A digital twin system and attitude control structure of a submarine walking robot

Abstract

The present invention discloses a digital twin system and attitude control structure of a submarine walking robot; it belongs to the field of offshore integrated power generation technology and methods, and is mainly composed of a submarine walking robot, a terrain detection robot, a sea surface support vessel, an umbilical cable system and other equipment. The present invention can observe and control the operating conditions and operating attitude of the deep-sea walking robot in real time by constructing a digital twin system of the submarine walking robot, which is beneficial to the operation and operation maintenance of the deep-sea walking robot; at the same time, through the structural design of the center of gravity adjustment module and its layout design with the attitude sensor, it can adapt to the complex terrain and physical properties of the seabed and ensure the stable walking of the submarine robot.

Description

Technical Field

[0001] The present invention belongs to the field of underwater robot control and relates to a digital twin system and a posture control structure of a seabed walking robot. Background Art

[0002] At present, with the progress of deep-sea exploration and development, seabed resource development, seabed resource exploration, seabed scientific investigation, and detection have occupied an increasingly important position in the fields of marine economy and marine scientific research; seabed walking robots can perform seabed operations at close range, for a long time, and with high stability, and therefore play an increasingly important role. However, the seabed terrain is complex and the seabed is soft, and the sinking and slipping problems of seabed walking robots during work are pain points that need to be solved urgently during their work.

[0003] A Chinese patent (publication number: CN117162067A) discloses a walking robot for submarine cable detection, which discloses a method of overcoming the shaking of the detection equipment during the detection process by driving with a driven wheel and buffering with a damper; a Chinese patent (CN106926995B) discloses a walking robot suitable for the submarine environment, which discloses a six-legged crawling submarine walking robot; the solutions for submarine walking robots in the above patents focus more on the improvement and innovation of the walking method, but lack solutions for the posture control of robots in complex submarine environments. Therefore, the present invention proposes a digital twin system and posture control structure of a submarine walking robot that combines autonomous adjustment and terminal collaborative observation control. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to propose a digital twin system and attitude control structure of an underwater walking robot.

[0005] The technical solution of the present invention is: a digital twin system and attitude control structure of a submarine walking robot described in the present invention comprises a submarine walking robot, a terrain detection robot, a sea surface support vessel and an umbilical cable system, one side of the submarine walking robot is connected to the terrain detection robot through an installed umbilical cable system, and the tail of the submarine walking robot is continuously connected to the umbilical cable system and the sea surface support vessel;

[0006] The submarine walking robot comprises a posture sensor and a center of gravity controller, wherein the center of gravity controller comprises an inner gear ring and an outer gear ring fixedly connected;

[0007] The outer gear ring is a circular ring with a gear transmission structure on the inside, and its outer side is fixedly connected to the seabed walking robot;

[0008] The inner gear ring is a transmission structure in the form of a circular ring and has a gear on the outer side. A fixed support plate is arranged on the inner side of the inner gear ring, and a posture sensor is connected to the center position where the fixed support plates are connected to each other.

[0009] Furthermore, a fixed base is arranged on the bottom side of the fixed support plate.

[0010] The inner side of the center of gravity controller is fixedly connected to the attitude sensor and the fixed base respectively through a fixed support plate.

[0011] Furthermore, upper sliding bearings are arranged at the top ends of the inner gear ring and the outer gear ring, and lower sliding bearings are arranged at the bottom ends of the inner gear ring and the outer gear ring.

[0012] Furthermore, two symmetrical transmission gear shafts are arranged on the outer wall of the inner gear ring and the inner wall of the outer gear ring, an electric motor is arranged at the upper end of the transmission gear shaft, and a center of gravity adjustment counterweight is arranged at the lower end of the transmission gear shaft; the electric motor and the center of gravity adjustment counterweight are fixedly riveted through the transmission gear shaft.

[0013] Furthermore, the outer wall of the transmission gear shaft is respectively matched with the outer wall of the outer gear ring and the inner wall of the outer gear ring, and the outer gear ring, the inner gear ring and the transmission gear shaft are connected by gear meshing to form a complete gear transmission system;

[0014] The bottom side of the motor is in contact with the upper sliding bearing,

[0015] The top side of the center of gravity adjusting counterweight is in contact with the lower sliding bearing.

[0016] Furthermore, the submarine walking robot also includes a walking controller, an underwater processor and an information integration and transceiver.

[0017] The underwater processor is respectively connected with the attitude sensor, the center of gravity controller, the walking controller and the information integration and transceiver.

[0018] Furthermore, the underwater processor is also connected to a terrain detection robot.

[0019] The information integration and transceiver are connected to the surface support vessel.

[0020] Furthermore, a terrain detector is mounted on the terrain detection robot.

[0021] Furthermore, the surface support vessel includes a surface processor, a display and a command terminal connected to each other.

[0022] The output end of the command end is connected to the input end of the surface processor, and the output end of the surface processor is connected to the input end of the display.

[0023] Furthermore, the umbilical cable system includes an umbilical cable connecting the submarine walking robot and the surface support vessel, a counterweight block and a buoyancy block, and the counterweight block and the buoyancy block are respectively arranged on the umbilical cable.

[0024] The basic principles of the present invention are: 1. Through information acquisition and transmission technology, real-time interaction between the submarine walking robot and the surface support vessel is realized, forming a set of submarine walking robot digital twin system; 2. The present invention realizes real-time posture control of the submarine walking robot through gear transmission principle and center of gravity adjustment technology.

[0025] The beneficial effects of the present invention are: 1. By constructing a digital twin system of a submarine walking robot, the present invention can observe and control the operating conditions and operating postures of the deep-sea walking robot in real time, which is beneficial to the operation and maintenance of the deep-sea walking robot; 2. Through the structural design of the center of gravity adjustment module and its combined design with the attitude sensor, the present invention can adapt to the complex terrain and physical properties of the seabed and ensure the stable walking of the submarine walking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the system of the present invention;

[0027] Figure 2 It is a schematic diagram of system signal transmission of the present invention;

[0028] Figure 3 It is a schematic diagram of the seabed attitude control of the robot of the present invention;

[0029] Figure 4 It is a schematic diagram of signal transmission of the digital twin system of the present invention;

[0030] Figure 5 It is a structural schematic diagram of the center of gravity controller in the present invention;

[0031] Figure 6 is a side view of the center of gravity controller of the present invention;

[0032] Figure 7 is a schematic diagram of the gear connection in the center of gravity controller of the present invention;

[0033] Figure 8 It is a connection diagram of the driving components in the center of gravity controller of the present invention;

[0034] Fig. 9 It is a schematic cross-sectional view of the connection of the driving components in the center of gravity controller of the present invention;

[0035] In the figure: 1 is a submarine walking robot, 11 is a posture sensor;

[0036] 12 is a gravity center controller, 120 is an outer gear ring, 121 is an inner gear ring, 122 is an upper sliding bearing, 123 is a lower sliding bearing, 124 is a fixed support plate, 125 is an electric motor, 126 is a gravity center adjustment counterweight, 127 is a transmission gear shaft, and 128 is a fixed base;

[0037] 13 is a walking controller, 14 is an underwater processor, and 15 is an information integration and transceiver;

[0038] 2 is a terrain detection robot, 21 is a terrain detector;

[0039] 3 is a surface support vessel, 31 is a surface processor, 32 is a display, and 33 is a command terminal;

[0040] 4 is an umbilical cable system, 41 is an umbilical cable, 42 is a counterweight, and 43 is a buoyancy block. DETAILED DESCRIPTION

[0041] The specific technical scheme of the present invention is further described in detail below with reference to specific examples.

[0042] As shown in the figure, the digital twin system and attitude control structure of the submarine walking robot described in the present invention are mainly composed of a submarine walking robot 1, a terrain detection robot 2, a sea surface support vessel 3 and an umbilical cable system 4;

[0043] The submarine walking robot 1 operates on the seabed and is connected to the terrain detection robot 2 via an umbilical cable. The terrain detection robot 2 operates in front of the working path of the submarine walking robot 1 in a floating manner to detect the working conditions in front of the submarine walking robot 1.

[0044] The tail of the submarine walking robot 1 is continuously connected to the umbilical cable system 4 and the sea surface support vessel 3 to realize the transmission of signals and power between the submarine walking robot 1, the terrain detection robot 2 and the sea surface support vessel 3;

[0045] The umbilical cable system 4 includes an umbilical cable 41, a counterweight 42 and a buoyancy block 43; the counterweight 42 and the buoyancy block 43 are arranged on the umbilical cable 41 to reduce the traction force transmitted to the seabed walking robot 1 by the sea surface support vessel 3 through the umbilical cable system in severe sea conditions, thereby reducing the risk of the seabed walking robot 1 being dragged and overturned.

[0046] Furthermore, the main components carried by the submarine walking robot 1 include a posture sensor 11, a center of gravity controller 12, a walking controller 13, an underwater processor 14 and an information integration and transceiver 15;

[0047] The terrain detection robot 2 is mainly equipped with a terrain detector 21;

[0048] The surface support vessel 3 is equipped with a surface processor 31, a display 32 and a command terminal 33; the above-mentioned submarine walking robot 1, terrain detection robot 2 and surface support vessel 3 are equipped with general equipment for their operations and other special equipment in addition to the above-mentioned equipment to cooperate in completing submarine operations with different requirements;

[0049] The terrain detector 21 carried by the terrain detection robot 2 receives the control signal from the underwater processor 14 of the seabed walking robot 1, and floats in front of the seabed walking robot 1 to observe the detailed road conditions on the route of the seabed walking robot 1; at the same time, the underwater processor 14 calculates the adaptive walking instructions of the seabed walking robot 1 according to the detailed characteristics of the running path obtained by the terrain detector 21, and transmits the instructions to the walking controller 13 and the center of gravity controller 12 to control the walking of the seabed walking robot 1 to adapt to the complex seabed terrain;

[0050] The posture sensor 11 of the submarine walking robot 1 senses the motion posture of the submarine walking robot 1 in real time, and the underwater processor 14 determines whether the submarine walking robot 1 sinks or slips. When the submarine walking robot 1 sinks or slips, the underwater processor 14 controls the center of gravity controller 12 and the walking controller 13 to correct the deviation in real time;

[0051] The terrain detector 21, attitude sensor 11, center of gravity controller 12, walking controller 13 interact with the underwater processor 14 in real time; the underwater processor 14 transmits the seabed terrain information and robot attitude information to the information integrator and transceiver 15 in real time, and receives the command signal transmitted by the information integrator and transceiver 15; the information integrator and transceiver 15 integrates and sorts the seabed terrain information and robot attitude information and transmits them to the surface processor 31 of the surface support vessel 3, and visualizes them on the display 32 through the surface processor 31. The staff on the surface support vessel can observe the seabed working conditions in real time through the display 32. At the same time, the control command can be input through the command end 33, and the command signal is transmitted to the information integrator and transceiver 15 of the seabed walking robot 1 through the surface processor 31 and the umbilical cable system 4, so as to realize the real-time interaction of seabed information and surface commands.

[0052] Furthermore, the center of gravity controller 12 includes an outer gear ring 120, an inner gear ring 121, an upper sliding bearing 122, a lower sliding bearing 123, a fixed support plate 124, a motor 125, a center of gravity adjustment counterweight 126, a transmission gear shaft 127 and a fixed base 128, etc.;

[0053] The outer gear ring 120 is a transmission structure in the shape of a ring and has a gear inside, and its outer side is fixedly connected to the submarine walking robot 1;

[0054] The inner gear ring 121 is a transmission structure in the shape of a ring and has a gear on the outer side, and its inner side is fixedly connected to the attitude sensor 11 and the fixed base 128 through a fixed support plate 124;

[0055] Two upper sliding bearings 122 and two lower sliding bearings 123 are fixedly connected to the upper and lower parts of the outer gear ring 120 and the inner gear ring 121 respectively;

[0056] The outer gear ring 120, the inner gear ring 121, and the transmission gear shaft 127 are connected by gear meshing to form a complete gear transmission system;

[0057] The motor 125 and the gravity center adjustment counterweight 126 are fixedly riveted by the transmission gear shaft 127, and the bottom of the motor 125 contacts the upper sliding bearing 122, and the top of the gravity center adjustment counterweight 126 contacts the lower sliding bearing 123; the motor 125 rotates and the transmission gear shaft 127 is driven, so that the gravity center adjustment counterweight 126 can make a circular motion along the track formed by the outer gear ring 120 and the inner gear ring 121, and at the same time, the upper sliding bearing 122 and the lower sliding bearing 123 reduce the friction resistance of the gravity center adjustment counterweight 126 during movement, so as to participate in the posture adjustment response more quickly and save energy;

[0058] The motor 125, the center of gravity adjustment counterweight 126, and the transmission gear shaft 127 are arranged in two groups on the gear tracks of the outer gear ring 120 and the inner gear ring 121 to achieve the posture adjustment of the submarine walking robot 1; the center of gravity controller 12 is fixedly connected to the submarine walking robot 1 through the outer side of the outer gear ring 120 and the fixed base 128, and needs to be installed on the center of gravity of the submarine walking robot 1. At the same time, the posture sensor 11 is fixedly connected to the center of the center of gravity controller 12 to more accurately obtain the movement posture of the submarine walking robot 1 and perform posture control of the submarine walking robot 1.

[0059] The present invention can observe and control the working conditions and running posture of the deep-sea walking robot in real time by constructing a digital twin system of the deep-sea walking robot, which is beneficial to the operation and operation maintenance of the deep-sea walking robot. At the same time, through the structural design of the center of gravity adjustment module and its layout design with the posture sensor, it can adapt to the complex terrain and physical properties of the seabed and ensure the stable walking of the seabed walking robot.

Claims

1. A digital twin system and attitude control structure of a submarine walking robot, characterized in that: Including submarine walking robots, terrain detection robots, surface support vessels and umbilical cable systems; The submarine walking robot operates on the seabed and is connected to the terrain detection robot via an umbilical cable. The terrain detection robot operates in front of the working path of the submarine walking robot in a floating manner. The tail of the submarine walking robot is continuously connected to the umbilical cable system and the sea surface support vessel to realize the transmission of signals and power between the submarine walking robot, the terrain detection robot and the sea surface support vessel; The umbilical cable system includes an umbilical cable, a counterweight block and a buoyancy block; the counterweight block and the buoyancy block are arranged on the umbilical cable; The components carried by the submarine walking robot include a posture sensor, a center of gravity controller, a walking controller, an underwater processor, and an information integration and transceiver; The terrain detection robot is equipped with a terrain detector; The surface support vessel is equipped with a surface processor, a display and a command section; The terrain detector carried by the terrain detection robot receives the control signal from the underwater processor of the submarine walking robot, and floats in front of the submarine walking robot to observe the detailed road conditions on the route of the submarine walking robot; At the same time, the underwater processor calculates the walking instructions of the submarine walking robot according to the detailed characteristics of the running path obtained by the terrain detector, and transmits the instructions to the walking controller and the center of gravity controller to control the walking of the submarine walking robot to adapt to the complex submarine terrain; The posture sensor of the submarine walking robot senses the motion posture of the submarine walking robot in real time, and the underwater processor determines whether the submarine walking robot sinks or slips. When the submarine walking robot sinks or slips, the underwater processor controls the center of gravity controller and the walking controller to correct the deviation in real time; The terrain detector, attitude sensor, center of gravity controller, walking controller and underwater processor interact in real time; the underwater processor transmits the seabed terrain information and robot attitude information to the information integration and transceiver in real time, and receives the command signal transmitted by the information integration and transceiver; the information integration and transceiver integrates and sorts the seabed terrain information and robot attitude information and transmits them to the surface processor of the sea surface support ship, and the surface processor performs visual processing and displays them on the display. At the same time, the control command can be input through the command end, and the command signal can be transmitted to the information integration and transceiver of the seabed walking robot through the surface processor and the cable system, so as to realize the real-time interaction of seabed information and surface commands; The center of gravity controller includes an outer gear ring, an inner gear ring, an upper sliding bearing, a lower sliding bearing, a fixed support plate, an electric motor, a center of gravity adjustment counterweight, a transmission gear shaft and a fixed base; Wherein, the outer gear ring is a transmission structure in the shape of a circular ring with a gear inside, and its outer side is fixedly connected to the submarine walking robot; The inner gear ring is a transmission structure in the shape of a circular ring and has a gear on the outer side, and the inner side thereof is fixedly connected to the attitude sensor and the fixed base respectively through a fixed plate frame; Two upper sliding bearings and a lower sliding bearing are fixedly connected to the upper and lower parts of the outer gear ring and the inner gear ring respectively; The outer gear ring, the inner gear ring and the transmission gear shaft are connected by gear meshing to form a complete gear transmission system; The motor and the center-of-gravity adjustment counterweight are fixedly riveted by the transmission gear shaft, and the bottom of the motor contacts the upper sliding bearing, and the top of the center-of-gravity adjustment counterweight contacts the lower sliding bearing; the motor rotates, the transmission gear shaft drives, and the center-of-gravity adjustment counterweight moves in a circle along the track formed by the outer gear ring and the inner gear ring, while the upper sliding bearing and the lower sliding bearing reduce the friction resistance of the center-of-gravity adjustment counterweight when it moves; The motor, the center of gravity adjustment counterweight, and the transmission gear are arranged in two groups on the gear tracks of the outer gear ring and the inner gear ring; The center of gravity controller is fixedly connected to the submarine walking robot through the outer side of the outer gear ring and the fixed base, and is installed on the center of gravity of the submarine walking robot. At the same time, the attitude sensor is fixedly connected to the center of the center of gravity controller to obtain the movement attitude of the submarine walking robot and perform attitude control of the submarine walking robot.

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