Simulation device for testing performance of amphibious robots

Abstract

The present invention discloses a simulation device for testing the performance of an amphibious robot, including a support frame, a circulating water pool and a control mechanism. The support frame is provided with a rotator for controlling the rotation of the amphibious robot, and the rotator is provided with a force measuring mechanism for measuring the stress condition of the amphibious robot; a flow pump group for controlling the circulation of water is provided in the circulating water pool; the support frame is set above the circulating water pool, and the amphibious robot probes into the circulating water pool; a land simulation mechanism for simulating a land environment is provided in the circulating water pool below the amphibious robot; the control mechanism is electrically connected to the rotator, the force measuring mechanism, the flow pump group and the land simulation mechanism respectively, receives corresponding electrical signals, and outputs execution instructions. The present invention provides a variety of simulation environments such as underwater or land for the amphibious robot, improves the test efficiency of the amphibious robot; has a wide range of applications, and can be used for testing various types of amphibious robots; is easy to operate, and saves time and effort.

Description

Technical Field

[0001] The invention relates to an amphibious robot performance testing device, in particular to a simulation device for testing the performance of an amphibious robot. Background Art

[0002] With the rapid development of robotics technology, it can now replace humans to complete high-risk tasks in many fields. Among them, amphibious robots have two movement modes. They can not only move flexibly in water, but also move in shallows, reefs and other areas. Their high adaptability and high concealment enable amphibious robots to perform tasks such as detection, collection, maintenance and exploration in land and marine environments.

[0003] When sailing in water, the hydrodynamic performance of an amphibious robot is an important indicator for evaluating its propulsion performance and maneuverability. A reasonable robot line profile helps reduce the resistance encountered during navigation. The traditional robot hydrodynamic test method is to place the robot in a towing pool and tow it at a fixed speed. The water in the towing pool is stationary, which does not conform to the water kinematic conditions of the fluid in actual situations. Moreover, since the towing pool is hundreds of meters long, it takes a long time to wait for the water surface to calm down after each test, and the test efficiency is low. In addition, when testing different water flow directions, the traditional method requires the robot to be disassembled and rotated. The manual operations, instrument zeroing and equipment wear during the process are not only time-consuming and labor-intensive, but may also cause damage to the amphibious robot and reduce the test accuracy. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a simulation device for testing amphibious robots that can simulate complex environments on land or underwater, so as to facilitate efficient performance testing of amphibious robots.

[0005] Technical solution: The simulation device for testing the performance of an amphibious robot described in the present invention comprises a support frame, a circulating water pool and a control mechanism, wherein the support frame is provided with a rotator for controlling the rotation of the amphibious robot, and the rotator is provided with a force measuring mechanism for measuring the stress condition of the amphibious robot; a flow pump group for controlling the circulation flow of water is provided in the circulating water pool; the support frame is erected above the circulating water pool, and the amphibious robot extends into the circulating water pool; a land simulation mechanism for simulating a land environment is provided in the circulating water pool below the amphibious robot; the control mechanism is electrically connected to the rotator, the force measuring mechanism, the flow pump group and the land simulation mechanism, respectively, receives corresponding electrical signals, and outputs execution instructions.

[0006] The simulation device of the present invention provides an underwater simulation environment and / or a land simulation environment for the amphibious robot. The circulating water tank can simulate a variety of underwater working modes for the amphibious robot. The land simulation mechanism can provide different land modes for the amphibious robot, and the underwater model working mode and the land mode can be coordinated to realize shallow landing or offshore launching and other modes, thereby meeting various testing requirements of the amphibious robot, reducing testing time and improving detection efficiency.

[0007] Preferably, the force measuring mechanism includes a three-force sensor and a torque sensor; the three-force sensor can detect the complex spatial force conditions of the amphibious robot underwater or on land, and the torque sensor can detect the rotational torque exerted on the amphibious robot.

[0008] Preferably, the circulating water pool is divided into two parts by isolation plates at both ends, and at least one set of flow-making pump groups is provided corresponding to the isolation plates; the flow-making pump groups can transport water between the two water tanks to form a circulation, and turning on different numbers of flow-making pump groups can achieve the speed of water transfer and control wave height, thereby simulating different underwater environments.

[0009] Preferably, the land simulation mechanism includes a conveyor belt mechanism and telescopic lifting mechanisms respectively arranged at the four corners of the lower side of the conveyor belt mechanism, and the top of the telescopic lifting mechanism is hingedly connected to the conveyor belt mechanism. The control mechanism controls the telescopic lifting mechanism to provide different heights and slopes for the conveyor belt mechanism, so as to meet the simulation of the amphibious robot in a land environment or a water-land environment.

[0010] Preferably, a flow meter and a wave height meter connected to the control mechanism are provided in the circulating water pool in front of the amphibious robot, and a wave-making plate is provided in front of the wave height meter in the circulating water pool. The flow meter and the wave height meter can monitor the water flow in the circulating water pool in real time, and control the operation of the flow pump group and the wave-making plate in real time through the control mechanism to simulate different water flow rates and wave height environments for the amphibious robot.

[0011] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. It provides a variety of simulation environments such as underwater or land for amphibious robots, thereby improving the testing efficiency of amphibious robots; 2. It has a wide range of applications and can be used to test various models of amphibious robots; 3. It is easy to operate, saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the top view of the structure of the device of the present invention;

[0013] Figure 2 It is a schematic diagram of the installation structure of the support frame and the amphibious robot of the device of the present invention;

[0014] Figure 3 It is a side structural schematic diagram of the device of the present invention;

[0015] Figure 4 It is a schematic diagram of the control system flow of the simulation device in the present invention. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0017] As shown in the accompanying drawings, a simulation device for testing the performance of an amphibious robot of the present invention comprises a support frame 1, a circulating water pool 2 and a control mechanism 3. A rotator 5 for controlling the rotation of an amphibious robot 4 is provided on the support frame 1, and a force measuring mechanism 6 for measuring the stress condition of the amphibious robot 4 is provided on the rotator 5. The force measuring mechanism 6 comprises a three-force sensor 61 and a torque sensor 62. The lower end of the rotator is connected to the amphibious robot 4, and controls the amphibious robot to rotate 360° in the horizontal plane and adjust the pitch angle. After the rotator completes the adjustment of the spatial angle of the amphibious robot, it clamps the amphibious robot to fix the test angle. The working angle of the amphibious robot underwater or on land can be controlled by the rotator, the three-force sensor can detect the complex spatial stress condition of the amphibious robot underwater or on land, and the torque sensor can detect the rotational torque of the amphibious robot, thereby obtaining the propulsion force, torque and other performance parameters of the amphibious robot in different working scenarios. This type of simulation device can realize convenient adjustment of the test angle of the amphibious robot, reduce the difficulty of adjusting the test angle of the amphibious robot, greatly reduce the test time and work intensity, and improve the detection efficiency.

[0018] The support frame 1 adopts an installation structure that is easy to disassemble, and the amphibious robot 4 rises or falls along the height direction of the support frame 1. Specifically, the support frame 1 includes four groups of support columns 11 and two groups of support beams 12 connected between the support columns. Four connecting longitudinal beams 13 are correspondingly arranged on the central lower side of the two groups of support beams 12. The support columns, support beams and connecting longitudinal beams adopt an aluminum alloy profile structure with a card-mounted groove. The height of the supporting beams can be conveniently adjusted through the connecting piece to meet the adjustment of the height direction of the amphibious robot. The rotator 5 and the force measuring mechanism 6 are fixedly connected to the lower end of the connecting longitudinal beam 13 through the mounting plate 14, and the amphibious robot 4 can be detachably installed at the lower end of the rotator 5. The amphibious robot can select a torsion wave propulsion amphibious robot, but is not limited to this type of amphibious robot, and can also meet the test of other types of amphibious robots. When working, the support frame is fixed to the ground by a ballast block or an expansion bolt to prevent the support frame from moving during the working process of the amphibious robot.

[0019] The circulating water pool 2 is divided into two parts by isolation plates 9 at both ends, one part is a working water tank and the other part is a standby water tank. The support frame 1 is erected above the working water tank of the circulating water pool 2, and the amphibious robot 4 probes into the working water tank of the circulating water pool 2; each isolation plate 9 is correspondingly provided with at least one group of flow-making pump groups 7; preferably, each group of flow-making pump groups includes three groups of water pumps, the water pump located upstream of the circulating water pool is the upstream water pump 71, and the water pump located downstream of the circulating water pool is the downstream water pump 72. The cooperation of the upstream water pump 71 and the downstream water pump 72 can realize the circulation flow, water discharge and water injection of the water body in the working water tank, that is, the flow state, wave height and liquid level of the water body in the circulating water pool can be controlled. A velocity meter 10 and a wave height meter 15 connected to the control mechanism 3 are provided in the working water tank of the circulating water pool 2 in front of the amphibious robot 4. A wave-making plate 17 is also provided in the circulating water pool 2 in front of the wave height meter 15. The wave-making plate 17 is arranged perpendicular to the flow direction of the water body. A driving mechanism is provided in conjunction with the wave-making plate 17. The driving mechanism can drive the wave-making plate to perform simple harmonic motion in the horizontal direction, thereby simulating waves. The velocity meter and the wave height meter can monitor the water flow in the circulating water pool in real time, and control the flow pump group and the wave-making plate movement in real time through the control mechanism, so as to simulate different liquid level heights, water flow rates and wave height environments for the amphibious robot. Several groups of parallel guide plates 16 are provided in the circulating water pool 2 along the flow direction of the fluid. The guide plates can be made of steel, wood or other materials, and the number of guide plates can be selected to be three groups arranged in parallel, which can provide a relatively stable fluid environment for the amphibious robot. The circulating water pool of the present invention can flexibly control the liquid level, water flow speed and wave height in the circulating water pool by controlling the working intensity of the flow-making pump group, and provide a variety of underwater environment modes for the amphibious robot to meet the requirements of accurate testing of the performance of the amphibious robot.

[0020] A land simulation mechanism 8 simulating a land environment is provided below the amphibious robot 4 in the circulating water pool 2. The land simulation mechanism 8 includes a conveyor belt mechanism 81 and telescopic lifting mechanisms 82 respectively provided at the four corners of the lower side of the conveyor belt mechanism 81. The top of the telescopic lifting mechanism 82 is hingedly connected to the conveyor belt mechanism 81. The conveying crawler in the conveyor belt mechanism can be replaced with different materials and roughness to simulate different coastal sands. The telescopic lifting mechanisms are electrically connected to the control mechanism 3 respectively. The lifting height of each telescopic lifting mechanism can be adjusted individually or collaboratively through the control mechanism, thereby adjusting the height or slope of the conveyor belt mechanism to meet the simulation of the amphibious robot in a land environment or a water-land environment.

[0021] The control mechanism 3 can be a computer control system, which is electrically connected to the detection unit and the execution unit in the simulation device through the computer, receives the electrical signal of the detection unit, and outputs instructions to the execution unit to control the execution unit to work. In the present invention, the detection unit includes a three-force sensor, a torque sensor, a flow meter, a wave height meter, etc., and the execution unit includes a rotator, a flow pump group, etc.

[0022] The present invention includes at least the following four working modes: Figure 4 As shown:

[0023] 1. Underwater navigation mode:

[0024] First, the conveyor belt mechanism in the land-based simulation mechanism is lowered to a low point through a telescopic lifting mechanism so as not to interfere with the underwater navigation of the amphibious robot;

[0025] Secondly, the wave-making mode of the circulating water pool is set through the control mechanism, that is, the liquid level height, water flow speed and direction, and wave fluctuation intensity parameters in the circulating water pool are set, and the flow pump group is started. When the current meter and wave height meter detect that the water parameters in the circulating water pool reach the preset standards, the simulation test of the underwater navigation mode can be started;

[0026] Finally, the rotator is started to rotate the amphibious robot to a position with a different angle with the direction of the water flow and fixed, so as to obtain the simulated state of different attack angles of the amphibious robot and the water flow direction; the buoyancy of the amphibious robot in the water body and the X and Y axial forces in the horizontal plane of the water body can be sensed by the three-force sensor; the torque sensor is used to sense the torque generated by the amphibious robot under the action of the water flow, and transmit the detection data to the control mechanism, so as to obtain the comprehensive performance parameters of the amphibious robot in the underwater navigation mode, such as propulsion force, torque parameters, etc.

[0027] 2. Land mode:

[0028] First, the flow pump group is started to discharge the water that may be in the circulating water tank, and the amphibious robot 4 is rotated to a state where the angle to be detected is in the direction of travel of the conveyor belt mechanism 81 by controlling the rotator 5;

[0029] Secondly, the control mechanism controls the telescopic lifting mechanism to work, and lifts the conveyor belt mechanism to the bottom of the amphibious robot to form a horizontal support for the amphibious robot. When the three-force sensor 61 senses the vertical pressure F Z Satisfy F Z = mg (m is the mass of the amphibious robot), the conveyor belt mechanism stops lifting;

[0030] Finally, the conveyor belt mechanism is started, and the force state of the amphibious robot is sensed through the three-point force sensor and torque sensor to obtain the propulsion force and torque of the amphibious robot when walking.

[0031] 3. Shallow landing mode:

[0032] First, the water in the circulating water pool is kept at a high level to submerge the amphibious robot. The control mechanism is used to control the front telescopic jacking mechanism of the conveyor belt mechanism to be lifted, and the rear telescopic jacking mechanism of the conveyor belt mechanism to be lowered, so that the conveyor belt mechanism is tilted upward along the direction of travel to simulate the shallow climbing terrain, and the rotator is controlled to be relaxed so that the amphibious robot can rotate freely and fit and be fixed on the slope of the conveyor belt mechanism.

[0033] Secondly, the control mechanism controls the flow pump group located at the front side of the amphibious robot to stop working, and the flow pump group located at the rear end of the amphibious robot to work, gradually pumping water from the circulating water pool to another spare water pool, thereby lowering the water level of the working water tank of the circulating water pool;

[0034] Finally, when the water level in the circulating pool gradually drops and the front end of the amphibious robot gradually emerges from the water, a shallow landing mode is simulated, and the impact force of the amphibious robot when landing and the hydrodynamic changes when emerging from the water are measured through the force measuring mechanism.

[0035] 4. Offshore diving mode:

[0036] First, the water in the circulating water pool is kept at a low level, and the amphibious robot is kept out of the water. The front telescopic jacking mechanism of the conveyor belt mechanism is controlled by the control mechanism to descend, and the rear telescopic jacking mechanism of the conveyor belt mechanism is controlled to lift, so that the conveyor belt mechanism is tilted downward along the travel direction to simulate an offshore dive posture, and the rotator is controlled to relax so that the amphibious robot can rotate freely and fit the slope of the conveyor belt mechanism and then be fixed;

[0037] Secondly, the control mechanism controls the flow pump group located at the front side of the amphibious robot to start, and the flow pump group located at the rear end of the amphibious robot stops working, gradually pumping water from the spare water tank to the working water tank in the circulating water pool, and gradually raising the water level in the working water tank of the circulating water pool;

[0038] Finally, when the water level in the circulating pool gradually rises and the front end of the amphibious robot is gradually submerged in the water, the offshore diving mode is simulated, and the impact force and hydrodynamic changes of the amphibious robot when entering the water are measured by the force measuring mechanism.

Claims

1. A simulation device for testing the performance of an amphibious robot, characterized in that: The invention comprises a support frame (1), a circulating water pool (2) and a control mechanism (3); the support frame (1) is provided with a rotator (5) for controlling the rotation of an amphibious robot (4), and the rotator (5) is provided with a force measuring mechanism (6) for measuring the stress condition of the amphibious robot (4); the circulating water pool (2) is provided with a flow pump group (7) for controlling the circulation of water; the support frame (1) is erected above the circulating water pool (2), and the amphibious robot (4) is inserted into the circulating water pool (2); a land-walking simulation mechanism (8) for simulating a land environment is provided below the amphibious robot (4); the control mechanism (3) is electrically connected to the rotator (5), the force measuring mechanism (6), the flow pump group (7) and the land-walking simulation mechanism (8) respectively, receives corresponding electrical signals, and outputs execution instructions.

2. The simulation device for testing the performance of an amphibious robot according to claim 1, characterized in that: The force measuring mechanism (6) comprises a three-part force sensor (61) and a torque sensor (62).

3. The simulation device for testing the performance of an amphibious robot according to claim 1, characterized in that: The circulating water pool (2) is divided into two parts by isolation plates (9) at both ends, and at least one set of flow-generating pump groups (7) is provided corresponding to the isolation plates (9).

4. The simulation device for testing the performance of an amphibious robot according to claim 1, characterized in that: The land-based simulation mechanism (8) comprises a conveyor belt mechanism (81) and telescopic lifting mechanisms (82) respectively arranged at four corners of the lower side of the conveyor belt mechanism (81), and the top end of the telescopic lifting mechanism (82) is hingedly connected to the conveyor belt mechanism (81).

5. The simulation device for testing the performance of an amphibious robot according to claim 1, characterized in that: A flow meter (10) and a wave height meter (15) connected to the control mechanism (3) are provided in the circulating water pool (2) at the front side of the amphibious robot (4); a wave-making plate (17) is also provided in the circulating water pool (2) at the front side of the wave height meter (15).

6. The simulation device for testing the performance of an amphibious robot according to claim 1, characterized in that: A plurality of groups of guide plates (16) arranged in parallel are provided in the circulating water pool (2) along the flow direction of the fluid.

7. The simulation device for testing the performance of an amphibious robot according to claim 1, characterized in that: The support frame (1) adopts a mounting structure that is easy to disassemble, and the amphibious robot (4) rises or falls along the height direction of the support frame (1).

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