation components.
  • a thruster component 21 is an apparatus for converting other forms of energy into mechanical energy and propels the underwater robot to move by means of rotating blades or jetting water.
  • the thruster component 21 may be a propeller thruster or a water-jet thruster.
  • the propeller thruster with a main engine driving a propelling shaft to rotate together, sucks water from a suction surface of a blade and discharges the water from a pressure surface of the blade to propel a robot body to move forward with reaction forces of the water.
  • the propeller thruster is featured by a simple structure and high working efficiency.
  • the water-jet thruster with a jetting part of the propelling mechanism immersed into water, uses reaction forces generated by jetting a water flow to drive a robot body to move forward.
  • the water-jet thruster is easier to operate and more adaptable to environments, which is suitable for working in the harsh environment, such as waters with a lot of sediment.
  • the propelling mechanism includes a motor, and a propelling force provided when the motor rotates in a forward direction and a propelling force provided when the motor rotates in a reverse direction have opposite propelling directions.
  • the thruster component 21 includes a housing 211 and a propelling mechanism 212 .
  • the housing 211 is configured to carry the propelling mechanism 212 .
  • the thruster component 21 may be connected to the robot body 1 through the housing; the housing may also be connected to the robot body 1 by a fixing mechanism; as shown in FIG. 1B , the fixing mechanism includes a fixing part 22 , an extending part 23 , and a carrying part 24 which are successively connected to each other; the fixing part 22 is configured to be fixedly connected to the robot body 1 ; the carrying part 24 is configured to be connected to the housing which carries the propelling mechanism; the extending part 23 , with extending and contracting functions, is configured to connect the fixing part 22 and the carrying part 24 ; and two fixing mechanisms in each group of thruster array 2 are symmetrically disposed on two sides of the robot body 1 about the central axis of the robot body 1 .
  • the fixing mechanism includes a fixing part 22 , an extending part 23 , and a carrying part 24 which are successively connected to each other; the fixing part 22 is configured to be fixedly connected to the robot body 1 ; the carrying part 24 is configured to be connected to the housing which carries the propelling
  • the two thruster components 21 in each group of thruster array 2 are symmetrically disposed on the two sides of the robot body 1 about the central axis of the robot body 1 .
  • At least three values of included angles between at least three thruster components 21 located on a same side of the central axis, and the central axis of the robot body are formed so that propelling mechanisms provide the robot body 1 with propelling forces in at least three propelling directions.
  • the underwater robot includes three groups of thruster arrays 2 , and a sum of a value of an included angle between a propelling direction of one thruster component at a front end and a direction perpendicular to a plane where the central axis is located, and a value of an included angle between a propelling direction of another thruster component at a rear end and the direction perpendicular to the plane where the central axis is located is zero, where the one thruster component at the front end is located at the same side of the central axis as the another thruster component at the rear end.
  • the front end is closer to the head of the robot body 1 and the rear end is closer to the tail of the robot body 1 .
  • a value of an included angle between the propelling direction of the right thruster at the front end and the perpendicular direction is 30° and thus a value of an included angle between the propelling direction of the right thruster at the rear end and the perpendicular direction is ⁇ 30°.
  • a value of an included angle between the propelling direction of the right thruster at the front end and the perpendicular direction is 30′, a value of an included angle between the propelling direction of the right thruster at the front end and the central axis of the robot body 1 is 60°.
  • values of included angles between propelling directions of three thruster components located on the same side of the central axis, and the central axis of the robot body 1 may be, from front to rear, 60°, 0°, and ⁇ 60°, respectively. That is, values of included angles between propelling directions of three thruster components located on the same side of the central axis, and the direction perpendicular to the robot body 1 are 30°. 0°, and 30°, respectively.
  • the two thruster components 21 in each group of thruster array 2 have the same power.
  • the underwater robot further includes a thruster component 21 disposed on at least one of a bottom surface of the robot body 1 or a top surface of the robot body 1 ; the thruster component 21 is disposed on at least one of the bottom surface of the robot body 1 or the top surface of the robot body 1 so that the underwater robot can be provided with a propelling force in a perpendicular direction to facilitate ascending and descending of the underwater robot.
  • each group of thruster array includes two thruster components 21 which are symmetrically disposed about the central axis of the robot body 1 , and at least three values of included angles between propelling directions of at least three thruster components 21 located on the same side of the central axis, and the central axis are formed.
  • thruster components 21 provide the robot body 1 with propelling forces in at least three propelling directions, and thus control over the position and posture of an underwater robot is achieved. For example, full-angle hovering control and movement control are achieved. Movement flexibility of the underwater robot is greatly improved and the control precision is improved.
  • FIG. 2 is a flowchart of a method for controlling an underwater robot according to this embodiment.
  • the method is suitable for a case where the position and posture of the underwater robot are controlled by using at least six thruster components 21 installed on sides of a robot body 1 .
  • This method may be performed by an apparatus for controlling an underwater robot described in an embodiment of the present application and generally may be integrated into the underwater robot described in any embodiment of the present application. Exemplarily, this method may be integrated into the robot body 1 of the underwater robot in the form of program codes. The method includes steps described below.
  • a control terminal of the underwater robot may be used to receive information about the coordinates of the target position point via a communication system; or a functional component of the underwater robot, such as a video camera or a camera, may also be used to acquire image information and then the control terminal is used to calculate the coordinates of the target position point.
  • At least three groups of thruster arrays 2 disposed on the sides of the robot body are used to make the robot body 1 arrive at the target position point.
  • Such step includes the following steps: a posture of the robot body is adjusted by using at least two groups of thruster arrays 2 disposed on the sides of the robot body 1 so as to make a head of the robot body 1 point to the target position point, and the robot body 1 is propelled to move by using at least one group of thruster array 2 disposed on the sides of the robot body 1 so as to make the robot body 1 arrive at the target position point; alternatively, the robot body 1 is moved by using the at least three groups of thruster arrays 2 disposed on the sides of the robot body 1 so as to make the robot body 1 move to the target position point in any posture.
  • Each group of thruster array 2 includes two thruster components 21 .
  • the two thruster components 21 in each group of thruster array 2 are symmetrically disposed on two sides of the robot body 1 about a central axis of the robot body 1 .
  • At least three values of included angles between propelling directions of at least three thruster components 21 located on the same side of the central axis, and the central axis are formed.
  • different thruster arrays 2 are used for performing movement control and posture control on the robot body 1 . That is, at least two groups of thruster arrays 2 disposed on the sides of the robot body 1 for adjusting the posture of the robot body 1 and at least one group of thruster array 2 disposed on the sides of the robot body 1 for propelling the robot body 1 to move are different thruster arrays 2 .
  • an underwater robot includes three groups of thruster arrays 2 .
  • Two groups of thruster arrays 2 disposed on sides of a robot body 1 are used to adjust the posture of the robot body 1 so as to make the front end of the robot body 1 point to a target position point, and then one group of thruster array 2 disposed on the sides of the robot body 1 , in particular, in the middle part of the robot body 1 , is used to propel the robot body 1 to move so as to make the robot body 1 arrive at the target position point.
  • each group of thruster array 2 includes two thruster components 21 which are symmetrically disposed about the central axis of the robot body 1 so that thruster components 21 provide the robot body 1 with propelling forces in at least three propelling directions.
  • FIG. 3 is a block diagram showing a structure of an apparatus for controlling an underwater robot according to this embodiment.
  • the apparatus includes a target position acquisition mechanism 310 and a position and posture adjustment mechanism 320 .
  • the target position acquisition mechanism 310 is configured to acquire coordinates of a target position point.
  • the position and posture adjustment mechanism 320 is configured to adjust a posture of the robot body 1 by using at least two groups of thruster arrays 2 disposed on the sides of the robot body 1 so as to make a head of the robot body 1 point to the target position point, and propel the robot body 1 to move by using at least one group of thruster array 2 disposed on the sides of the robot body 1 so as to make the robot body 1 arrive at the target position point.
  • the position and posture adjustment mechanism 320 is configured to move the robot body 1 by using the at least three groups of thruster arrays 2 disposed on the sides of the robot body 1 so as to make the robot body 1 move to the target position point in any posture.
  • Each group of thruster array 2 includes two thruster components 21 .
  • the two thruster components 21 in each group of thruster array 2 are symmetrically disposed on two sides of the robot body 1 about a central axis of the robot body 1 .
  • At least three values of included angles between propelling directions of at least three thruster components 21 located on the same side of the central axis, and the central axis are formed.
  • each group of thruster array 2 includes two thruster components 21 which are symmetrically disposed about the central axis of the robot body 1 .
  • thruster components 21 provide the robot body 1 with propelling forces in at least three propelling directions and thus control over the position and posture of an underwater robot is achieved. For example, full-angle hovering control and movement control are achieved and the robot body 1 can move to target position point in any posture. Movement flexibility of the underwater robot is greatly improved and the control precision is improved.
  • the above apparatus can perform the method for controlling an underwater robot provided by any embodiment of the present application and has functional mechanisms and beneficial effects for performing the method.
  • the above apparatus can perform the method for controlling an underwater robot provided by any embodiment of the present application and has functional mechanisms and beneficial effects for performing the method.
US17/598,048 2019-04-15 2020-03-23 Underwater robot, and method and apparatus for controlling the same Pending US20220161911A1 (en)

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CN201910300120.6A CN109911157A (zh) 2019-04-15 2019-04-15 一种水下机器人、水下机器人的控制方法及装置
CN201910300120.6 2019-04-15
PCT/CN2020/080616 WO2020211595A1 (zh) 2019-04-15 2020-03-23 水下机器人、水下机器人的控制方法及装置

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CN111532401A (zh) * 2020-04-27 2020-08-14 苏州方海琴科智能装备科技有限公司 一种水下运载装置
CN112706850A (zh) * 2021-01-19 2021-04-27 广东联凯智能科技有限公司 一种智慧粮仓侦测机器人
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CN116326517A (zh) * 2023-05-09 2023-06-27 哈尔滨工业大学（威海） 一种用于珊瑚保育的水下机器人

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