High-stability deepwater operation robot with fish lateral line imitating function

Abstract

The invention relates to the technical field of bionic deepwater robots, in particular to a high-stability deepwater operation robot with a fish lateral line simulating function. Comprising a frame, a fairing, a power source sealed cabin, a buoyancy block, a chip sealed cabin, a propelling system, a visual camera, multiple sets of sensing systems and a balance system, the fairing is fixedly arranged outside the frame in a sleeving mode, the visual camera is arranged on the front side of the fairing, the multiple sets of sensing systems are arranged on the two sides of the fairing, and the balance system is arranged in the frame. The propelling system is connected with the frame; the sensing system comprises a flexible beam, two rigid beams, a spring, a pressure sensor and a bottom end fixing beam, the bottom end fixing beam is connected with the fairing and located on the outer side wall of the fairing, the two rigid beams are connected with the bottom end fixing beam, the pressure sensor is connected with the corresponding rigid beam, the two ends of the spring are connected with the pressure sensor and the corresponding rigid beam respectively, and the spring is connected with the flexible beam. The deepwater robot can be kept stable, and the operation precision is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic deep-water robots, and in particular to a high-stability deep-water operation robot that imitates the lateral line function of fish. Background Art

[0002] With the continuous growth of global energy demand, in order to meet people's production and living needs, the exploration of marine oil and gas resources has begun to develop in deep water areas. Underwater carrier robots play an important role in marine resource exploration, pipeline maintenance, and handling of dangerous accidents.

[0003] The lateral line of fish is a sensor system located on both sides of the fish's body that can sense water flow and pressure changes, helping fish perceive their surroundings and hunt prey. Existing deep-water operation robots often encounter problems such as delayed flow field perception, excessive resistance of the robotic arm during driving, and few instability tolerance measures during operation.

[0004] For example: ① The external ocean flow field environment changes in too short a time, resulting in the failure of the instability tolerance measures; ② The deep-water operation robot’s mechanical arm is exposed, which destroys the overall streamlined structure, resulting in poor fairing drag reduction effect; ③ The external flow field changes beyond the adjustable range of the thruster, causing the robot to vibrate violently. ④ The external flow field changes during the operation, causing the robot’s displacement arm to deviate from the operating position. Due to the influence of the above problems, at this stage, deep-water robot operations have large navigation resistance, low stability, and low operating accuracy under the influence of external factors such as ocean currents, making it difficult to meet the production needs of refined operations. Therefore, reducing the external flow field resistance of deep-water operation robots and improving the operating stability of deep-water operation robots have become key scientific issues in the optimization design of deep-water operation robots. Summary of the invention

[0005] The purpose of the present invention is to provide a high-stability deep-water operation robot that imitates the lateral line function of fish, aiming to solve the problems that existing deep-water operation robots often encounter during operation, such as flow field perception lag, excessive mechanical arm resistance during driving, and few instability fault tolerance measures, which lead to technical problems such as large navigation resistance, low stability and low operation accuracy during the operation of deep-water robots.

[0006] To achieve the above-mentioned purpose, the present invention adopts a high-stability deep-water operation robot that imitates the lateral line function of fish, comprising a frame, a fairing, a power sealed cabin, a buoyancy block, a chip sealed cabin, a propulsion system, a visual camera, multiple sets of perception systems and a balance system, wherein the fairing is fixedly sleeved on the outside of the frame, the buoyancy block is fixedly arranged on the top of the frame, the power sealed cabin and the chip sealed cabin are both fixedly arranged on the inside of the frame, the visual camera is arranged on the front side of the fairing, multiple sets of the perception systems are arranged on both sides of the fairing, the balance system is arranged in the frame, and the propulsion system is connected to the frame;

[0007] The sensing system includes a flexible beam, two rigid beams, a spring, a pressure sensor and a bottom fixed beam. The bottom fixed beam is connected to the fairing and is located on the outer side wall of the fairing. The two rigid beams are connected to the bottom fixed beam. The pressure sensor is connected to the corresponding rigid beam and is located on the inner side wall of the rigid beam. The two ends of the spring are respectively connected to the pressure sensor and the corresponding rigid beam.

[0008] Wherein, the propulsion system includes five thrusters, two of which are vertically arranged in the frame, two of which are horizontally arranged on the outside of the fairing, and one of which is vertically arranged on the rear side of the fairing.

[0009] Among them, the balancing system includes a gyroscope, a first counterweight, a second counterweight, a screw and a balancing shell. The balancing shell is fixedly connected to the frame and is located inside the frame. The first counterweight is movably arranged in the balancing shell. Both ends of the screw are rotatably connected to the balancing shell. The second counterweight is sleeved on the outside of the screw and cooperates with the screw thread. The second counterweight is also movably connected to the balancing shell. The gyroscope is fixedly connected to the balancing shell and is located on the outer wall of the balancing shell.

[0010] Among them, the bionic deep-water operation robot also includes two sets of mechanical arm systems, two cover plates, two switches and two sets of telescopic systems. The two cover plates are movably connected to the fairing and are located on the outside of the fairing. The two switches are arranged on the outside of the fairing and are respectively connected to the corresponding cover plates. The two sets of mechanical arm systems are arranged in the frame and are respectively located on the rear sides of the corresponding cover plates. The two sets of telescopic systems are arranged in the frame and are respectively connected to the corresponding mechanical arm systems.

[0011] Among them, the robotic arm system includes a fixed base, a rotating base, a robotic arm upper arm, a robotic arm lower arm, a rotating joint, a robotic hand and a connecting piece. The fixed base is movably connected to the frame, the rotating base is rotatably arranged in the fixed base, the connecting piece is fixedly connected to the rotating base, the robotic arm upper arm is movably connected to the connecting piece, the two ends of the robotic arm lower arm are respectively movably connected to the robotic arm upper arm and the rotating joint, and the robotic hand is connected to the rotating joint.

[0012] Wherein, the telescopic system includes a hydraulic telescopic cylinder and a waterproof frame, the waterproof frame is fixedly connected to the fairing and the frame respectively, the hydraulic telescopic cylinder is fixedly connected to the frame and is located inside the frame, and the output end of the hydraulic telescopic cylinder is connected to the fixed base.

[0013] The present invention provides a high-stability deep-water operation robot that imitates the lateral line function of fish. The frame is divided into three layers: upper, middle and lower. The fairing is fixed on the outside of the frame. The buoyancy block is installed on the upper layer of the frame, the chip sealed cabin is installed on the middle layer of the frame, the power sealed cabin is arranged behind the chip sealed cabin, and the balance system is arranged behind the power sealed cabin. The propulsion system is arranged in the middle, rear and tail of the fairing. The propulsion system can realize heave and sink movement and straight-line movement, and the reverse differential can realize bow turning. The visual camera is arranged in the front of the fairing, and the mechanical arm system is arranged below the visual camera to assist the robot in operation. The visual camera adopts a bionic fish perception system to monitor the changes in the external flow field in real time. The mechanical arm system is through the telescopic system. The fairing and the telescopic system can greatly reduce the deep-water operation machine. The robot's driving resistance, the changes in the external flow field during the robot's driving process produce resistance on the flexible beam, the flexible beam is deformed under the action of hydrodynamics, the rigid beam is deformed under the influence of the flexible beam, the deformation of the rigid beam compresses the spring to produce pressure on the pressure sensor, the external flow field changes are analyzed by monitoring the pressure changes of the pressure sensor, and the data is transmitted to the chip sealed cabin, the balance system refers to the pressure change value through the chip sealed cabin control adjustment, the robot's center of mass is changed, the propulsion system refers to the change in the robot's center of mass to adjust the thrust to ensure the robot's stability, through the above method, it is achieved to keep the deep-water robot stable and greatly improve the operation accuracy.

[0014] The present invention adds a sensing system to the traditional deep-water operation ROV robot, and detects the changes in the robot's external flow field in real time through the fish-like lateral line function. Its fish-like lateral line function can sense the changes in the external flow field in real time, and can start stability fault-tolerant measures in advance when the external environment changes, improve the stability of the robot's driving, deployment, and operation, and effectively improve the shortcomings of existing deep-water operation robots in the operation process. Compared with traditional deep-water operation robots, the present invention can sense changes in external factors earlier and start robot stability measures in advance, greatly improving the stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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 or the description of the prior art 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.

[0016] Figure 1 It is a structural schematic diagram of a high-stability deep-water operation robot that imitates the lateral line function of fishes according to the present invention.

[0017] Figure 2 It is a top view of the structure of the high-stability deep-water operation robot of the present invention that imitates the lateral line function of fish.

[0018] Figure 3 It is a partial structural schematic diagram of a high-stability deep-water operation robot that imitates the lateral line function of fishes according to the present invention.

[0019] Figure 4 It is a top view of the internal structure of the high-stability deep-water operation robot of the present invention that imitates the lateral line function of fish.

[0020] Figure 5 It is a top view of the partial internal structure of the high-stability deep-water operation robot with fish lateral line imitation function of the present invention.

[0021] Figure 6 The present invention Figure 1 A magnified view of the local structure at A.

[0022] Figure 7 It is a structural schematic diagram of the mechanical arm system of the present invention.

[0023] Figure 8 It is a cross-sectional view of the internal structure of the balancing system of the present invention.

[0024] Fig. 9 The present invention utilizes ANASYS software to simulate the speed distribution cloud diagram of the robot.

[0025] Fig.10 This is a velocity vector diagram of a robot simulated by using ANASYS software.

[0026] Fig.11 This is a motion parameter description diagram of the high-stability deep-water operation robot that imitates the lateral line function of fishes according to the present invention.

[0027] Fig.12 It is a distribution diagram of the vertical thrusters of the present invention.

[0028] Fig.13 It is a distribution diagram of the horizontal propeller of the present invention.

[0029] 101-frame, 102-fairing, 103-power sealed cabin, 104-buoyancy block, 105-chip sealed cabin, 106-visual camera, 107-flexible beam, 108-rigid beam, 109-spring, 110-pressure sensor, 111-bottom fixed beam, 112-thruster, 113-gyroscope, 114-first counterweight, 115-second counterweight, 116-screw, 117-balance shell, 118-cover, 119-switch, 120-fixed base, 121-rotating base, 122-robotic arm upper arm, 123-robotic arm lower arm, 124-waterproof frame, 125-rotating joint, 126-robotic arm, 127-connecting piece, 128-hydraulic telescopic cylinder. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0031] See also Figures 1 to 13 The present invention provides a high-stability deep-water operation robot that imitates the lateral line function of fish, comprising a frame 101, a fairing 102, a power sealed cabin 103, a buoyancy block 104, a chip sealed cabin 105, a propulsion system, a visual camera 106, multiple sets of perception systems and a balance system, wherein the fairing 102 is fixedly sleeved on the outside of the frame 101, the buoyancy block 104 is fixedly arranged on the top of the frame 101, the power sealed cabin 103 and the chip sealed cabin 105 are both fixedly arranged inside the frame 101, the visual camera 106 is arranged on the front side of the fairing 102, multiple sets of the perception systems are arranged on both sides of the fairing 102, the balance system is arranged in the frame 101, and the propulsion system is connected to the frame 101;

[0032] The sensing system includes a flexible beam 107, two rigid beams 108, a spring 109, a pressure sensor 110 and a bottom fixed beam 111. The bottom fixed beam 111 is connected to the fairing 102 and is located on the outer wall of the fairing 102. The two rigid beams 108 are both connected to the bottom fixed beam 111. The pressure sensor 110 is connected to the corresponding rigid beam 108 and is located on the inner wall of the rigid beam 108. The two ends of the spring 109 are respectively connected to the pressure sensor 110 and the corresponding rigid beam 108.

[0033] In this embodiment, the frame 101 is divided into three layers, upper, middle and lower, and the fairing 102 is fixed on the outside of the frame 101. The buoyancy block 104 is installed on the upper layer of the frame 101, the chip sealed cabin 105 is installed on the middle layer of the frame 101, the power sealed cabin 103 is arranged behind the chip sealed cabin 105, and the balance system is arranged behind the power sealed cabin 103. The propulsion system is arranged in the middle, rear and tail of the fairing 102. The propulsion system can realize heave movement and straight-line movement, and the reverse differential can realize bow turning. The visual camera 106 is arranged in front of the fairing 102, and the mechanical arm system is arranged below the visual camera 106 to assist the robot operation. The visual camera 106 uses a bionic fish perception system to monitor the changes in the external flow field in real time. The mechanical arm system uses the telescopic system, and the fairing 102 and the telescopic system can greatly reduce the driving resistance of the deep-water operation robot. During the driving process of the robot, the change of the external flow field produces resistance to the flexible beam 107. The flexible beam 107 is deformed under the action of hydrodynamic force. The rigid beam 108 is deformed under the influence of the flexible beam 107. The deformation of the rigid beam 108 compresses the spring 109 to generate pressure on the pressure sensor 110. The change of the external flow field is analyzed by monitoring the pressure change of the pressure sensor 110, and the data is transmitted to the chip sealed cabin 105. The balance system refers to the pressure change value through the chip sealed cabin 105 to control and adjust, change the center of mass of the robot, and the propulsion system adjusts the thrust with reference to the change of the center of mass of the robot to ensure the stability of the robot.

[0034] in, Fig. 9 and Fig.10 Taking the robot at 20 degrees Celsius, 1500 meters underwater, and a velocity of 4m / s as an example, the robot's velocity distribution cloud map and velocity vector map are simulated using ANASYS software. When the external flow field changes, the velocity field around the robot changes, and the velocity field change will cause the hydrodynamic force (water resistance) around the robot to change.

[0035] The mathematical model of the six-degree-of-freedom nonlinear model robot based on Fossen is:

[0036]

[0037] Where M is the matrix composed of the ROV robot and its attached mass, C(V) is the matrix of the Coriolis force and centripetal force of the ROV. The Coriolis force is related to the mass and velocity matrix of the object. D(V) is the resistance (torque) matrix exerted by the fluid on the ROV robot when the ROV robot moves in the fluid medium. g(η) is the matrix composed of the gravity and buoyancy (torque) of the ROV robot. η is the position vector of the ROV robot in the global coordinate system. τ is the control force (torque) exerted on the ROV robot by the propulsion system when the controller controls it, and Δf is the force (torque) exerted on the ROV robot by unknown forces such as external interference.

[0038] By substituting the comprehensive value of the robot pressure sensor and combining it with Newton's second law, the robot operation center of mass transformation model is derived:

[0039]

[0040]

[0041] Where X0, Y0, Z0 are the components of the hydrodynamic force in the local coordinate system; u, v, w are the components of the ROV velocity in the local coordinate system; θ0, are the pitch and roll angles of the ROV; T x , T y , T z is the coordinate component of the driving force T in the local coordinate system; p, q, r are the angular velocity components; m0 is the mass of the ROV after the operation; Δx, Δy, Δz are the offsets of the center of gravity relative to the original center of gravity, G is the gravity of the ROV, and F R is the ROV buoyancy. When the external flow field changes dramatically, m and X0, Y0, and Z0 will change uncertainly, and the center of gravity offset will change.

[0042] Furthermore, the propulsion system includes five propellers 112 , two of the propellers 112 are vertically arranged in the frame 101 , two of the propellers 112 are horizontally arranged on the outer side of the fairing 102 , and one of the propellers 112 is vertically arranged on the rear side of the fairing 102 .

[0043] In this embodiment, the robot has five thrusters 112, such as Fig.12 and Fig.13As shown, the arrangement principle is that the two thrusters 112 are symmetrically distributed along an axial direction, can generate thrust and torque at the same time, and perform uncoupled motion in two degrees of freedom, wherein a thruster 112 is vertically arranged on the rear side of the machine to realize pitch motion, two thrusters 112 are vertically arranged on the left and right sides to realize heave motion, two thrusters 112 are horizontally arranged tailward to realize straight-ahead motion, and reverse differential can realize bow turning. The thruster 112 adjusts the thrust with reference to the change of the robot's center of mass, so as to ensure the stability of the robot.

[0044] Furthermore, the balancing system includes a gyroscope 113, a first counterweight 114, a second counterweight 115, a screw 116 and a balancing shell 117. The balancing shell 117 is fixedly connected to the frame 101 and is located inside the frame 101. The first counterweight 114 is movably arranged in the balancing shell 117. Both ends of the screw 116 are rotatably connected to the balancing shell 117. The second counterweight 115 is sleeved on the outside of the screw 116 and threadedly engaged with the screw 116. The second counterweight 115 is also movably connected to the balancing shell 117. The gyroscope 113 is fixedly connected to the balancing shell 117 and is located on the outer wall of the balancing shell 117.

[0045] In this embodiment, the balancing system is balanced by two counterweights of different masses, wherein the balancing shell 117 has two cavities, hydraulic oil is arranged in the cavities, and the lead screw 116 is driven by a motor to rotate in the balancing shell 117, and the second counterweight 115 moves along the lead screw. The second counterweight 115 pushes the hydraulic oil to adjust the position of the first counterweight 114, and finally adjusts the position of the robot's center of mass. The gyroscope 113 is used to sense the robot's posture changes, and the slider is used to change the robot's center of mass to keep the robot balanced, thereby improving the stability of the robot during operation.

[0046] Furthermore, the bionic deep-water operation robot also includes two sets of mechanical arm systems, two covers 118, two switches 119 and two sets of telescopic systems. The two covers 118 are movably connected to the fairing 102 and are located on the outside of the fairing 102. The two switches 119 are arranged on the outside of the fairing 102 and are respectively connected to the corresponding covers 118. The two sets of mechanical arm systems are arranged in the frame 101 and are respectively located on the rear sides of the corresponding covers 118. The two sets of telescopic systems are arranged in the frame 101 and are respectively connected to the corresponding mechanical arm systems.

[0047] In this embodiment, when the robot is driving, the robotic arm system is on standby and is in a retracted state in the frame 101. The robot drives to the work site through the propeller 112. After the robot drives to the designated work site, the front cover is opened by the switch 119, and the telescopic system is started to drive the robotic arm system to move out of the fairing 102. At the same time, the visual camera 106 is used to observe the work position to assist the work.

[0048] Furthermore, the robotic arm system includes a fixed base 120, a rotating base 121, a robotic arm 122, a robotic arm forearm 123, a rotating joint 125, a robotic hand 126 and a connecting piece 127, the fixed base 120 is movably connected to the frame 101, the rotating base 121 is rotatably arranged in the fixed base 120, the connecting piece 127 is fixedly connected to the rotating base 121, the robotic arm 122 is movably connected to the connecting piece 127, the two ends of the robotic arm forearm 123 are respectively movably connected to the robotic arm 122 and the rotating joint 125, and the robotic hand 126 is connected to the rotating joint 125.

[0049] In this embodiment, when the robot is driving, the manipulator 126 is on standby inside the frame 101, the manipulator arm 122 and the manipulator arm 123 are in a retracted state inside the frame 101, and the robot drives to the work site through the propeller 112. After the robot drives to the designated work site, the front cover is opened by using the switch 119, and the telescopic system is started to drive the fixed base 120 to move on the frame 101, and the gripper, the manipulator arm 122, and the manipulator arm 123 move out from the fairing 102, and the manipulator arm 122 and the manipulator arm 123 are controlled to stretch and drive the gripper to perform deep-water operations, and the visual camera 106 is used to observe the working position to assist the operation.

[0050] Furthermore, the telescopic system includes a hydraulic telescopic cylinder 128 and a waterproof frame 124, the waterproof frame 124 is fixedly connected to the fairing 102 and the frame 101 respectively, the hydraulic telescopic cylinder 128 is fixedly connected to the frame 101 and is located inside the frame 101, and the output end of the hydraulic telescopic cylinder 128 is connected to the fixed base 120.

[0051] In this embodiment, the hydraulic telescopic cylinder 128 is installed and fixed in the frame 101, and the output end of the hydraulic telescopic cylinder 128 drives the fixed base 120 to move in the frame 101. Then, the fixed base 120 drives the clamp to move out of the fairing 102, and then controls the clamp to perform deep water operations. By setting the waterproof frame 124 in the frame 101, the waterproof frame 124 is used to provide waterproof protection for the clamp, the robot arm 122, the robot arm 123, the rotating joint 125 and the robot hand 126.

[0052] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A high-stability deep-water operation robot that imitates the lateral line function of fish, characterized in that: It includes a frame, a fairing, a power sealed cabin, a buoyancy block, a chip sealed cabin, a propulsion system, a visual camera, multiple sets of sensing systems and a balance system. The fairing is fixedly sleeved on the outside of the frame, the buoyancy block is fixedly arranged on the top of the frame, the power sealed cabin and the chip sealed cabin are both fixedly arranged inside the frame, the visual camera is arranged on the front side of the fairing, multiple sets of sensing systems are arranged on both sides of the fairing, the balance system is arranged in the frame, and the propulsion system is connected to the frame; The sensing system includes a flexible beam, two rigid beams, a spring, a pressure sensor and a bottom fixed beam. The bottom fixed beam is connected to the fairing and is located on the outer side wall of the fairing. The two rigid beams are connected to the bottom fixed beam. The pressure sensor is connected to the corresponding rigid beam and is located on the inner side wall of the rigid beam. The two ends of the spring are respectively connected to the pressure sensor and the corresponding rigid beam.

2. A high-stability deep-water operation robot that imitates the lateral line function of fish as claimed in claim 1, characterized in that: The propulsion system includes five propellers, two of which are vertically arranged in the frame, two of which are horizontally arranged on the outside of the fairing, and one of which is vertically arranged on the rear side of the fairing.

3. A high-stability deep-water operation robot that imitates the lateral line function of fish as claimed in claim 2, characterized in that: The balancing system includes a gyroscope, a first counterweight, a second counterweight, a screw and a balancing shell. The balancing shell is fixedly connected to the frame and is located inside the frame. The first counterweight is movably arranged in the balancing shell. Both ends of the screw are rotatably connected to the balancing shell. The second counterweight is sleeved on the outside of the screw and cooperates with the screw thread. The second counterweight is also movably connected to the balancing shell. The gyroscope is fixedly connected to the balancing shell and is located on the outer wall of the balancing shell.

4. A high-stability deep-water operation robot that imitates the lateral line function of fish as claimed in claim 1, characterized in that: The bionic deep-water operation robot also includes two sets of mechanical arm systems, two cover plates, two switches and two sets of telescopic systems. The two cover plates are movably connected to the fairing and are located on the outside of the fairing. The two switches are arranged on the outside of the fairing and are respectively connected to the corresponding cover plates. The two sets of mechanical arm systems are arranged in the frame and are respectively located on the rear sides of the corresponding cover plates. The two sets of telescopic systems are arranged in the frame and are respectively connected to the corresponding mechanical arm systems.

5. A high-stability deep-water operation robot that imitates the lateral line function of fish as claimed in claim 4, characterized in that: The robotic arm system includes a fixed base, a rotating base, a robotic arm upper arm, a robotic arm lower arm, a rotating joint, a robotic hand and a connecting piece. The fixed base is movably connected to the frame, the rotating base is rotatably arranged in the fixed base, the connecting piece is fixedly connected to the rotating base, the robotic arm upper arm is movably connected to the connecting piece, the two ends of the robotic arm lower arm are respectively movably connected to the robotic arm upper arm and the rotating joint, and the robotic hand is connected to the rotating joint.

6. A high-stability deep-water operation robot that imitates the lateral line function of fish as claimed in claim 5, characterized in that: The telescopic system includes a hydraulic telescopic cylinder and a waterproof frame, wherein the waterproof frame is fixedly connected to the fairing and the frame respectively, the hydraulic telescopic cylinder is fixedly connected to the frame and is located inside the frame, and the output end of the hydraulic telescopic cylinder is connected to the fixed base.

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