A device and method for detecting and docking a large underwater robot in sections

Abstract

The present invention relates to a large underwater robot segmented posture detection docking device and method, wherein two adjustment mechanisms each include a front support, a rear support and four trolleys that move in the X direction, a transverse displacement seat that moves in the Y direction is provided in the trolley, a support shaft that lifts in the Z direction is provided on the transverse displacement seat, two ends of the front support are respectively supported by support shafts on two front trolleys, two ends of the rear support are respectively supported by support shafts on two rear trolleys, two ends of the first cabin section are supported by the rear support and the front support in the first adjustment mechanism, two ends of the second cabin section are supported by the rear support and the front support in the second adjustment mechanism, target balls are provided on the docking end face flanges of the first cabin section and the second cabin section, and each target ball is scanned by a laser tracker, the trolley, the transverse displacement seat and the support shaft are all controlled to move by a control system, and the control system calculates the movement amount according to the target ball position scanned by the laser tracker. The present invention can accurately reflect the position and posture of the cabin section docking end face and automatically adjust the docking.

Description

Technical Field

[0001] The invention relates to the field of large underwater robot assembly, in particular to a large underwater robot segmented posture detection docking device and method. Background Art

[0002] The structure of large underwater robots is usually formed by segmented processing and reassembly. During the cabin docking and assembly process, the position and posture of the cabin need to be adjusted according to different situations. However, due to the large size and heavy weight of the underwater robot cabin structure, it is difficult to observe and judge the actual posture state during docking, which makes the assembly process difficult. If the cabin posture cannot be accurately detected and adjusted to the ideal state, the impact force generated during cabin docking will damage the cabin structure and components inside the cabin. Therefore, it is particularly important to accurately detect and adjust the position and posture of the large underwater robot cabin to meet the docking requirements. Summary of the invention

[0003] The purpose of the present invention is to provide a large underwater robot segmented posture detection docking device and method, which uses a laser tracker as a measuring means, can accurately measure the coordinates of the marking points and reflect the position and posture of the docking end face, and simultaneously uses two adjustment mechanisms to automatically complete the posture adjustment and docking of the two compartments, thereby improving the docking efficiency and quality.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A large underwater robot segmented posture detection docking device, comprising a first adjustment mechanism, a second adjustment mechanism, a track, a laser tracker, a target ball and a control system, wherein the track is arranged along the X direction, the first adjustment mechanism and the second adjustment mechanism have the same structure, both comprising a front support, a rear support and four trolleys that move along the corresponding tracks respectively, the trolley is provided with a transverse seat that moves along the Y direction, and the transverse seat is provided with a support shaft that rises and falls along the Z direction, the two ends of the front support are respectively supported by the support shafts on the two front trolleys, and the two ends of the rear support are respectively supported by the support shafts on the two rear trolleys The rear end of the first compartment is supported by the rear support in the first adjustment mechanism, and the front end is supported by the front support in the first adjustment mechanism; the rear end of the second compartment is supported by the rear support in the second adjustment mechanism, and the front end is supported by the front support in the second adjustment mechanism; target balls are provided on the first docking end face flange at the front end of the first compartment section and the second docking end face flange at the front end of the second compartment section, and each target ball is scanned by the laser tracker; the trolley, the transverse seat and the support shaft are all controlled to move by the control system, and the control system calculates the movement amount according to the target ball position scanned by the laser tracker.

[0006] A travel drive device, a transverse drive device and a lifting drive device are provided in the trolley. The trolley is driven to travel by the travel drive device. The transverse seat is slidably connected to the support plate inside the trolley and is driven to move transversely by the transverse drive device. The lifting drive device is installed on the transverse seat, and the support shaft is fixedly connected to the output end of the lifting drive device. The travel drive device, the transverse drive device and the lifting drive device are all controlled by the control system.

[0007] The target ball is installed on a target seat, and a mounting base plate is provided at the lower end of the target seat.

[0008] The first butt end flange and the second butt end flange are both provided with flange holes, the mounting base plate is arranged in the corresponding flange holes, the lower end of the target seat is magnetically fixedly connected to the mounting base plate, and the target ball is magnetically fixedly connected to the corresponding target seat.

[0009] Four target balls are disposed on each of the first butt end flange and the second butt end flange, and each target ball is disposed on a side close to the laser tracker and arranged at equal angles along the circumferential direction.

[0010] A method for detecting a docking device of a large underwater robot in sections according to the aforementioned method comprises the following steps:

[0011] Step 1: The trolley in the first adjustment mechanism drives the first compartment to move to the specified position, and the trolley in the second adjustment mechanism drives the second compartment to move to the specified position;

[0012] Step 2: Establish a global coordinate system;

[0013] Step 3: Use the laser tracker to scan and read the coordinates of each target ball mark point on the first compartment in turn, and use the least squares method to fit the circular surface to obtain the vector coordinate P perpendicular to the center of the circle. 0 ′;

[0014] Step 4: The vector coordinates P obtained by fitting in step 3 0 ′=[x 1 ,y 1 , z 1 , α 1 , β 1 , γ 1 ] and the vector coordinate P of the first compartment under the ideal state 0 =[x 0 ,y 0 , z 0 , α 0 , β 0 , γ 0 ] to obtain the position and angle differences in each direction;

[0015] Step 5: The control system controls the first adjustment mechanism to adjust the posture of the first cabin section according to the adjustment amount calculated in step 4;

[0016] Step 6: Use the laser tracker to scan and read the coordinates of each target ball mark point on the second compartment in turn, and use the least squares method to fit the circular surface to obtain the vector coordinate P perpendicular to the center of the circle. 1 ′;

[0017] Step 7: The vector coordinates P obtained in step 6 1 ′ and the vector coordinate P of the second compartment in the ideal state 1 Compare and obtain the differences of positions and angles in each direction;

[0018] Step 8: The control system controls the second adjustment mechanism to adjust the posture of the second cabin section according to the adjustment amount calculated in step 7;

[0019] Step 9: According to P 0 ′ and P 1 'The difference in the X direction, the control system controls the movement of the trolley in the first adjustment mechanism to drive the first cabin section to move along the X direction until the first docking end face flange and the second docking end face flange are in contact with each other to complete the docking.

[0020] Steps 3 to 5 are repeated until the position and angle difference of the first compartment are within the set allowable range.

[0021] Steps 6 to 8 are repeated until the position and angle difference of the second compartment are within the set allowable range.

[0022] The advantages and positive effects of the present invention are:

[0023] 1. The present invention uses a laser tracker as a measuring method, which can accurately measure the coordinates of the marking points and reflect the position and posture of the docking end face, solving the problem that the end face posture of large-sized underwater robot compartments is prone to deviation during docking.

[0024] 2. The present invention utilizes two adjustment mechanisms to respectively realize six-degree-of-freedom adjustment of the two compartments, thereby automatically completing the posture adjustment and docking of the compartments.

[0025] 3. The present invention places the target ball of the measured marking point in the flange hole on the back side of the end face flange, thereby avoiding the influence on the actual assembly process and also avoiding the influence of the processing error of the cabin section itself on the end face posture measurement.

[0026] 4. The present invention only requires one laser tracker, and each butt end face can reflect its actual posture with only four marking points. The measurement method is efficient and accurate, and the marking points are distributed on the same side. There is no need for the tracker to switch stations, thus avoiding station switching errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of the structure of the device of the present invention,

[0028] Figure 2 for Figure 1 Schematic diagram of the target ball in

[0029] Figure 3 for Figure 2 Schematic diagram of the layout of the target ball on the end surface of the cabin.

[0030] Figure 4 for Figure 3 Schematic diagram of target ball marker fitting in ,

[0031] Figure 5 This is a schematic diagram of the axial rotation adjustment of the device of the present invention.

[0032] Figure 6 This is a schematic diagram of the front and rear pitch adjustment of the device of the present invention.

[0033] Figure 7 It is a schematic diagram of horizontal rotation adjustment of the device of the present invention.

[0034] Among them, 1 is the first compartment, 101 is the first docking end face flange, 2 is the second compartment, 201 is the second docking end face flange, 3 is the track, 4 is the first adjustment mechanism, 401 is the first trolley, 402 is the second trolley, 403 is the third trolley, 404 is the fourth trolley, 5 is the rear support, 6 is the front support, 7 is the second adjustment mechanism, 8 is the laser tracker, 9 is the target sphere, 901 is the mounting base plate, and 902 is the target seat. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] like Figures 1 to 7As shown, the device of the present invention includes a first adjustment mechanism 4, a second adjustment mechanism 7, a track 3, a laser tracker 8, a target ball 9 and a control system, wherein the track 3 is arranged along the X direction, the first adjustment mechanism 4 and the second adjustment mechanism 7 have the same structure, and both include a front support 6, a rear support 5 and four trolleys that move along the corresponding track 3 respectively, the trolley is provided with a transverse shift seat that moves along the Y direction, and the transverse shift seat is provided with a support shaft that rises and falls along the Z direction, the two ends of the front support 6 are respectively supported by the support shafts on the two front trolleys, and the two ends of the rear support 5 are respectively supported by the support shafts on the two rear trolleys, and the rear end of the first cabin section 1 to be assembled The rear end of the second compartment 2 to be assembled is supported by the rear support 5 in the first adjustment mechanism 4 and the front end is supported by the front support 6 in the first adjustment mechanism 4. The rear end is supported by the rear support 5 in the second adjustment mechanism 7 and the front end is supported by the front support 6 in the second adjustment mechanism 7. The first docking end face flange 101 at the front end of the first compartment 1 and the second docking end face flange 201 at the front end of the second compartment are both provided with target balls 9, and each target ball 9 is scanned by the laser tracker 8. The trolley, the traverse seat and the support shaft are all controlled to move by the control system, and the control system calculates the movement amount according to the position of the target ball 9 scanned by the laser tracker 8. The laser tracker 8 is a well-known technology in the art and is a commercially available product.

[0037] The trolley is provided with a travel drive device, a transverse drive device and a lifting drive device, and the travel drive device, the transverse drive device and the lifting drive device are all controlled by the control system. In this embodiment, the travel drive device can adopt a travel servo motor, and the travel servo motor drives any of the trolley travel wheels to rotate, thereby realizing the movement of the trolley along the corresponding track 3, the transverse drive device can adopt a transversely arranged electric push cylinder, the transverse seat is slidably connected to the internal support plate of the trolley through the slide rail slider assembly and is driven to move along the Y direction by the transverse drive device, and the lifting drive device can adopt a vertically arranged electric push cylinder, the lifting drive device is installed on the transverse seat, and the support shaft is fixedly connected to the output end of the lifting drive device, so that the lifting and lowering are driven by the lifting drive device.

[0038] like Figure 2 As shown, the target ball 9 is mounted on a target seat 902, and a mounting base plate 901 is provided at the lower end of the target seat 902 and fixedly mounted on the end face flange of the corresponding compartment. Flange holes are provided on the first butt end face flange 101 and the second butt end face flange 201, and the mounting base plate 901 is arranged in the corresponding flange holes. A magnet is provided at the lower end of the target seat 902 and is magnetically fixedly connected to the mounting base plate 901. The target ball 9 is also provided with a magnet and is magnetically fixedly connected to the corresponding target seat 902.

[0039] like Figure 3As shown, in the present invention, four target balls 9 are arranged on the end face flange of each compartment, and each target ball 9 is arranged on a side close to the laser tracker 8 and arranged at equal angles along the circumferential direction.

[0040] The working principle of the present invention is:

[0041] The first adjustment mechanism 4 and the second adjustment mechanism 7 of the present invention realize the six-degree-of-freedom movement of the cabin section through the action of each support shaft, wherein the cabin section is raised or lowered when the support shafts of each trolley are raised or lowered synchronously, the cabin section is moved horizontally when the transverse seats of each trolley drive the support shafts to move horizontally synchronously, and the cabin section is moved forward or backward when each trolley moves synchronously. Figure 1 As shown, when the transverse shift seats on the first trolley 401 and the third trolley 403 move laterally to the left, and when the transverse shift seats on the second trolley 402 and the fourth trolley 404 move laterally to the right, the cabin section rotates in the horizontal plane. When the supporting shafts of the first trolley 401 and the third trolley 403 descend, and the supporting shafts of the second trolley 402 and the fourth trolley 404 rise, the cabin section pitches forward and backward. When the supporting shafts of the first trolley 401 and the second trolley 402 descend, and the supporting shafts of the third trolley 403 and the fourth trolley 404 rise, the cabin section rotates around the X-axis.

[0042] like Figures 5 to 7 As shown, the movement of each degree of freedom of the cabin section can be calculated, where Figure 5 As shown, when the first compartment 1 is driven to rotate axially around the X axis, it is assumed that the angle to be adjusted is α, and the distance between the two trolleys in the width direction is l 1 , then the descending distance of the first trolley 401 and the second trolley 402 on one side of the cabin, and the ascending distance of the third trolley 403 and the fourth trolley 404 on the other side of the cabin are:

[0043]

[0044] like Figure 6 As shown, when the first cabin section 1 is driven to pitch, assuming that the end face is adjusted around the Y axis by an angle β, the distance between the front and rear vehicles is l 2 , the total length of the first compartment is l, then the descending distance of the first trolley 401 and the third trolley 403 at one end of the compartment, and the ascending distance of the second trolley 402 and the fourth trolley 404 at the other end of the compartment are:

[0045]

[0046] At this time, Figure 6 It can be clearly seen that the position of the end face flange of the cabin section also changes, so the control system needs to perform motion compensation on the end face flange position in the X and Z directions, where the compensation value in the X direction is:

[0047]

[0048] The compensation value in the Z direction is:

[0049]

[0050] like Figure 7 As shown, when the first compartment 1 is driven to rotate horizontally, assuming that the rotation angle is γ, the distance between the front and rear vehicles is l 2 , the total length of the first cabin section is l, then the distance that the first trolley 401 transverse seat and the third trolley 403 transverse seat move to the left at one end of the cabin section, and the distance that the second trolley 402 transverse seat and the fourth trolley 404 transverse seat move to the right at the other end of the cabin section are:

[0051]

[0052] Similarly, the position of the cabin end flange itself also changes, and the trolley needs to perform motion compensation in the X and Y directions, where the compensation value in the X direction is:

[0053]

[0054] The compensation value in the Y direction is:

[0055]

[0056] The present invention can use a laser tracker 8 to track and detect the position of each target ball 9 to obtain the cabin adjustment amount, and then use the first adjustment mechanism 4 and the second adjustment mechanism 7 to adjust the posture of the first cabin 1 and the second cabin 2 so that the two can be accurately docked.

[0057] The method of the present invention comprises the steps of:

[0058] Step 1: Each trolley is started to drive the first cabin 1 and the second cabin 2 to move to the designated position, and at the same time, the laser tracker 8 is preheated to complete the preparation work before docking.

[0059] Step 2: Establish a global coordinate system.

[0060] In this embodiment, the origin O of the positioning coordinate system is located at a position half the length of the track 3 and between the two groups of tracks 3 in the width direction, and the direction along the track 3 is defined as the X axis, the horizontal plane perpendicular to the track 3 is defined as the Y axis, and the direction perpendicular to the horizontal plane is defined as the Z axis, thereby obtaining the global coordinate system O-XYZ, and defining the rotation angle around the X axis as α, the rotation angle around the Y axis as β, and the rotation angle around the Z axis as γ. In this embodiment, the establishment of the global coordinate system is based on the supporting software SA of the laser tracker 8.

[0061] Step 3: Use the laser tracker 8 to scan and read the coordinates of the mark points of each target ball 9 on the first compartment 1 in sequence, and use the least squares method to fit the circular surface to obtain the vector coordinate P perpendicular to the center of the circle.0 ′.

[0062] like Figures 3-4 As shown, the laser tracker 8 automatically scans the four target ball 9 marking points on the first butt end flange 101 of the first compartment 1 from top to bottom along the set trajectory to obtain the spatial coordinates of each target ball 9:

[0063] A i =(x i ,y i , z i ), i=1-4;

[0064] Then, according to the above coordinates, the least squares method is used to fit the circular surface to obtain the vector coordinate P perpendicular to the center of the circle. 0 ′=[x 1 ,y 1 , z 1 , α 1 , β 1 , γ 1 ], the calculation process of the least squares method is:

[0065]

[0066] In the above formula, δ represents the fitting error, r i (i=1-4) represents the distance from the coordinates of the marked point to the center of the circle, and r represents the radius of the fitted circle.

[0067] Step 4: The vector coordinates P obtained by fitting in step 3 0 ′=[x 1 ,y 1 , z 1 , α 1 , β 1 , γ 1 ] and the vector coordinate P of the first compartment 1 in the ideal state 0 =[x 0 ,y 0 , z 0 , α 0 , β 0 , γ 0 ] to obtain the position and angle differences in each direction, i.e., the position adjustment amount δ 1 =(δ x , δ y , δ z ) and angle adjustment δ 2 =(δ α , δ β , δ γ ).

[0068] When the first butt end face flange 101 is parallel to the O-YZ plane, it is considered to be in an ideal state, which is obtained based on the posture of the fitted vector coordinates. The ideal state is when the direction of the vector coordinates passing through the center of the circle coincides with the X-axis.

[0069] The specific calculation of each adjustment amount is as follows:

[0070] Position adjustment calculation:

[0071]

[0072] Angle adjustment calculation:

[0073]

[0074] Step 5: The control system controls the various trolleys, transverse seats, and support shafts in the first adjustment mechanism 4 to adjust the posture of the first cabin section 1 according to the adjustment amount calculated in step 4. The specific process is as described above and Figures 5 to 7 shown.

[0075] Due to the interference of factors such as the motion error of the trolley, one measurement and adjustment cannot completely make the first butt end face flange 101 reach the ideal posture, so the above steps 3 to 5 can be repeated until δ 1 and δ 2 Within the set allowable range.

[0076] Step 6: Use the laser tracker 8 to scan and read the coordinates of the mark points of each target ball 9 on the second compartment 2 in sequence, and use the least squares method to fit the circular surface to obtain the vector coordinate P perpendicular to the center of the circle. 1 ′, the calculation process is the same as step 3.

[0077] Step 7: The vector coordinates P obtained in step 6 1 ′ and the vector coordinate P of the second compartment 2 in the ideal state 1 By comparison, the difference of position and angle in each direction is obtained, that is, the position adjustment amount δ 1 =(δ x , δ y , δ z ) and angle adjustment δ 2 =(δ α , δ β , δ γ ), the calculation process is the same as step 4.

[0078] Step eight: The control system controls the movements of the various trolleys, transverse seats, and support shafts in the second adjustment mechanism 7 to adjust the posture of the second cabin section 2 according to the calculated adjustment amount in step seven.

[0079] Similarly, due to the interference of factors such as the motion error of the trolley, one measurement and adjustment cannot completely make the second butt end face flange 201 reach the ideal posture, so the above steps 6 to 8 can be repeated until δ 1 and δx are within the set allowable range.

[0080] Step 9: According to P 0 ′ and P 1 'The difference in the X direction, the control system controls the movement of the trolley in the first adjustment mechanism to drive the first cabin section to move along the X direction until the first docking end face flange and the second docking end face flange are in contact with each other to complete the docking.

Claims

1. A docking method for a large underwater robot segmented posture detection docking device, characterized in that: The large underwater robot segmented posture detection docking device comprises a first adjustment mechanism (4), a second adjustment mechanism (7), a track (3), a laser tracker (8), a target ball (9) and a control system, wherein the track (3) is arranged along the X direction, the first adjustment mechanism (4) and the second adjustment mechanism (7) have the same structure, and both comprise a front support (6), a rear support (5) and four trolleys that move along the corresponding tracks (3), wherein a transverse seat that moves along the Y direction is arranged in the trolley, and a support shaft that rises and falls along the Z direction is arranged on the transverse seat, the two ends of the front support (6) are respectively supported by the support shafts on the two front trolleys, and the two ends of the rear support (5) are respectively supported by the support shafts on the two rear trolleys, and the rear of the first compartment (1) is provided with a plurality of support shafts. The first end of the first compartment (1) is supported by a rear support (5) in a first adjustment mechanism (4), and the front end is supported by a front support (6) in the first adjustment mechanism (4); the rear end of the second compartment (2) is supported by a rear support (5) in a second adjustment mechanism (7), and the front end is supported by a front support (6) in the second adjustment mechanism (7); a target ball (9) is provided on a first butt end flange (101) at the front end of the first compartment (1) and a second butt end flange (201) at the front end of the second compartment (1), and each target ball (9) is scanned by the laser tracker (8); the trolley, the transverse seat and the support shaft are all controlled to move by the control system, and the control system calculates the amount of movement according to the position of the target ball (9) scanned by the laser tracker (8); The docking method includes the following steps: Step 1: The trolley in the first adjustment mechanism (4) drives the first compartment (1) to move to a designated position, and the trolley in the second adjustment mechanism (7) drives the second compartment (2) to move to a designated position; Step 2: Establish a global coordinate system; Step 3: Use a laser tracker (8) to sequentially scan and read the coordinates of the marking points of each target ball (9) on the first compartment (1), and use the least square method to fit the circular surface to obtain the vector coordinate P0′ perpendicular to the center of the circle; Step 4: Compare the vector coordinates P0′=[x1, y1, z1, α1, β1, γ1] obtained by fitting in step 3 with the vector coordinates P0=[x0, y0, z0, α0, β0, γ0] of the first compartment (1) in the ideal state to obtain the differences in position and angle in each direction; Step 5: The control system controls the first adjustment mechanism (4) to adjust the position and posture of the first cabin section (1) according to the adjustment amount calculated in step 4; Step 6: Use a laser tracker (8) to sequentially scan and read the coordinates of the marking points of each target ball (9) on the second compartment (2), and use the least squares method to fit the circular surface to obtain the vector coordinate P1′ perpendicular to the center of the circle; Step 7: Compare the vector coordinates P1′ obtained by fitting in step 6 with the vector coordinates P1 of the second compartment (2) in the ideal state to obtain the differences in position and angle in each direction; Step 8: The control system controls the second adjustment mechanism (7) to adjust the posture of the second cabin section (2) according to the adjustment amount calculated in step 7; Step nine: Based on the difference between P0′ and P1′ in the X direction, the control system controls the movement of the trolley in the first adjustment mechanism (4) to drive the first compartment (1) to move along the X direction until the first docking end face flange (101) and the second docking end face flange (201) are in contact, thus completing docking.

2. The docking method of the large underwater robot segmented posture detection docking device according to claim 1, characterized in that: A travel drive device, a transverse drive device and a lifting drive device are provided in the trolley. The trolley is driven to travel by the travel drive device. The transverse seat is slidably connected to the support plate inside the trolley and is driven to move transversely by the transverse drive device. The lifting drive device is installed on the transverse seat, and the support shaft is fixedly connected to the output end of the lifting drive device. The travel drive device, the transverse drive device and the lifting drive device are all controlled by the control system.

3. The docking method of the large underwater robot segmented posture detection docking device according to claim 1, characterized in that: The target ball (9) is mounted on a target seat (902), and a mounting base plate (901) is provided at the lower end of the target seat (902).

4. The docking method of the large underwater robot segmented posture detection docking device according to claim 3 is characterized in that: The first butt-jointed end face flange (101) and the second butt-jointed end face flange (201) are both provided with flange holes, the mounting base plate (901) is arranged in the corresponding flange holes, the lower end of the target seat (902) is magnetically fixedly connected to the mounting base plate (901), and the target ball (9) is magnetically fixedly connected to the corresponding target seat (902).

5. The docking method of the large underwater robot segmented posture detection docking device according to claim 1, characterized in that: Four target balls (9) are provided on each of the first butt end flange (101) and the second butt end flange (201), and each target ball (9) is provided on a side close to the laser tracker (8) and arranged at equal angles along the circumferential direction.

6. The docking method of the large underwater robot segmented posture detection docking device according to claim 1, characterized in that: Steps 3 to 5 are repeated until the position and angle difference of the first compartment (1) are within the set allowable range.

7. The docking method of the large underwater robot segmented posture detection docking device according to claim 1, characterized in that: Steps 6 to 8 are repeated until the position and angle difference of the second compartment (2) are within the set allowable range.

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