A fast-response balancing device and control method for underwater robot

Abstract

The present invention discloses a fast-response balancing device and control method for an underwater robot, comprising an underwater robot body, a support frame disposed at the top of the underwater robot body, a tail wing control mechanism disposed at both ends of the support frame, and a plurality of tail wings disposed at the top of the tail wing control mechanism; a sensor assembly disposed in the middle of the support frame, and a counterweight control mechanism disposed inside the support frame. The present invention collects and analyzes the magnitude and direction of the force caused by the underwater fluid on the underwater robot, and reduces the interference of the downflow on the robot by adjusting the direction of the tail wing, so that the robot maintains a horizontal posture; by analyzing the posture of the underwater robot and judging whether the posture of the underwater robot will change, if the vertical posture of the underwater robot is about to change, the center of gravity is changed by the counterweight system to maintain the vertical posture of the underwater robot.

Description

Technical Field

[0001] The present invention relates to the field of underwater robots, and in particular to a fast-response balancing device and a control method for an underwater robot. Background Art

[0002] With the continuous deepening of marine resource development and scientific research, underwater robots are increasingly widely used in deep-sea exploration, environmental monitoring, resource exploration, and underwater operations. However, the underwater environment is complex and changeable. When operating underwater, underwater robots need to face a variety of external interferences, such as the impact of ocean currents, changes in underwater terrain, and collisions with underwater obstacles. These interference factors can easily cause the robot's posture to be unbalanced, thereby affecting its operating efficiency and safety. Therefore, realizing the dynamic balance control of underwater robots is of great significance to improving the operating efficiency and safety of underwater robots, and has become an important research direction in the field of underwater robot technology.

[0003] As the main propulsion device of underwater robots, propellers generate thrust through rotation, pushing the robot forward, backward, turning and maintaining balance. Propeller propulsion technology has irreplaceable advantages in practical applications, such as mature theoretical research and practical applications. Although propellers can provide stable propulsion, their response speed may be relatively slow when the robot posture needs to be adjusted quickly to maintain balance. This is mainly because it takes a certain amount of time to adjust the speed of the propeller, and in an underwater environment, factors such as water flow resistance will also affect its response speed. Therefore, it is extremely important to provide a fast-responding balancing device and control method for underwater robots.

[0004] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0005] In view of the problems in the related art, the present invention proposes a fast-response balancing device and a control method for an underwater robot to overcome the above-mentioned technical problems existing in the existing related art.

[0006] To this end, the specific technical solution adopted by the present invention is as follows:

[0007] According to one aspect of the present invention, there is provided a fast-response balancing device for an underwater robot, comprising an underwater robot body, a support frame being arranged at the top end of the underwater robot body, tail wing control mechanisms being arranged at both ends of the support frame, and a plurality of tail wing(s) being arranged at the top end of the tail wing control mechanisms; a sensor assembly being arranged in the middle part of the support frame, and a counterweight control mechanism being arranged inside the support frame.

[0008] Furthermore, in order to be able to control the rotation of the tail wing, so as to control the orientation of the tail wing surface, the tail wing control mechanism includes a shell arranged on a support frame, a tray is arranged inside the shell, a multi-stage gear is arranged at the top of the tray, a first motor is arranged at the bottom of the tray, and the output shaft of the first motor is connected to the multi-stage gear, and the multi-stage gear is connected to the tail wing; the multi-stage gear includes a driving gear connected to the output shaft of the first motor, a driving gear is arranged at the bottom end of the tail wing, and a transmission gear is meshed between two adjacent driving gears and between the driving gear and the driving gear.

[0009] Furthermore, in order to collect the magnitude of the force on each surface of the water flowing down, the sensor assembly includes a sensor housing arranged on a support frame, and a pressure sensor is arranged in the sensor housing.

[0010] Furthermore, in order to be able to respond quickly and adjust the counterweight to restore the posture of the underwater robot in an emergency, the counterweight control mechanism includes a plurality of hydraulic tanks arranged inside the support frame, and two hydraulic tanks diagonally opposite to each other are connected by a first hose; a hydraulic cylinder is connected to the side of the hydraulic tank, and a vane pump is arranged on the side of the hydraulic cylinder, one end of the vane pump is connected to a second motor, and the vane pump and the hydraulic cylinder are connected by a second hose; heavy liquid is arranged in the hydraulic tank.

[0011] According to another aspect of the present invention, a control method for a fast-response balancing device of an underwater robot is also provided, and the control method for a fast-response balancing device of an underwater robot comprises:

[0012] A tail control system is constructed based on the tail control mechanism and the pressure sensor; a counterweight control system is constructed based on the counterweight control mechanism and the IMU chip.

[0013] The tail control system collects and analyzes the magnitude and direction of the force exerted by the underwater fluid on the underwater robot in the horizontal direction, and reduces the interference of the underwater downflow on the underwater robot by adjusting the direction of the tail.

[0014] The vertical posture of the robot is analyzed through the counterweight control system, and it is predicted whether the vertical posture of the underwater robot changes. If the vertical posture of the underwater robot is predicted to change, the center of gravity of the underwater robot is changed.

[0015] Furthermore, the magnitude and direction of the force caused by the underwater fluid in the horizontal direction on the underwater robot are collected and analyzed by the tail control system, and the interference of the downflow on the underwater robot is reduced by adjusting the direction of the tail, including:

[0016] Use pressure sensors to collect the magnitude and direction of the force on each surface of the water flow;

[0017] Combine two symmetrical forces to obtain several resultant forces; and based on the several resultant forces, calculate the magnitude and direction of the resultant force of the downflow;

[0018] The first motor is started and drives the multi-stage gear to control the direction of the tail wing so that the tail wing is directly facing the direction of the resultant force of the underwater downflow.

[0019] Furthermore, the vertical posture of the robot is analyzed by the counterweight control system, and it is predicted whether the vertical posture of the underwater robot changes. If the vertical posture of the underwater robot is predicted to change, the center of gravity of the underwater robot is changed, including:

[0020] If the underwater robot is in the process of entering or exiting the water, the IMU chip is used to measure the Euler angle of the underwater robot; if the Euler angle is greater than the first threshold value of the Euler angle, the center of gravity of the underwater robot is adjusted by transferring the heavy liquid through the counterweight control mechanism; if the Euler angle is less than the second threshold value of the Euler angle, it is determined that the vertical posture of the underwater robot has returned to normal;

[0021] If the robot is moving underwater, the pitch angles at the four corners of the underwater robot are calculated through the IMU chip; if the pitch angle exceeds the pitch angle threshold, the center of gravity of the underwater robot is adjusted by transferring heavy liquid through the counterweight control mechanism; if the pitch angle is less than the pitch angle threshold, it is judged that the vertical posture of the underwater robot has returned to normal.

[0022] Furthermore, adjusting the center of gravity of the underwater robot by transferring the heavy liquid through the counterweight control mechanism includes:

[0023] The heavy liquid in the hydraulic tank at one end is pressed into the hydraulic tank at the other end through the first hose.

[0024] Beneficial effects of the present invention:

[0025] 1. The present invention collects and analyzes the magnitude and direction of the force caused by the underwater fluid on the underwater robot, and adjusts the direction of the tail wing to reduce the interference of the underwater downflow on the robot, so that the robot maintains a horizontal posture. The front of the tail wing cuts the underwater downflow to reduce the impact of the downflow on the underwater robot, and the streamlined surface of the tail wing can reduce turbulence.

[0026] 2. The present invention analyzes the vertical posture of the underwater robot and determines whether the vertical posture of the underwater robot will change. If the vertical posture of the underwater robot is about to change, the center of gravity is changed by the counterweight system to maintain the vertical posture of the underwater robot, and the response time is fast, which is faster than the control of the propeller. At the same time, the heavy liquid in the hydraulic tank is non-toxic and odorless, and there will be no environmental problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 This is a schematic structural diagram of a fast-response balancing device for an underwater robot according to an embodiment of the present invention;

[0029] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0030] Figure 3 This is a schematic diagram of the internal structure of a fast-response balancing device for an underwater robot according to an embodiment of the present invention;

[0031] Figure 4 yes Figure 3 A partial enlarged view of point B in the middle;

[0032] Figure 5 It is a three-dimensional assembly diagram of a tail wing control mechanism in a fast-response balancing device for an underwater robot according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic structural diagram of a multi-stage gear in a fast-response balancing device for an underwater robot according to an embodiment of the present invention;

[0034] Figure 7 It is a structural schematic diagram of a counterweight control mechanism in a fast-response balancing device for an underwater robot according to an embodiment of the present invention;

[0035] Figure 8 It is a structural schematic diagram of a sensor assembly in a fast-response balancing device of an underwater robot according to an embodiment of the present invention;

[0036] Fig. 9 A schematic diagram of calculating the resultant force and direction according to an embodiment of the present invention;

[0037] Fig.10 This is one of the flow charts of the control method of the embodiment of the present invention in a specific application;

[0038] Fig.11 This is the second flow chart of the control method of the embodiment of the present invention in a specific application;

[0039] Fig.12 This is the third flow chart of the control method of the embodiment of the present invention in a specific application.

[0040] In the figure:

[0041] 1. Underwater robot body; 2. Support frame; 3. Tail wing control mechanism; 301. Shell; 302. Tray; 303. Multi-stage gear; 3031. Active gear; 3032. Drive gear; 3033. Transmission gear; 304. First motor; 4. Tail wing; 5. Sensor assembly; 501. Sensor shell; 502. Pressure sensor; 6. Counterweight control mechanism; 601. Hydraulic tank; 602. First hose; 603. Hydraulic cylinder; 604. Vane pump; 605. Second motor; 606. Second hose; 7. Cable. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. However, it should be understood that the present invention can be implemented in various forms, and some exemplary and non-limiting embodiments shown in the accompanying drawings and described below are not intended to limit the present invention to the specific embodiments described.

[0043] It should be understood that, where technically feasible, the technical features listed above for different embodiments can be combined with each other to form other embodiments within the scope of the present invention. In addition, the specific examples and embodiments described in the present invention are non-limiting, and the structures, steps, and sequences described above can be modified accordingly without departing from the scope of protection of the present invention.

[0044] According to an embodiment of the present invention, a fast-response balancing device and a control method for an underwater robot are provided.

[0045] The present invention is further described with reference to the accompanying drawings and specific embodiments. Figure 1-Figure 4 As shown, according to one embodiment of the present invention, there is provided a fast-response balancing device for an underwater robot, comprising an underwater robot body 1, a support frame 2 is arranged at the top of the underwater robot body 1, tail wing control mechanisms 3 are arranged at both ends of the support frame 2, a plurality of tail wing 4 (vertical tail wing) is arranged at the top of the tail wing control mechanism 3, the tail wing 4 cuts the downflow at the front to reduce the impact, and the streamlined curved surface can also reduce turbulence; a sensor assembly 5 is arranged in the middle of the support frame 2, a counterweight control mechanism 6 is arranged inside the support frame 2, and in addition, a cable 7 is arranged at one end of the underwater robot body 1.

[0046] The underwater robot body 1 includes a main frame, a walking mechanism, a propulsion mechanism, a cleaning mechanism, a sensor and control system, and a buoyancy module;

[0047] The main frame is used to fix the various parts of the robot;

[0048] The walking mechanism is placed on the main frame and is used to provide power for the robot to walk on the ship wall;

[0049] The propulsion mechanism is distributed on both sides of the upper and middle parts of the main frame, and is used to provide the robot with power to navigate in the water and adhere to the ship wall;

[0050] The cleaning system is located in the middle of the bottom of the main frame and is used to adaptively clean the hull attachments;

[0051] Sensors and control systems are distributed at the front and rear ends and the middle of the main frame to obtain the real-time status of the robot;

[0052] The buoyancy module is arranged on the upper part of the main frame to provide buoyancy that is balanced with the gravity of the robot, thereby achieving zero gravity of the robot in water.

[0053] With the aid of the above scheme, the present invention maintains the horizontal posture of the underwater robot to prevent it from rolling over, and can control the movement posture of the underwater robot in the vertical direction.

[0054] like Figure 5-Figure 6 As shown, in one embodiment, for the above-mentioned tail control mechanism 3, the tail control mechanism 3 includes a shell 301 arranged on the support frame 2, a tray 302 is arranged inside the shell 301, a multi-stage gear 303 is arranged at the top of the tray 302, a first motor 304 is arranged at the bottom of the tray 302, and the output shaft of the first motor 304 is connected to the multi-stage gear 303, and the multi-stage gear 303 is connected to the tail 4; the multi-stage gear 303 includes a driving gear 3031 connected to the output shaft of the first motor 304, and the tail A driving gear 3032 is provided at the bottom end of 4, and a transmission gear 3033 is meshed between two adjacent driving gears 3032 and between the active gear 3031 and the driving gear 3032, so that the tail 4 can be controlled to rotate, thereby controlling the direction of the tail surface. After measuring and calculating the flow pressure direction, the direction of the tail 4 is aligned with the pressure direction, which can play a role in dividing the incoming flow and minimize the influence of the incoming flow on the posture of the underwater robot. At the same time, the vertical stabilizer of the tail 4 can prevent the underwater robot from tipping over.

[0055] The working principle of the tail control mechanism 3 is as follows: the first motor 304 is started to drive the driving gear 3031 to rotate, and the driving gear 3031 drives each driving gear 3032 to rotate through the transmission gear 3033, and when the driving gear 3032 rotates, the tail 4 is driven to rotate.

[0056] like Figure 8 As shown, in one embodiment, for the above-mentioned sensor assembly 5, the sensor assembly 5 includes a sensor housing 501 arranged on the support frame 2, a pressure sensor 502 is arranged in the sensor housing 501, and the sensor housing 501 is connected to the support frame 2 through a sensor connecting rod, so as to be able to collect the magnitude of the force of each surface of the downstream water.

[0057] like Figure 3 , Figure 4 and Figure 7 As shown, in one embodiment, for the above-mentioned counterweight control mechanism 6, the counterweight control mechanism 6 includes a plurality of hydraulic tanks 601 arranged inside the support frame 2, and two hydraulic tanks 601 diagonally opposite to each other are connected by a first hose 602; a hydraulic cylinder 603 is connected to the side of the hydraulic tank 601, and a vane pump 604 is arranged on the side of the hydraulic cylinder 603, and one end of the vane pump 604 is connected to a second motor 605, and the vane pump 604 and the hydraulic cylinder 603 are connected by a second hose 606; a heavy liquid is arranged in the hydraulic tank 601, which belongs to a soluble salt water solution heavy liquid, and the heavy liquid includes cerium silicotungstate, iron metatungstate, sodium metatungstate, ammonium metatungstate and silicotungstic acid, so that it can respond quickly, and in an emergency, it can adjust the counterweight to restore the posture of the underwater robot. These soluble salts can be dissolved in water, ethanol, dichloroethanol, ethylene glycol and propylene glycol. According to the relative density of the substances to be separated, different soluble salts and solvents and different proportions can be selected to prepare heavy liquids with different relative densities. If cerium silicotungstate is dissolved in dichloroethanol, a heavy liquid with a relative density of 3.66-2.50kg / m³ can be prepared. Moreover, this new type of non-toxic heavy liquid is non-toxic, odorless and will not cause environmental problems.

[0058] According to another aspect of the present invention, a control method for a fast-response balancing device of an underwater robot is also provided, and the control method for a fast-response balancing device of an underwater robot comprises:

[0059] A tail control system is constructed based on the tail control mechanism 3 and the pressure sensor 502; a counterweight control system is constructed based on the counterweight control mechanism 6 and the IMU chip.

[0060] The tail control system collects and analyzes the magnitude and direction of the force caused by the underwater fluid in the horizontal direction on the underwater robot, and reduces the interference of the underwater downflow on the underwater robot by adjusting the direction of the tail 4.

[0061] The counterweight control system analyzes the vertical posture (pitch and roll posture) of the robot and predicts whether the vertical posture of the underwater robot changes. If the vertical posture of the underwater robot is predicted to change, the center of gravity of the underwater robot is changed.

[0062] In one embodiment, collecting and analyzing the magnitude and direction of the force caused by the underwater fluid in the horizontal direction on the underwater robot through the tail control system, and reducing the interference of the underwater downflow on the underwater robot by adjusting the direction of the tail 4 includes:

[0063] The pressure sensor 502 is used to collect the magnitude and direction of the force on each surface of the water flowing down;

[0064] Combine two symmetrical forces to obtain several resultant forces; and based on the several resultant forces, calculate the magnitude and direction of the resultant force of the downflow;

[0065] The first motor 304 is started to drive the multi-stage gear 303 to control the direction of the tail wing 4 so that the tail wing 4 is facing the direction of the resultant force of the underwater downflow.

[0066] In one embodiment, the vertical posture of the robot is analyzed by a counterweight control system, and it is predicted whether the vertical posture of the underwater robot changes. If it is predicted that the vertical posture of the underwater robot changes, changing the center of gravity of the underwater robot includes:

[0067] When the underwater robot is in the process of entering or exiting the water, the IMU chip is used to measure the Euler angle of the underwater robot; if the Euler angle is greater than the first threshold value of the Euler angle, the center of gravity of the underwater robot is adjusted by transferring the heavy liquid through the counterweight control mechanism 6; if the Euler angle is less than the second threshold value of the Euler angle, it is determined that the vertical posture of the underwater robot has returned to normal;

[0068] If the robot is moving underwater, the pitch angles at the four corners of the underwater robot are calculated through the IMU chip; if the pitch angle exceeds the pitch angle threshold, the center of gravity of the underwater robot is adjusted by transferring heavy liquid through the counterweight control mechanism 6; if the pitch angle is less than the pitch angle threshold, it is judged that the vertical posture of the underwater robot has returned to normal.

[0069] In one embodiment, adjusting the center of gravity of the underwater robot by transferring the heavy liquid through the counterweight control mechanism 6 includes: pressing the heavy liquid in the hydraulic tank 601 at one end into the hydraulic tank 601 at the other end through the first hose 602.

[0070] The flowchart of the control method of the fast-response balancing device of an underwater robot in the specific application of the present invention is as follows: Figure 10-12 . Fig.10 Line C in Fig.11 The line C in the Fig.11 The line D and Fig.12 The line D in the figure connects.

[0071] In order to facilitate understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process is described in detail below.

[0072] The tail control system is used to collect the magnitude and direction of the force caused by the underwater fluid in the horizontal direction on the robot, analyze each force, obtain the magnitude and direction of the resultant force, and reduce the interference of the underwater flow on the robot by adjusting the direction of the tail 4, so that the robot maintains a horizontal posture.

[0073] The counterweight control system is used to use the IMU chip to analyze the vertical posture of the robot and determine whether the vertical posture of the robot will change. If the vertical posture of the robot is about to change, the center of gravity is changed by the counterweight system to maintain the vertical posture of the robot.

[0074] The workflow of the tail wing includes:

[0075] The pressure sensor 502 collects the magnitude and direction of the force caused by the downflow of water on the six surfaces, processes the collected force data, and uses the central control system to calculate the magnitude and direction of the resultant force, such as Fig. 9 As shown in Figure 2, this is a schematic diagram for calculating the resultant force and direction.

[0076] The calculation resultant force and direction model is expressed as:

[0077]

[0078]

[0079]

[0080]

[0081]

[0082] Among the six forces, two mutually symmetrical forces are combined into one force to obtain three resultant forces.

[0083] and The combined force of : and The angle of : The resultant force of six forces; : and The angle of : and Angle.

[0084] Among them, there are forces in six directions. Combining two symmetrical forces into one force, we get three forces F1, F2, and F3. Assuming the angle of F1 is 0 degrees, we can find the magnitude and direction of the resultant force of F1 and F2. The angle is . Similarly, the magnitude and direction of the resultant force of the six forces can be obtained.

[0085] The central control transmits a signal to start the steering gear, which drives the gear to rotate. The gear controls the direction of the tail wing 4 so that the tail wing 4 is facing the direction of the combined force of the underwater downflow, reducing the interference of the underwater downflow on the robot and keeping the robot in a horizontal position, that is, the robot returns to its original horizontal position.

[0086] The design of the six-sided pressure sensor 502 is similar to the use of the vertical tail of an aircraft. For the pressure sensor 502, the pressure on the six sides can be measured at the same time. Using the above formula, the magnitude and direction of the resultant force can be calculated. Since the source of underwater pressure can only be seawater, the magnitude and direction of the force applied to the robot by the instantaneous underwater flow in the horizontal direction can be obtained.

[0087] For the tail wing, the rotation of the servo can drive the gear to rotate the tail wing, so as to control the direction of the tail wing. After the pressure sensor measures and calculates the flow pressure direction, the direction of the tail wing is adjusted to the pressure direction, which can play a role similar to splitting the airflow, and adjust the interference of future airflow on the robot to the minimum. At the same time, it can play a role similar to the vertical stabilizer of the vertical tail of an aircraft to prevent the robot from rolling over.

[0088] Among them, the workflow of the prediction and warning module includes:

[0089] Based on the measurement results of the IMU chip, during the process of the robot entering and exiting the water, if the Euler angle is greater than the threshold value (25°, 25°, 25°), it is determined that the vertical posture of the robot has changed greatly, the hydraulic system is started, the second motor 605 rotates, and the oil pressure is increased through the vane pump 604 to push the piston to move. The piston adjusts the speed in proportion to the size of the Euler angle to press the heavy liquid in the hydraulic tank 601 through the hose to the hydraulic tank 601 at the other end. The heavy liquid in the hydraulic tanks 601 at both ends is exchanged, the center of gravity of the robot changes, and it returns to a normal posture. When the Euler angle is less than the threshold value (20°, 20°, 20°), it is determined that the vertical posture of the robot has recovered, the motor stops, and the hydraulic system stops running. The Euler angle is used to represent the rotation of a rigid body with respect to a solid coordinate system. The Euler angle is measured in real time. Once it exceeds a threshold, the second motor 605 is started and the piston rod is pushed forward to make the counterweights at both ends inconsistent, thereby controlling the balance of the robot. Once the Euler angle returns to (20, 20, 20) (another threshold), the second motor 605 stops. If the Euler angle is too large again, the second motor 605 is started again for real-time control.

[0090] IMU usually includes a three-axis accelerometer, a three-axis gyroscope, and sometimes a magnetometer. These sensors work together to measure and solve the attitude angles of an object in three-dimensional space, including pitch, roll, and yaw. The accelerometer detects the acceleration signals of the object in the three independent axes of the carrier coordinate system, while the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system. By fusing the data of the accelerometer and the gyroscope, the IMU can output the three-dimensional angular velocity signal and acceleration signal of the object in real time, and then solve the current attitude of the object. When it is solved that a certain angle of the robot is raised too much, that is, the pitch angle is greater than 20 degrees, the counterweight control mechanism 6 is activated. The IMU chip can measure the three-axis attitude angles of the object, including pitch, roll, and yaw, through integrated sensors. These angles are usually called Euler angles, which describe the rotation state of the object relative to a fixed coordinate system (usually the earth coordinate system).

[0091] When the robot is moving underwater (except when it is adsorbed on the bottom of a ship), the pitch angles at the four corners of the robot measured by the IMU chip are judged. If the pitch angle exceeds the threshold value of 20°, the hydraulic system is started again, and the piston adjusts the speed in proportion to the pitch angle to press the heavy oil in the hydraulic tank 601 to the other end. The center of gravity of the robot changes and returns to a normal posture. If the pitch angle is less than the threshold value of 15°, it is determined that the vertical posture of the robot is restored and the hydraulic system stops operating.

[0092] An IMU chip is installed on each of the four corners of the robot. The IMU chip can measure the acceleration in the vertical direction of the corner in real time, and can also establish a three-dimensional coordinate system of the robot's current posture. When the robot is put into the water and is about to leave the seawater, the three-dimensional coordinate system of the robot's current posture is compared with the standard three-dimensional coordinate system. If the Euler angle is too large, that is, the robot is too tilted, the counterweight control mechanism 6 is activated to adjust the counterweight to restore the robot to a balanced state. When the robot moves underwater (except when the robot is adsorbed on the bottom of the ship for cleaning), if the chip detects that the vertical acceleration is too large, that is, the robot's posture is about to be unstable, the counterweight control mechanism 6 is activated to adjust the counterweight to restore the robot's posture.

[0093] The response time of the counterweight device is relatively fast, and it is mainly used to prevent emergencies. Its reaction is faster than the control of the propeller, and the subsequent main control is mainly carried out by the propeller. There is no conflict between the two.

[0094] In summary, the present invention collects and analyzes the magnitude and direction of the force caused by the underwater fluid on the underwater robot, and adjusts the direction of the tail 4 to reduce the interference of the downstream flow on the robot, so that the robot maintains a horizontal posture. The tail 4 cuts the downstream flow from the front to reduce the impact of the flow on the underwater robot, and the streamlined surface of the tail 4 can reduce turbulence. The present invention analyzes the vertical posture of the underwater robot and determines whether the vertical posture of the underwater robot will change. If the vertical posture of the underwater robot is about to change, the center of gravity is changed by the counterweight system to maintain the vertical posture of the underwater robot, and the response time is fast, which is faster than the regulation of the propeller. At the same time, the heavy liquid in the hydraulic tank 601 is non-toxic and odorless, and there will be no environmental problems.

[0095] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A fast-response balancing device for an underwater robot, comprising an underwater robot body (1), characterized in that: A support frame (2) is provided at the top of the underwater robot body (1), tail wing control mechanisms (3) are provided at both ends of the support frame (2), and a plurality of tail wing (4) is provided at the top of the tail wing control mechanism (3); A sensor assembly (5) is arranged in the middle of the support frame (2), and a counterweight control mechanism (6) is arranged inside the support frame (2); The tail control mechanism (3) comprises a housing (301) arranged on the support frame (2), a tray (302) being arranged inside the housing (301), a multi-stage gear (303) being arranged at the top end of the tray (302), a first motor (304) being arranged at the bottom end of the tray (302), an output shaft of the first motor (304) being connected to the multi-stage gear (303), and the multi-stage gear (303) being connected to the tail (4); The counterweight control mechanism (6) comprises a plurality of hydraulic tanks (601) arranged inside the support frame (2), and two hydraulic tanks (601) diagonally opposite to each other are connected by a first hose (602); A hydraulic cylinder (603) is connected to the side of the hydraulic tank (601), a vane pump (604) is provided on the side of the hydraulic cylinder (603), one end of the vane pump (604) is connected to a second motor (605), and the vane pump (604) and the hydraulic cylinder (603) are connected via a second hose (606); The control method of the fast-response balancing device of the underwater robot includes: A tail control system is constructed based on the tail control mechanism (3) and the pressure sensor (502); a counterweight control system is constructed based on the counterweight control mechanism (6) and the IMU chip; The tail wing control system collects and analyzes the magnitude and direction of the force exerted on the underwater robot by the underwater fluid in the horizontal direction, and reduces the interference of the underwater downflow on the underwater robot by adjusting the direction of the tail wing (4); Analyze the vertical posture of the robot through the counterweight control system and predict whether the vertical posture of the underwater robot changes. If the vertical posture of the underwater robot is predicted to change, change the center of gravity of the underwater robot; The method of collecting and analyzing the magnitude and direction of the force exerted on the underwater robot by the underwater fluid in the horizontal direction by the tail wing control system, and reducing the interference of the underwater downflow on the underwater robot by adjusting the direction of the tail wing (4) comprises: Using the pressure sensor (502) to collect the magnitude and direction of the force on each surface of the water flowing down; Combine two symmetrical forces to obtain several resultant forces; and based on the several resultant forces, calculate the magnitude and direction of the resultant force of the downflow; Starting the first motor (304) and driving the multi-stage gear (303) to control the direction of the tail wing (4) so ​​that the tail wing (4) is facing the direction of the resultant force of the downflow under water; The method of analyzing the vertical posture of the robot by the counterweight control system and predicting whether the vertical posture of the underwater robot changes, and if the vertical posture of the underwater robot is predicted to change, changing the center of gravity of the underwater robot includes: When the underwater robot is in the process of entering or exiting the water, the IMU chip is used to measure the Euler angle of the underwater robot; if the Euler angle is greater than the first threshold value of the Euler angle, the center of gravity of the underwater robot is adjusted by transferring heavy liquid through the counterweight control mechanism (6); if the Euler angle is less than the second threshold value of the Euler angle, it is determined that the vertical posture of the underwater robot has returned to normal; When the robot is moving underwater, the pitch angles at the four corners of the underwater robot are measured by the IMU chip; if the pitch angle exceeds the pitch angle threshold, the center of gravity of the underwater robot is adjusted by transferring heavy liquid through the counterweight control mechanism (6); if the pitch angle is less than the pitch angle threshold, it is determined that the vertical posture of the underwater robot has returned to normal; The calculation resultant force and direction model is expressed as: In the formula, and The combined force of express and The angle of It represents the resultant force of all forces; express and The angle of express and The angle of Combine the two symmetrical forces into one force to obtain force F1, force F2, and force F3; The central control transmits a signal to start the steering gear, which drives the gear to rotate, and the gear controls the direction of the tail wing (4) so ​​that the tail wing (4) is directly opposite to the direction of the resultant force of the underwater downflow.

2. The fast-response balancing device for an underwater robot according to claim 1, characterized in that: The multi-stage gear (303) comprises a driving gear (3031) connected to the output shaft of the first motor (304); a driving gear (3032) is arranged at the bottom end of the tail wing (4); and a transmission gear (3033) is meshedly arranged between two adjacent driving gears (3032) and between the driving gear (3031) and the driving gear (3032).

3. The fast-response balancing device for an underwater robot according to claim 2, characterized in that: The sensor assembly (5) comprises a sensor housing (501) arranged on the support frame (2), and a pressure sensor (502) is arranged in the sensor housing (501).

4. The fast-response balancing device for an underwater robot according to claim 3, characterized in that: The hydraulic tank (601) is provided with heavy liquid.

5. The fast-response balancing device for an underwater robot according to claim 1, characterized in that: The method of adjusting the center of gravity of the underwater robot by transferring the heavy liquid through the counterweight control mechanism (6) includes: The heavy liquid in the hydraulic tank (601) at one end is pressed into the hydraulic tank (601) at the other end through the first hose (602).

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