A multi-modal anti-disturbance underwater surveillance robot

Abstract

The present invention discloses a multi-modal anti-disturbance underwater surveillance robot, which includes a robot main body, and two vertical thrusters, two horizontal thrusters, two bionic wings, a control cabin and an electronic cabin arranged on the robot main body; the robot body is composed of a bottom plate, an upper cover plate and side plates; the two bionic wings are installed on the left and right side plates of the robot main body, and thrusters are mounted on the bionic wings; the control cabin is arranged at the front end of the robot main body, and the electronic cabin is arranged at the rear end of the robot main body. A plurality of environmental perception sensors are arranged in the control cabin and the electronic cabin, and the mutual transmission of sensor information, control signals and energy is realized between the electronic cabin and the control cabin through signal transmission lines; the control cabin is used to control the vertical thrusters, horizontal thrusters and mounted thrusters to realize the diving, floating, turning and horizontal movement of the robot underwater. The present invention has the capabilities of active and passive anti-disturbance, and has multiple surveillance operation modes underwater to adapt to different operation environments.

Description

Technical Field

[0001] The present invention belongs to the field of underwater robots, and in particular relates to a multi-modal anti-disturbance underwater surveillance robot. Background Art

[0002] Multi-modal underwater surveillance robots utilize underwater robot design techniques. By designing components such as modular components, control components, vision components, and sensor components, and optimizing the robot's shape, the design of the underwater swimming operation mode and the active and passive anti-disturbance operation is completed.

[0003] Multi-mode underwater vision surveillance robots draw on relevant bionics technologies, install bionic wings, and imitate the structure, motion characteristics, and motion mechanism of underwater biological systems to guide the related research and development work of underwater robots. A comprehensive system including machinery, motion control components, operation components, and environmental perception sensors is designed, which is similar to the morphological characteristics of underwater organisms in terms of shape structure, motion characteristics, and motion mechanism, and can accurately complete the deployed operation tasks in unknown environmental areas. Therefore, in the design work of multi-modal underwater surveillance robots, bionics is used to promote the development of using technology to transform nature, assist humans in related operations, and bring huge economic benefits to the development of human society.

[0004] Manta rays have a flat body, a diamond-shaped body, a body length of up to 8 meters, and a weight of over 1 ton. Manta rays have powerful pectoral fins, and generate forward thrust through the undulating motion of the pectoral fins. Manta rays not only have high-efficiency cruising performance, but also have very strong maneuverability and can quickly and flexibly achieve in-situ turning. The manta ray-inspired robot is based on the biological shape of the manta ray, but is equipped with a special mechanical structure to enable the robot to have high maneuverability underwater. The robot draws on the shape structure of the manta ray's pectoral fins and designs a semi-rigid and semi-flexible motion wing to achieve the rapid floating and diving motions of the robot at high speeds; by mounting thrusters under the motion wing, power and an efficient steering mechanism for the robot to move forward are provided, and at the same time, it also has high concealment, can blend well into the environment, and has little impact on the surrounding environment. This type of robot can carry underwater perception and detection devices such as cameras and sensors, and can perform efficient independent operations underwater to achieve high-concealment underwater perception and detection operations.

[0005] Existing manta ray robots mainly consist of a middle torso and flexible pectoral fins on both sides. For example, a manta ray - like underwater vehicle based on intelligent material IPMC disclosed in the Chinese patent document CN102923286A, a simulated pectoral fin system and a bionic underwater robot disclosed in the Chinese patent document CN209142363U, and an amphibious underwater robot imitating manta ray disclosed in the Chinese patent document CN209905021U. The drawback is that existing manta ray robots can achieve basic underwater movement capabilities, but there are few robots with efficient underwater movement and payload - carrying capabilities. The robot mainly adjusts the pitch angle through a buoyancy adjustment mechanism or a tail rudder to achieve the abilities of floating up and diving. However, the buoyancy adjustment mechanism is large in volume and slow in controlling the pitch angle of the robot. And controlling the pitch angle of the robot through the tail rudder will affect the overall hydrodynamic force of the robot, requiring a high - level motion control system for the robot. Summary of the Invention

[0006] The present invention provides a multi - modal anti - disturbance underwater surveillance robot, which has both active and passive anti - disturbance capabilities and has multiple surveillance operation modes underwater to adapt to different operation environments.

[0007] A multi - modal anti - disturbance underwater surveillance robot includes a robot body with an axisymmetric structure, and two vertical thrusters, two horizontal thrusters, two bionic wings, a control cabin and an electronic cabin arranged on the robot body;

[0008] The robot body is fixed by a bottom plate, an upper cover plate and side plates; among them, two bionic wings are installed on the left and right side plates of the robot body, and mounting thrusters are provided on the bionic wings.

[0009] The control cabin is arranged at the front end position of the robot body, and the electronic cabin is arranged at the rear end position of the robot body. Multiple environmental perception sensors are arranged in the control cabin and the electronic cabin. Information of sensors, control signals and energy are mutually transmitted between the electronic cabin and the control cabin through signal transmission lines; the control cabin is used to control the vertical thrusters, horizontal thrusters and mounting thrusters to achieve the diving, floating, turning and horizontal movement of the robot underwater.

[0010] Further, the bionic wing includes a fixed mounting plate, a thruster support plate and a three - stage fixed wing support frame connected to each other; the fixed mounting plate is fixed to the side plate of the robot body, a mounting thruster is installed on the thruster support plate, and a wing silicone film and a flexible end wing are provided on the three - stage fixed wing support frame.

[0011] The three - stage fixed wing support frames are respectively connected to multiple stepping motors on the robot body, and the angle of the bionic wing is adjusted by the stepping motors.

[0012] Furthermore, the mounted thruster is installed below the bionic wing. While the stepping motor adjusts the angles of the two bionic wings or controls the synchronous flapping of the two bionic wings, it drives the adjustment of the operation angle of the mounted thruster to achieve efficient movement.

[0013] The specific strategy for the stepping motor to control the synchronous flapping of the two bionic wings is as follows:

[0014] The thrust relationship formula of a single-sided bionic wing obtained by fitting:

[0015] F T = c0U + c1 + (c2U + c3)cos(ωt) + (c4U + c5)sin(ωt)

[0016] where F T is the thrust, U is the oncoming flow velocity, and c0, c1, c2, c3, c4, c5 are fitting coefficients;

[0017] The angle difference obtained by the angle encoders on both sides is used as the input of the PID. By controlling the PWM wave frequency of the driving motor, the motor speed is adjusted, and then the angle difference between the two encoders is reduced. The formula is:

[0018] DC = k p θ e + k i dθ e + k d ∫dθ e

[0019] where DC is the difference in the duty cycles of the two stepping motors, and k p 、k i 、k d are the proportional coefficient, differential coefficient, and integral coefficient respectively, and θ e is the angle difference between the two bionic wings.

[0020] Furthermore, the bottom plate and the upper cover plate of the robot body are fixedly connected by a vertical fairing and bolts, and the bottom plate, the upper cover plate and the side plate are fixedly connected by bolts; the electronic cabin and the control cabin are arranged on the brackets arranged between the bottom plate and the upper cover plate.

[0021] Furthermore, the bottom plate, the upper cover plate and the side plate all adopt a porous plate structure to reduce the disturbance of the robot during underwater movement.

[0022] Further, the environmental perception sensors include a binocular camera, a depth camera, and a pan-tilt camera. Among them, the binocular camera and the depth camera are arranged on the front side of the control cabin to realize the perception and monitoring of the environment in front of the robot; the pan-tilt camera is arranged on the rear side of the electronic cabin to realize the perception and monitoring of the environment behind the robot; a glass dome is provided outside the binocular camera, the depth camera, and the pan-tilt camera.

[0023] Further, two vertical thrusters are symmetrically arranged on the left and right sides in two vertical fairings of the robot body. Two bionic wings are symmetrically distributed on both sides of the robot body. The two vertical thrusters and the two bionic wings can be used simultaneously or distributively to generate vertical thrust and pitching moment.

[0024] Two horizontal thrusters are symmetrically arranged in horizontal fairings on both side walls of the robot body. Two mounted thrusters are symmetrically placed on both sides of the robot body. The horizontal thrusters, the bionic wings, and the mounted thrusters can generate horizontal thrust simultaneously or distributively.

[0025] In the present invention, the double vertical and double horizontal thrusters are respectively vertically and horizontally installed in the fairing positions, and are symmetrically distributed left and right, which can provide the robot with horizontal thrust and adjust the vertical thrust for the robot to submerge and float. The bionic wing is composed of a rigid part and a flexible part. The rigid part is composed of a fixed mounting plate, a thruster support plate, and a three-stage fixed wing support frame, etc. The filling materials of the rigid part and the flexible part are mainly flexible materials with certain elasticity such as rubber and plastic, and have a certain stretching and deformation ability. The mounted thruster is connected by bolts, and the thruster is mounted under the bionic wing. While the stepping motor adjusts the wing angle, it drives the operation angle adjustment of the mounted thruster to achieve efficient movement.

[0026] When the robot is in the swimming operation mode, the bionic wings are not installed. When the two horizontal thrusters push forward, the robot can move forward; when the two horizontal thrusters push backward, the robot can move backward; when the powers of the two horizontal thrusters are inconsistent, the robot can turn; when the two vertical thrusters push forward, the head of the robot is downward, and the robot can submerge; when the two vertical thrusters push backward, the head of the robot is upward, and the robot can float.

[0027] When the robot is in the swimming operation mode with bionic wings added, wings are added on both sides in the swimming operation mode. The forward movement of the robot can be driven by two horizontal thrusters or achieved through the gliding of the wings. The speed is slower during gliding. The robot's turning can be realized by the differential movement of the two horizontal thrusters or through the wing angle. The robot's diving and floating can be achieved by two vertical thrusters or by adjusting the wing angle. However, when the two vertical thrusters fail or malfunction during the high-speed movement of the robot, the diving and floating movement of the robot is achieved by the bionic wing angle. Under the action of the bionic wings, the robot can achieve low-speed underwater gliding and approaching operations, thereby improving the stability of the robot's underwater movement, as well as its mobility and fault tolerance.

[0028] When the robot is in the swimming operation mode with bionic wings and thrusters added, the forward movement of the robot can be achieved by two horizontal thrusters, bionic wing gliding, and two wing-mounted thrusters. With multiple motion modes, the efficiency of the robot's forward movement can be realized, and the robot's maneuvering speed can be further increased. The robot's diving and floating can be achieved by two vertical thrusters, bionic wing angle, and mounted thrusters. With the cooperation of the mounted thrusters, the speed and efficiency of the diving and floating operations can be improved. The robot's turning can be realized by modes such as the differential of two horizontal thrusters, bionic wing angle, and mounted thruster angle. With the addition of the mounted thrusters, the turning radius is reduced, and the robot's maneuverability underwater is improved. The mounted thrusters can provide power support for the robot in the states of forward movement, diving and floating, turning, etc. achieved by two horizontal and two vertical thrusters, improving the operation efficiency and speed. Also, without relying on the two horizontal and two vertical thrusters, the robot can achieve operations such as forward movement, diving and floating, turning, etc. by using the bionic wings and mounted thrusters, improving the operation efficiency, mobility, and fault tolerance of the robot.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The robot of the present invention is equipped with spoiler porous media on components such as the bottom plate, top cover, left and right side plates, etc., which can absorb and offset the forward flow and lateral flow during the movement process, thereby reducing the disturbance of the flow to the robot's movement and enabling the robot to achieve the expected movement.

[0031] 2. The robot of the present invention can adjust the pitch angle of the robot alone or in multiple modes through two horizontal thrusters, two vertical thrusters, two bionic wings, and two mounted thrusters, efficiently and flexibly controlling the robot to achieve floating and diving movements; at the same time, with the help of bionic wings and thrusters, multi-mode turning can be achieved, improving the turning efficiency of the robot and reducing the turning radius; the robot can also achieve low-speed underwater gliding movement by means of bionic wings, realizing close-range observation operations on the target object; the cooperation of each moving component can also achieve underwater hovering monitoring and observation operations of the robot. Description of the Drawings

[0032] Figure 1Schematic diagram of the structure of a multi-modal anti-disturbance underwater surveillance robot according to an embodiment of the present invention;

[0033] Figure 2 Schematic diagram of the structure in the swimming operation mode according to an embodiment of the present invention;

[0034] Figure 3 Schematic diagram of the structure in the swimming operation mode when a bionic wing is added according to an embodiment of the present invention;

[0035] Figure 4 Schematic diagram of the structure in the swimming operation mode when a bionic wing and a thruster are added according to an embodiment of the present invention;

[0036] Figure 5 Schematic diagram of the structure of the bottom plate and the layout inside the cabin according to an embodiment of the present invention;

[0037] Figure 6 Schematic diagram of the structure of the bionic wing according to an embodiment of the present invention;

[0038] Figure 7 Schematic diagram of the structure of the top plate according to an embodiment of the present invention;

[0039] Figure 8 Schematic diagram of the robot system structure according to an embodiment of the present invention;

[0040] Figure 9 Block diagram of the robot execution system according to an embodiment of the present invention;

[0041] Figure 10 Control strategy diagram for synchronous flapping of the left and right wings of the robot according to an embodiment of the present invention. Detailed implementation manners

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are intended to facilitate the understanding of the present invention and do not impose any limitations on it.

[0043] As Figure 1 shown, a multi-modal anti-disturbance underwater surveillance robot includes a robot main body 1, a control cabin 2, a right wing 3, an electronic cabin 4, and a left wing 5.

[0044] As Figures 2 to 4As shown in the figure, the robot body 1 has an axisymmetric structure, mainly including a right vertical thruster 6, a right side plate 7, an upper cover plate 8, a rear side plate 9, a right horizontal thruster 10, a signal receiving antenna 11, a left horizontal thruster 12, a left side plate 13, a right robot handle 14, a left robot handle 15, a bottom plate 16, a left vertical thruster 17, a left lighting support plate 18, a left lighting lamp 19, a right lighting support plate 20, a right lighting lamp 21, a positioning water seepage hole at the rear of the robot cover plate 23, a positioning and water seepage hole for the left and right side plates 24, a positioning and mounting plate for the left and right side plate wings 25, a water seepage hole in the left lighting support plate 27, a positioning water seepage hole at the front of the robot cover plate 28, and a water seepage hole in the right lighting support plate 29.

[0045] The two bionic wings of the robot mainly consist of: a right wing silicone film 22, a left wing silicone film 26, a right wing thruster support plate 30, a right wing mounted thruster 31, a left wing thruster support plate 32, a left wing mounted thruster 33, etc.

[0046] The structure of the robot bottom plate and the layout inside the cabin is as Figure 5 shown. The robot bottom plate mainly consists of a control cabin support plate 41, a right vertical thruster fairing 43, a positioning hole and water seepage hole for the stepping motor 44, a left vertical thruster fairing 52, a front counterweight block and buoyancy material positioning plate of the robot 53, a front positioning support frame of the electronic cabin 45, a rear positioning support frame of the electronic cabin 46, etc. The control cabin support plate 41 supports the control cabin, fixes the right vertical thruster fairing 43 and the left vertical thruster fairing 52, and fixes the front positioning support frame 45 and the rear positioning support frame 46 of the electronic cabin. The electronic cabin 4 mainly consists of an electronic cabin glass dome 47, a middle pan-tilt camera in the electronic cabin 48, a robot bottom layer control and drive board 49, an electronic cabin battery 50, an electronic cabin wire threading screw 51, and a depth sensor 66, etc.; the control cabin 2 mainly consists of a control cabin wire threading screw 54, a top layer control board 55, a binocular monitoring camera 56, a depth camera 57, a control cabin battery 58, etc. The signal transmission line realizes the connection and intercommunication of signals through the electronic cabin wire threading screw 51 and the control cabin wire threading screw 54, and realizes the mutual transmission of sensor information, control signals, and energy.

[0047] The structure of the bionic wings of the robot is as Figure 6 shown. It mainly consists of a fixed mounting plate 34, a fixed wing primary support frame 35, a fixed wing secondary support frame 36, a thruster support plate 37, a fixed wing tertiary support frame 38, a wing mounted thruster support plate 39, a flexible part at the wing end 40, etc. The fixed mounting plate 34, the fixed wing primary support frame 35, the fixed wing secondary support frame 36, and the fixed wing tertiary support frame 38 are connected through the thruster support plate 37, and the right wing silicone film 22, the left wing silicone film 26, and the flexible part at the wing end 40 are made by injection molding.

[0048] The cover plate of the robot is as Figure 7 shown. It mainly consists of a control cabin fixing plate 59, a cover plate counterweight, a buoyancy material fixing plate 60, a fixing hole 61 for the right vertical thruster fairing on the cover plate, a robot handle mounting plate 62, a signal receiving antenna fixing plate 63, a cover plate window 64, a fixing hole 65 for the left vertical thruster fairing on the cover plate, etc. The right vertical thruster fairing 43 on the bottom plate, the left vertical thruster fairing 52, the fixing hole 61 for the right vertical thruster fairing on the cover plate, and the fixing hole 65 for the left vertical thruster fairing on the cover plate are fixedly installed by bolts, which play a role in connecting the bottom plate and the cover plate and realize the supporting function for the control cabin 2. The left and right robot handles 14, 15 and the robot handle mounting plate 62 can be installed by bolts, and the signal receiving antenna 11 and the signal receiving antenna fixing plate 63 are connected.

[0049] The structures of the right side plate 7 and the left side plate 13 of the robot are the same. The structural layouts of the side plate positioning and water seepage holes 24 and the left and right wing positioning mounting plates 25 on them are the same. It is connected to the upper cover plate 8, the bottom plate 16, the rear side plate 9, the left lighting support plate 18, and the right lighting support plate 20 by bolts. The right horizontal thruster 10 and the left horizontal thruster 12 are fixedly installed on the right side plate 7 and the left side plate 13 by bolts respectively. The left lighting lamp 19 and the right lighting lamp 21 are connected to the left and right lighting support plates 18, 20 by bolts. The overall combined structure is as Figure 2 shown.

[0050] The following takes the forward direction of the robot as a reference to explain the function realization of each component when the robot performs various modal operations:

[0051] As Figure 2 shown, the underwater swimming operation mode: The robot generates a certain pitching moment through the forward and reverse thrusts generated by the left and right vertical thrusters, adjusts the pitching angle of the robot underwater, so as to realize the floating and diving operations of the robot underwater. Under the action of the horizontal thrusts generated by the left and right horizontal thrusters, the robot realizes high-speed maneuvering and rapid diving and floating operations underwater; by reducing the thrust of the right horizontal thruster and increasing the thrust of the left horizontal thruster, the function of the robot turning to the right underwater is realized, and conversely, the function of the robot turning to the left underwater can be realized; in this way, the swimming operation of the robot underwater is realized.

[0052] As Figure 3As shown in the figure, the underwater bionic wing added for swimming operation mode: install the left and right wings of the robot on the left and right side plates of the robot. The bionic wing can rotate within the range of -90° to 90°. When the robot has the function of swimming underwater, the role of the wings strengthens the robot's underwater diving and floating operation ability. By adjusting the inclination angle of the wings at a large angle and under the combined action of the vertical thrusters on both sides, the underwater diving and floating operation speed and mobility of the robot are increased; and when the vertical thrusters on both sides fail during the high-speed movement of the robot, the change in the inclination angle of the left and right wings of the robot can be used to achieve the rapid underwater diving and floating operation of the robot; for the underwater turning ability of the robot, the differential speed of the horizontal thrusters on the left and right sides in the swimming operation mode can be used to achieve turning, or the inclination angle of the wings can be adjusted at a small angle to quickly achieve the underwater turning ability of the robot; by adding bionic wings on both sides of the robot, the maneuverability of the underwater robot during underwater movement can be improved.

[0053] As Figure 4 shown in the figure, the underwater wing and thruster added for swimming operation mode: install the left and right wing-mounted thrusters on the left and right wings of the robot. When the robot is equipped with wings, the wing-mounted thrusters are installed to strengthen the robot's underwater maneuverability and fault tolerance, improve the forward and backward capabilities, improve the diving and floating capabilities, and can greatly reduce the underwater turning radius, so as to improve the underwater maneuverability and the adaptability to the operation environment, and increase the stealth operation ability. The implementation scheme of the robot's diving and floating ability: (1) realized by the positive and negative thrusts generated by the vertical thrusters on both sides; (2) realized by the positive and negative thrusts of the vertical thrusters on both sides plus the inclination angle of the wings; (3) the left and right wings and the added left and right wing-mounted thrusters, realized by adjusting the wing angle and the thrust of the thrusters (can be used when the vertical thrusters on both sides fail); (4) through the combined action of the thrust adjustment of the vertical thrusters on both sides, the inclination angle adjustment of the left and right wings, and the thrust of the left and right wing-mounted thrusters, the underwater diving and floating maneuverability of the robot can be improved. The implementation scheme of the robot's underwater turning: (1) realized by the differential speed of the horizontal thrusters on the left and right sides; (2) realized by the differential speed of the horizontal thrusters on the left and right sides plus the inclination angle of the left and right wings; (3) realized by the differential speed of the left and right wing-mounted thrusters; (4) realized by the inclination angle of the left and right wings plus the differential speed of the left and right wing-mounted thrusters; (5) realized by the combined action of the differential speed of the horizontal thrusters on the left and right sides, the inclination angle of the left and right wings, and the differential speed of the left and right wing-mounted thrusters to achieve the rapid turning of the robot underwater. The implementation scheme of the robot's horizontal movement underwater: (1) realized by the thrust of the horizontal thrusters on the left and right sides to achieve underwater movement; (2) realized by the change in the turning angle of the left and right wings to achieve the underwater gliding movement of the robot; (3) realized by the thrust of the left and right wing-mounted thrusters to achieve underwater movement; (4) realized by the combined action of the thrust of the horizontal thrusters on the left and right sides and the thrust of the left and right wing-mounted thrusters to achieve the efficient underwater movement of the robot. The underwater wing and thruster added for swimming operation mode can greatly improve the robot's underwater diving, turning and movement abilities and maneuverability, which is more conducive to the execution of underwater surveillance tasks.

[0054] Anti-disturbance function of the robot underwater: When the robot moves underwater, it is often affected by underwater undercurrents and turbulent flows. To reduce the impact of disturbances on the robot's movement, by installing water seepage holes 27 on the left lighting support plate, water seepage holes 29 on the right lighting support plate, a perforated plate on the left plate 13, a perforated plate on the right plate 7, a perforated plate on the bottom plate and the cover plate at the front section of the robot, the designed perforated plate can reduce the forward resistance and reduce the forward disturbance. By using the perforated plates on the left and right side plates and the functions of the left and right horizontal thrusters, the reduction and elimination of disturbances on the left and right sides can be achieved, so as to reduce and eliminate the disturbances when the robot moves underwater.

[0055] Multiple monitoring operation modes: To achieve the underwater monitoring ability and environmental perception ability of the robot, a depth sensor 66 is installed on the robot to realize the perception of the operation depth of the machine. Other environmental sensors can also be installed, which can be mounted on the perforated plates and positioning plates on the upper cover plate 8 and the bottom plate 16. When carrying out underwater environment monitoring and perception, by adjusting the brightness of the left lighting lamp 19 and the right lighting lamp 21, the underwater environment can be illuminated. The binocular camera 56 and the depth camera 57 can be used to realize the perception and monitoring of the environment in front of the robot. The target recognition algorithm can be run on the top layer controller 55, and the underwater target can be recognized and tracked by using the binocular camera; the pan-tilt camera 48 behind the electronic cabin can be used to realize the perception and monitoring of the environment behind the robot, so as to improve the robot's perception and monitoring ability of the environment underwater.

[0056] The robot system structure is as Figure 8 shown, mainly introducing the internal layout of the control cabin and the electronic cabin and their connection methods, and explaining the signal transmission cables and external interfaces of each component, etc.

[0057] The block diagram of the robot execution system is as Figure 9 shown, which is mainly composed of the deployment stage, the top control center, multi-mode operation, multi-mode monitoring and the recovery stage, etc. The system explains the instruction / information transmission path between each other and the composition status within each unit.

[0058] The control strategy for the synchronous flapping of the left and right wings of the robot, as Figure 10 shown, according to the single-sided wing thrust relationship formula obtained by fitting:

[0059] F T = c0U + c1 + (c2U + c3)cos(ωt) + (c4U + c5)sin(ωt)

[0060] where, F T is the thrust, U is the oncoming flow velocity, and c0, c1, c2, c3, c4, c5 are fitting coefficients.

[0061] The angle difference obtained by the angle encoders on both sides is used as the input of the PID. By controlling the PWM wave frequency of the driving motor, the motor speed is adjusted, and then the angle difference between the two encoders is reduced. The formula is:

[0062] DC = k p θ e + k i dθ e + k d ∫dθ e

[0063] where DC is the difference in the duty cycles of the two stepper motors, and k p , k i , k d are the proportional coefficient, the differential coefficient, and the integral coefficient respectively, and θ e is the angle difference between the bionic wings on both sides.

[0064] The above embodiments have described in detail the technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, supplements, and equivalent replacements made within the scope of the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-modal anti-disturbance underwater surveillance robot, characterized in that, It includes a robot body with an axisymmetric structure, as well as two vertical thrusters, two horizontal thrusters, two bionic wings, a control cabin and an electronic cabin arranged on the robot body; The described robot body is fixed by a bottom plate, an upper cover plate and side plates; among them, two bionic wings are installed on the left and right side plates of the robot body, and mounting thrusters are provided on the bionic wings; The control cabin is arranged at the front end position of the robot body, and the electronic cabin is arranged at the rear end position of the robot body. A plurality of environmental perception sensors are arranged in the control cabin and the electronic cabin. The sensor information, control signals and energy are mutually transmitted between the electronic cabin and the control cabin through signal transmission lines; the described control cabin is used to control the vertical thrusters, horizontal thrusters and mounting thrusters to realize the diving, turning and horizontal movement of the robot underwater; the described environmental perception sensors include a binocular camera, a depth camera and a pan-tilt camera. Among them, the binocular camera and the depth camera are arranged on the front side of the control cabin to realize the perception and monitoring of the environment in front of the robot; the pan-tilt camera is arranged at the rear side of the electronic cabin to realize the perception and monitoring of the environment behind the robot; glass dome covers are arranged outside the binocular camera, the depth camera and the pan-tilt camera; The described bionic wing includes a fixed mounting plate, a thruster support plate and a three-stage fixed wing support frame which are connected to each other; the fixed mounting plate is fixed to the side plate of the robot body, a mounting thruster is installed on the thruster support plate, and wing silicone membranes and end flexible wings are provided on the three-stage fixed wing support frame; the three-stage fixed wing support frames are respectively connected to a plurality of stepping motors on the robot body, and the angle of the bionic wing is adjusted by the stepping motors; The described mounting thruster is installed below the bionic wing. While the stepping motors adjust the angles of the two bionic wings or control the synchronous flapping of the two bionic wings, it drives the adjustment of the working angle of the mounting thruster to achieve efficient movement; The specific strategy for the stepping motors to control the synchronous flapping of the two bionic wings is as follows: The thrust relationship formula of the single-sided bionic wing obtained by fitting: F T = c0U + c1 + (c2U + c3)cos(ωt) + (c4U + c5)sin(ωt) Among them, F T is the thrust force, U is the oncoming flow velocity, and c0, c1, c2, c3, c4, c5 are fitting coefficients; The angle difference obtained by the angle encoders on both sides is used as the input of the PID. By controlling the PWM wave frequency of the driving motor to adjust the motor speed, the angle difference between the two encoders is reduced. The formula is: DC = k p θ e + k i dθ e + k d ∫dθ e where DC is the difference in the duty cycles of the two stepper motors, k p , k i , k d are the proportional coefficient, the differential coefficient, and the integral coefficient respectively, and θ e is the angular difference between the two biomimetic wings; The multi-modal anti-disturbance underwater surveillance robot includes three working modes: the underwater swimming working mode without installing bionic wings, the underwater swimming working mode with bionic wings installed, and the underwater swimming working mode with bionic wings and thrusters installed.

2. The multi-modal anti-disturbance underwater surveillance robot according to claim 1, characterized in that, The bottom plate and the upper cover plate of the described robot body are fixedly connected by a vertical fairing and bolts, and the bottom plate, the upper cover plate and the side plates are fixedly connected by bolts; the electronic cabin and the control cabin are arranged on the brackets between the bottom plate and the upper cover plate.

3. The multimodal anti-disturbance underwater surveillance robot according to claim 1, characterized in that, The bottom plate, the upper cover plate and the side plates all adopt a porous plate structure to reduce the disturbance when the robot moves underwater.

4. The multimodal anti-disturbance underwater surveillance robot according to claim 1, wherein Two vertical thrusters are symmetrically arranged on the left and right sides in the two vertical fairings of the robot body, two bionic wings are symmetrically distributed on both sides of the robot body, and the two vertical thrusters and the two bionic wings are used simultaneously or distributively to generate vertical thrust and pitching moment; Two horizontal thrusters are symmetrically arranged inside the horizontal fairings on both side walls of the robot body, and two mounted thrusters are symmetrically placed on both sides of the robot body. The horizontal thrusters, the bionic wings and the mounted thrusters generate horizontal thrust simultaneously or distributively.

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