Self-balancing device for small unmanned remotely operated vehicles and method of use

Abstract

The application discloses a self-balancing device of a small unmanned remote control submersible and a use method, relates to the technical field of unmanned remote control submersibles, and comprises an unmanned remote control submersible body, a counterweight bottom plate is fixedly arranged at the bottom of the unmanned remote control submersible body, a plurality of separated support frames are arranged in the counterweight bottom plate, the separated support frames are rectangular frames, the separated support frames are arranged in parallel with each other, the intervals between adjacent separated support frames are the same, and a circular ring-shaped leveling device is arranged on the unmanned remote control submersible body; the number of track counterweights is adjusted to realize zero buoyancy, the positions of the track counterweights are adjusted to realize preliminary leveling, the circular ring-shaped device is used to realize accurate leveling, the application can meet the requirements of quick automatic counterweighting and balance adjustment of the ROV when different sensors are carried in water areas with large differences in water density, zero buoyancy self-balancing is realized, the mobilization time of the ROV is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned remotely operated vehicles (ROVs), specifically to a self-balancing device and its usage method for a small ROV. Background Technology

[0002] Remotely operated vehicles (ROVs) are underwater vehicles that are controlled by an operator via a signal cable to perform various operations such as observation, maintenance, or installation. The system typically consists of the ROV, a shore-based operating unit, connecting cables, and power supply equipment.

[0003] To ensure the safety of ROV equipment and the smooth operation of various functions, ROVs generally adopt a zero buoyancy balance design, that is, the static buoyancy of the ROV in the water is zero, and the overall attitude of the ROV remains horizontal.

[0004] Small ROVs typically employ a positive buoyancy design to ensure their ability to carry different equipment. Weights are added and the system is leveled based on the weight of the equipment and the water density of the operating area to achieve a zero-buoyancy equilibrium. Currently, the most common method for weight leveling is to install counterweights in different areas of the bottom.

[0005] The main problems with using this method are as follows: The water density varies greatly in different operating areas, which directly leads to large variations in the buoyancy of the ROV body when operating in different water areas. It is necessary to constantly manually adjust the counterweight. Changes in the counterweight may cause the ROV balance to be broken, requiring leveling. Different sensors have different weights and center of gravity positions. When the ROV replaces a sensor, the counterweight and leveling need to be adjusted.

[0006] When operating different equipment in different waters, it often takes a long time to perform counterweight and leveling operations, and it is generally difficult to achieve a precise zero density and accurate balance, which affects the remote control operation of ROV and may even lead to ROV damage accidents. Summary of the Invention

[0007] 1. The technical problem that the invention aims to solve

[0008] The technical problem to be solved by the present invention is to provide a self-balancing device and a method for using a small unmanned remotely operated vehicle (ROV), which solves the problem of the cumbersome automatic weight counterweight and leveling of ROVs with different sensors installed in different waters.

[0009] 2. Technical Solution

[0010] To solve the above problems, the technical solution provided by the present invention is as follows:

[0011] A self-balancing device for a small unmanned remotely operated vehicle (UAV) is disclosed, comprising a UAV body, a counterweight base plate fixedly mounted on the bottom of the UAV body, a plurality of rectangular support frames arranged parallel to each other with equal spacing between adjacent support frames, a control track distributed around each support frame arranged in a circular pattern on the UAV body, and a leveling device on the UAV body.

[0012] Furthermore, the counterweight has a hollow internal structure, and a telescopic block is slidably provided inside the side end wall of the counterweight. The counterweight is rotatably provided with a turntable, and the turntable is provided with an inner corner pivot extending to the top surface of the counterweight. A connecting rod is connected between the turntable and the telescopic block.

[0013] Furthermore, the counterweight base plate sidewall and the partition support frame are provided with several evenly distributed connection holes, and the telescopic block is inserted and pulled into the connection holes.

[0014] Furthermore, the pointer device includes a moving gear, a telescopic control base is provided on the side of the moving gear, a screwdriver is provided on the telescopic control base, and a push-out block is provided on the telescopic control base. The push-out block is an annular block arranged around the screwdriver, and the screwdriver is embedded and rotated with the inner corner shaft.

[0015] Furthermore, the unmanned remotely operated vehicle (UAV) is also equipped with a circular leveling device, which includes a circular track and a spherical counterweight. The spherical counterweight moves within the circular track, which is arranged around the UAV body. Multiple spherical counterweights can be provided.

[0016] Furthermore, the unmanned remotely operated vehicle is equipped with several sensors and integrates a control unit and a data processing unit. The control unit controls the pointer device and the spherical counterweight, respectively. The data processing unit processes the signals transmitted by the sensors and issues commands to control the control unit to execute them.

[0017] Furthermore, the unmanned remotely operated vehicle is equipped with an external shock-resistant frame.

[0018] The method of using the self-balancing device of a small unmanned remotely operated vehicle is also disclosed, and the usage procedure is as follows:

[0019] S01 installs the necessary sensors onto the body of the unmanned remotely operated vehicle.

[0020] S02 fills the bottom of the unmanned remotely operated vehicle with counterweights;

[0021] S03 places the unmanned remotely operated vehicle body in an impact-resistant frame and puts it into the water in the work area;

[0022] S04: Inject water into the impact-resistant frame;

[0023] The S05 unmanned remotely operated vehicle uses water sensors on its body to read water density and transmit it to the shore-based operation unit.

[0024] The shore-based operating unit of the S06 unmanned remotely operated vehicle body calculates the counterweight in the zero-buoyancy state by reading the water density and combining it with the known parameters of the unmanned remotely operated vehicle body and the onboard sensors.

[0025] The S07 unmanned remotely operated vehicle automatically releases excess counterweights from the track, achieving a zero-buoyancy state.

[0026] The shore-based operating unit of the S08 unmanned remotely operated vehicle body uses known parameters of the unmanned remotely operated vehicle body and onboard sensors, and adjusts the position of the counterweight on the base plate of the counterweight block through attitude sensor data to achieve initial balance;

[0027] The shore-based operation unit of the S09 unmanned remotely operated vehicle body reads data from the sensors installed on the top and, in conjunction with a spherical counterweight, precisely levels the underwater part on a circular track.

[0028] The S10 equipment enters working status and begins operations;

[0029] S11 recovers the frame housing the unmanned remotely operated vehicle (UAV) and the counterweights released by the UAV.

[0030] 3. Beneficial effects

[0031] Compared with the prior art, the technical solution provided by this invention has the following advantages:

[0032] This invention achieves zero buoyancy by adjusting the number of track counterweights, achieves initial leveling by adjusting the position of the counterweights along the track, and achieves precise leveling through a circular device. This invention enables ROVs to perform rapid automatic counterweight and balance adjustments when equipped with different sensors in waters with significant density differences, achieving zero buoyancy self-balancing, reducing ROV mobilization time, and improving work efficiency. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the counterweight base plate 10 in an embodiment of the present invention;

[0034] Figure 2 This is a plan view of the counterweight base plate 10 in an embodiment of the present invention;

[0035] Figure 3This is a schematic diagram of the pointer device 16 in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the telescopic block 17 extending in the counterweight block 15 in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the turntable 18 controlling the telescopic block 17 in an embodiment of the present invention;

[0038] Figure 6 This is a top view of the telescopic block 17 when it is extended in an embodiment of the present invention;

[0039] Figure 7 This is a top view of the telescopic block 17 in an embodiment of the present invention when it is retracted;

[0040] Figure 8 This is a schematic diagram of the telescopic block 17 in the counterweight 15 retracting in an embodiment of the present invention.

[0041] Figure 9 This is a flowchart illustrating the usage of an embodiment of the present invention. Detailed Implementation

[0042] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings and embodiments.

[0043] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. The terms "first," "second," etc., used in this invention are for the convenience of describing the technical solutions of the invention and have no specific limiting effect; they are all general terms and do not constitute a limitation on the technical solutions of the invention. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, not to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Multiple technical solutions in the same embodiment, as well as multiple technical solutions in different embodiments, can be arranged and combined to form new technical solutions that do not contradict or conflict, all of which are within the scope of protection claimed by this invention.

[0044] Example

[0045] Combined with appendix Figure 1-8 A self-balancing device for a small remotely operated vehicle (ROV) includes an ROV body and a shore-based operating unit. The ROV body is controlled by a operator via a signal cable. The ROV body is equipped with several sensors, categorized into operational sensors and environmental sensors. The operational sensors are devices mounted on the ROV body, such as 3D imaging sonar or underwater laser scanners. The environmental sensors primarily read water density to assist the ROV in issuing control commands. The ROV body integrates a control unit and a data processing unit. The control unit controls the actuators on the ROV body, while the data processing unit processes the signals transmitted from the sensors and issues commands to control the control unit.

[0046] The bottom of the unmanned remotely operated vehicle (UAV) is fixedly equipped with a counterweight base plate 10. The counterweight base plate 10 contains multiple partition support frames 11. The partition support frames 11 are rectangular frames and are arranged in parallel with each other. The spacing between adjacent partition support frames 11 is the same. Several evenly arranged counterweights 15 are provided on the partition support frames 11. The counterweight base plate 10 and the partition support frames 11 are mainly used to install the counterweights 15. The support frames 11 divide the counterweights 15 into sections, and the counterweights 15 are evenly and extensively distributed at the bottom of the UAV body, which facilitates the overall control of the weight of the UAV body in the future.

[0047] The counterweight base plate 10 is provided with interconnected control rails 12 distributed around each of the partition support frames 11. Several pointer devices 16 are slidably arranged in the control rails 12. The pointer devices 16 move within the control rails 12 and are used to control the separation of the counterweight 15 from the body of the unmanned remotely operated vehicle. Multiple pointer devices 16 can be arranged according to the distribution of the control rails 12 or a single pointer device. When multiple pointer devices 16 are arranged, each pointer device 16 only needs to move within one row or one column of the control rails 12. When the pointer device 16 moves within the control rails 12, it can reach above any of the counterweights 15.

[0048] The counterweight 15 has a hollow interior. A telescopic block 17 is slidably provided inside the side end wall of the counterweight 15. A turntable 18 is provided for rotation of the counterweight 15. An inner corner pivot 19 extending to the top surface of the counterweight 15 is provided on the turntable 18. A connecting rod 20 is connected between the turntable 18 and the telescopic block 17.

[0049] When the turntable 18 rotates, the rotation of the turntable 18 pulls the telescopic block 17 into the counterweight block 15 through the connecting rod 20. Preferably, symmetrical ear plates are provided on the inner end faces of the turntable 18 and the telescopic block 17, and the two ends of the connecting rod 20 are rotatably connected to the ear plates through pins, thereby realizing the transformation of the circumferential motion of the turntable 18 into the telescopic motion of the telescopic block 17.

[0050] The counterweight base plate 10 and the partition support frame 11 are provided with a number of evenly distributed connecting holes 13. The connecting holes 13 correspond to the structure of the telescopic block 17. The telescopic block 17 is inserted into the connecting hole 13, and the telescopic block 17 and the connecting hole 13 are engaged in a plugging and unplugging fit.

[0051] In the initial state, the telescopic block 17 inside the counterweight 15 is in the extended state. The telescopic block 17 extends into the connecting hole 13 on the side wall of the counterweight base plate 10 and the partition support frame 11, thereby fixing the counterweight 15 inside the counterweight base plate 10.

[0052] The pointer device 16 includes a moving gear 26, and a telescopic control base 21 is provided on the side of the moving gear 26. A screwdriver 23 is provided on the telescopic control base 21, and a push-out block 22 is provided on the telescopic control base 21. The push-out block 22 is an annular block arranged around the screwdriver 23. The inner angle shaft 19 and the screwdriver 23 are respectively provided with an inner angle end and an outer angle end. The inner angle end and the outer angle end form a fit similar to that between an inner angle screw and an inner angle wrench, thereby realizing the screwdriver 23 and the inner angle shaft 19 to be embedded and rotated. The screwdriver 23 is inserted into the inner angle shaft 19, and when the screwdriver 23 rotates, it drives the inner angle shaft 19 to rotate.

[0053] The pointer device 16 is controlled by the control unit to move, rotate, and extend and retract the screwdriver 23 and the push-out block 22. The pointer device 16 is used to separate the counterweight 15 from the counterweight base plate 10. Specifically, the control unit controls the pointer device 16 to move above the counterweight 15 to be separated. The pointer device 16 moves within the control track 12 on the counterweight base plate 10 via the moving gear 26 on the pointer device 16. After moving to the counterweight 15 to be separated, the control unit first controls the screwdriver 23 to extend. The screwdriver 23 extends and inserts into the inner angle rotating shaft 19. The rotation of the screwdriver 23 drives the inner angle rotating shaft 19 to rotate. The rotation of the inner angle rotating shaft 19 drives the turntable 18 to rotate. The rotation of the turntable 18 then drives the telescopic block 17 to retract into the counterweight 15 via the connecting rod 20. At this time, the counterweight 15 is separated from the counterweight base plate 10.

[0054] The unmanned remotely operated vehicle (UAV) is also equipped with a circular leveling device, which includes a circular track and spherical counterweights. The spherical counterweights move within the circular track, which surrounds the UAV body. Multiple spherical counterweights can be installed. By positioning the spherical counterweights at different positions on the circular track, the UAV body can be leveled. This device is used to re-level the UAV body when the counterweight 15 is separated from the UAV body and when the UAV body experiences center shift due to the operating environment. The spherical counterweights are moved to different positions within the circular track via the circular leveling device.

[0055] The control unit integrated on the unmanned remotely operated vehicle (UAV) controls the pointer device 16 and the spherical counterweight to achieve the buoyancy requirements and balance of the UAV.

[0056] The environmental sensors on the unmanned remotely operated vehicle (UAV) are divided into density sensors, pressure sensors, and attitude sensors. The density and pressure sensors are used to calculate and evaluate the zero-buoyancy balance state, while the attitude sensors are used to monitor the UAV body. Four pressure sensors are installed on the front left, rear left, front right, and rear right of the top of the UAV, which work in conjunction with the attitude sensors to evaluate the balance state of the UAV.

[0057] The unmanned remotely operated vehicle has an external shock-resistant frame attached to its body. The frame is mainly used to prevent wind and waves in the work area from affecting the counterweight and balance calculation.

[0058] In other embodiments, the counterweights on the counterweight base plate 10 of the unmanned remotely operated vehicle body can be rectangular or cylindrical, and the tracks can be rectangular, star-shaped, or circular.

[0059] The circular leveling device can take other shapes, such as elliptical or rectangular, and can also be changed from arranging a single fine leveling device to arranging multiple small fine leveling devices in different positions.

[0060] Combined with appendix Figure 9 A method for using the self-balancing device of a small unmanned remotely operated underwater vehicle, the specific usage process is as follows:

[0061] S01 installs the sensors required for the operation onto the body of the unmanned remotely operated vehicle;

[0062] The S02 has its bottom filled with counterweights.

[0063] First, place the counterweight in the installation position, and then extend the telescopic block 17 from the counterweight 15 to fix the counterweight 15 to the body of the unmanned remotely operated vehicle.

[0064] S03 places the unmanned remotely operated vehicle body in an impact-resistant frame and puts it into the water in the work area;

[0065] S04 Injects water into the impact-resistant frame;

[0066] The water density sensor on the body of the S05 unmanned remotely operated vehicle reads the water density and transmits it to the shore-based operation unit.

[0067] The shore-based operating unit of the S06 unmanned remotely operated vehicle body calculates the counterweight weight in the zero buoyancy state by reading the water density, combining the known parameters of the unmanned remotely operated vehicle body and the onboard working sensors, as well as the pressure sensor.

[0068] The S07 unmanned remotely operated vehicle automatically releases excess counterweights from the track, achieving a zero-buoyancy state.

[0069] The shore-based operating unit of the S08 unmanned remotely operated vehicle body uses known parameters of the unmanned remotely operated vehicle body and onboard sensors, and adjusts the position of the counterweights separated on the base plate of the counterweights through attitude sensor data to achieve initial balance.

[0070] The shore-based operation unit of the S09 unmanned remotely operated vehicle body reads the sensors installed on the top or works in conjunction with the attitude sensor and the circular leveling device to adjust the attitude of the unmanned remotely operated vehicle body by changing the position of the spherical counterweight on the circular track, and performs precise leveling of the underwater part.

[0071] The S10 equipment enters working status and begins operations;

[0072] S11 recovers the frame housing the unmanned remotely operated vehicle (UAV) and the counterweights released by the UAV.

[0073] The above technical solutions involve equipping the unmanned remotely operated vehicle (UAV) with a water density sensor to automatically measure the water density in the work area; changing the traditional method of installing counterweights in fixed holes to using sliding rails for counterweight installation, allowing adjustment of the number and position of counterweights for initial leveling; installing a circular leveling device on the UAV for fine leveling; and installing four pressure sensors on the top of the UAV (left front, left rear, right front, and right rear) to evaluate the balance status of the UAV in conjunction with the attitude sensor; and using the existing underwater components and sensor information of the UAV, the shore-based operating unit reads the water density information and adjusts the number and position of the counterweights and the circular leveling device to achieve automatic counterweighting and leveling of the UAV in the work area.

[0074] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A self-balancing device for a small unmanned remotely operated underwater vehicle, characterized in that, The system includes an unmanned remotely operated vehicle (UAV) body. A counterweight base plate (10) is fixedly installed at the bottom of the UAV body. Multiple partition support frames (11) are provided within the counterweight base plate (10). Each partition support frame (11) is a rectangular frame, arranged parallel to each other with equal spacing between adjacent frames. Several evenly arranged counterweights (15) are mounted on each partition support frame (11). The counterweight base plate (10) cooperates with the partition support frames (11) to install the counterweights (15). Each counterweight (15) has a hollow interior. Telescopic blocks (17) slide within the side wall of each counterweight (15). A turntable (18) is provided for rotating the counterweight (15). The turntable (18) has extensions reaching the counterweights. The inner corner pivot (19) on the top surface of the counterweight (15) is connected to the turntable (18) and the telescopic block (17) by a connecting rod (20). The counterweight (15) is divided into sections by the support frame (11). The side wall of the counterweight base plate (10) and the partition support frame (11) are provided with a number of evenly distributed connecting holes (13). The telescopic block (17) is plugged into the connecting holes (13). The counterweight base plate (10) is provided with interconnected control rails (12) that surround each partition support frame (11). A number of pointer devices (16) are slidably provided in the control rails (12). The pointer devices (16) move in the control rails (12). The pointer devices (16) are used to control the separation of the counterweight (15) from the unmanned remotely operated vehicle body.

2. The self-balancing device for a small unmanned remotely operated vehicle according to claim 1, characterized in that, The pointer device (16) includes a moving gear (26), and a telescopic control base (21) is provided on the side of the moving gear (26). A screwdriver (23) is provided on the telescopic control base (21), and a push-out block (22) is provided on the telescopic control base (21). The push-out block (22) is an annular block arranged around the screwdriver (23). The screwdriver (23) is embedded and rotated with the inner corner pivot (19).

3. The self-balancing device for a small unmanned remotely operated vehicle according to claim 1, characterized in that, The unmanned remotely operated vehicle (UAV) is also equipped with a circular leveling device, which includes a circular track and a spherical counterweight. The spherical counterweight moves within the circular track, which is set around the UAV body. Multiple spherical counterweights can be set.

4. The self-balancing device for a small unmanned remotely operated vehicle according to claim 1, characterized in that, The unmanned remotely operated vehicle is also equipped with several sensors and integrates a control unit and a data processing unit. The control unit controls the pointer device (16) and the spherical counterweight respectively. The data processing unit is used to process the signals transmitted by the sensors and make instructions to control the control unit to execute.

5. The self-balancing device for a small unmanned remotely operated vehicle according to claim 1, characterized in that, The unmanned remotely operated vehicle has an external shock-resistant frame attached to its body.

6. The method of using the self-balancing device of a small unmanned remotely operated vehicle according to claim 1, characterized in that, S01: Install the sensors required for the operation onto the body of the unmanned remotely operated vehicle; S02: Fill the bottom of the unmanned remotely operated vehicle with counterweights; S03: Place the unmanned remotely operated vehicle body in the shockproof frame and put it into the water in the work area; S04: Inject water into the impact-resistant frame; S05: The water sensor on the body of the unmanned remotely operated vehicle reads the water density and transmits it to the shore-based operation unit; S06: The shore-based operating unit of the unmanned remotely operated vehicle (UAV) calculates the counterweight in a zero-buoyancy state by reading the water density and combining it with known parameters of the UAV body and onboard sensors. S07: The unmanned remotely operated vehicle automatically releases excess counterweights from the track to achieve zero buoyancy. S08: The shore-based operating unit of the unmanned remotely operated vehicle body adjusts the position of the counterweight on the base plate of the counterweight block by using known parameters of the unmanned remotely operated vehicle body and onboard sensors, and using attitude sensor data to achieve initial balance; S09: The shore-based operation unit of the unmanned remotely operated vehicle body reads data from the sensors installed on the top and, in conjunction with the spherical counterweight, precisely levels the underwater part on a circular track; S10: The equipment enters working status and begins operation; S11: Recover the frame holding the unmanned remotely operated vehicle (UAV) and the counterweight released by the UAV.

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