Center-of-mass adjusting system and method based on dish-shaped underwater robot

Abstract

The center-of-mass adjusting system comprises a center-of-mass adjusting device and a center-of-mass adjusting controller which are installed in the underwater robot, the center-of-mass adjusting device comprises a base installed in the underwater robot, a rack is arranged on the inner side of the base in a surrounding mode, and a guide rail is arranged on the surface of the base in a surrounding mode; at least two mass center adjusting mechanisms are slidably connected into the guide rail, each mass center adjusting mechanism comprises a bottom plate, a mass block is arranged on the upper surface of the bottom plate, a sliding block is fixed to the lower surface of the bottom plate and slidably connected with the guide rail, and a transmission mechanism is arranged at the end, away from the sliding block, of the bottom plate and in transmission connection with the rack. According to the mass center adjusting system, 360-degree rotation is achieved through mass block configuration, and it is ensured that the underwater robot keeps high stability during operation in combination with a gear driven by a motor; the system adopts the technical means of an intelligent control algorithm and various sensors to monitor the position change in real time and dynamically adjust the position and the inclination angle of the mass block so as to optimize the operation state.

Description

Technical Field

[0001] The invention relates to a center of mass adjustment system and an adjustment method, and in particular to a center of mass adjustment system and an adjustment method based on a disc-shaped underwater robot. Background Art

[0002] As an extreme operation robot, underwater robots can perform tasks that are difficult for humans to complete in deep-sea environments, such as marine exploration, shipwreck salvage, and maintenance of submarine infrastructure. Their high adaptability and reliability make them an important tool for marine development and scientific research.

[0003] There are two main ways to adjust the posture of underwater robots: liquid transfer and mass movement. Liquid transfer adjusts the center of mass and buoyancy by changing the internal liquid distribution. It is suitable for large-scale posture adjustment, but it is large in size and the system is complex. Moving the mass block achieves high-precision posture control by accurately moving the internal weight. It is small in size and the system is simpler, but it requires complex mechanical devices and high energy consumption. In general, liquid transfer is suitable for large-scale adjustments, while mass block movement is suitable for fine control. Future optimization directions include intelligent control, modular design, energy efficiency improvement and fault detection to improve the performance and reliability of underwater robots in complex environments. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to propose a center of mass adjustment system and adjustment method based on a disc-shaped underwater robot, which can accurately adjust the center of mass position of the underwater robot, ensure the posture adjustment of the underwater robot underwater, and support the normal operation of some payloads.

[0005] Technical solution: The present invention includes a center of mass adjustment device and a center of mass adjustment controller installed inside the underwater robot. The center of mass adjustment device includes a base installed in the underwater robot. A rack is arranged around the inner side of the base. A guide rail is arranged around the surface of the base. At least two center of mass adjustment mechanisms are slidably connected in the guide rail. A single center of mass adjustment mechanism includes a base plate. A mass block is arranged on the upper surface of the base plate, and a slider is fixed on the lower surface. The slider is slidably connected to the guide rail. A transmission mechanism is arranged at the end of the base plate away from the slider, and the transmission mechanism is transmission-connected to the rack.

[0006] The transmission mechanism comprises a motor, which is mounted on the upper surface of the base plate. The output shaft of the motor is connected to the roller through a coupling. A gear is mounted at the end of the roller, and the gear is meshed with the rack.

[0007] A photoelectric encoder is arranged on the top of the motor, the photoelectric encoder is connected to the mass center adjustment controller, and the photoelectric encoder drives the motor to rotate according to the instruction of the mass center adjustment controller.

[0008] Laser sensors are installed on both sides of the slider, the laser sensors are connected to the center of mass adjustment controller, and a limit switch is installed on one side of the motor.

[0009] The laser sensor is used to detect the position between the sliders in real time. When the sliders are about to reach the collision area, the laser sensor triggers the limit switch to stop the driving motor.

[0010] The center of mass adjustment controller includes a main system and a backup system, both of which include a power supply module, a main control system, a communication circuit module, a motor drive module, a photoelectric encoder acquisition module and a sensor signal acquisition module, and the main control system is connected to the communication circuit module, the motor drive module, the photoelectric encoder acquisition module and the sensor signal acquisition module.

[0011] The motor drive module transmits the output instruction to the motor winding of the center of mass adjustment mechanism, and the communication circuit module establishes a communication connection with the computer; the photoelectric encoder acquisition module is connected to the photoelectric encoder of the center of mass adjustment mechanism, and the sensor signal acquisition module is connected to the laser sensor and the limit switch; the main control system receives and analyzes the computer's center of mass adjustment instruction through the communication circuit module, drives the motor to move, and the motor drive gear drives the photoelectric encoder to rotate. The photoelectric encoder acquisition module transmits the output signal to the main control system, and the main control system adjusts the position of the mass block.

[0012] The coupling is provided with an electromagnetic brake which locks the gear position after the motor is powered off to ensure the stability of the system.

[0013] The guide rail is coaxially installed with the rack.

[0014] A method for adjusting a center of mass adjustment system of a disc-shaped underwater robot comprises the following steps:

[0015] The mass center adjustment mechanism is evenly distributed along the guide rail, the mass of the mass block is calculated, and the weight and adjustment range of the mechanism on the mass block are determined according to the weight of the underwater robot and the mass center adjustment range;

[0016] After receiving the center of mass adjustment instruction, the center of mass adjustment controller connects the corresponding photoelectric encoder and the corresponding motor, and drives the motor to drive the mass block to move along the guide rail. At the same time, the motor drives the photoelectric encoder to rotate, and adjusts the position of the mass block by collecting the output signal of the photoelectric encoder. At the same time, during the movement of the mass block, the status information of the laser sensor is collected to determine whether the mass block reaches the collision danger zone of the guide rail. If it reaches it, the limit switch is triggered to stop the drive motor immediately.

[0017] Beneficial effects: The center of mass adjustment system of the present invention realizes 360° full rotation through the mass block configuration, and combined with the gear set driven by a small motor, ensures that the underwater robot remains highly stable during operation. The system adopts intelligent control algorithms and technical means of multiple sensors to achieve real-time monitoring of position changes, dynamically adjust the position and tilt angle of the mass block to optimize the operating state. In addition, the system supports multi-task adaptability, and in the future it can be modularly designed to facilitate the replacement of different operation modules. At the same time, it is equipped with an efficient data processing unit to realize real-time data analysis and feedback, thereby enhancing the intelligence and efficiency of underwater operations and meeting the needs of modern underwater operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 A top view of a single center of mass adjustment mechanism of the present invention;

[0020] Figure 3 It is a side view of a single center of mass adjustment mechanism of the present invention;

[0021] Figure 4 It is a schematic diagram of the composition of the mass center adjustment controller of the present invention;

[0022] Figure 5 is a flow chart of the present invention;

[0023] Figure 6 It is a schematic diagram of the center of mass adjustment system of the present invention applied to a butterfly-shaped underwater robot. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] like Figures 1 to 5 As shown, the center of mass adjustment system based on the disc-shaped underwater robot of the present invention includes a center of mass adjustment device and a center of mass adjustment controller installed inside the underwater robot, such as Figure 6 As shown, the center of mass adjustment device includes a base installed in the underwater robot, the base matches the shape of the surface of the underwater robot, a rack 1 is arranged around the inner side of the base, and a guide rail 2 is arranged around the surface of the base, and the guide rail 2 is coaxially installed with the rack 1. At least two center of mass adjustment mechanisms are slidably connected in the guide rail 2, such as Figure 1 During the movement of the mass center adjustment mechanism, the mass center can be adjusted 360°, and triple protection of software, switch and mechanical limit is adopted to prevent damage to the mechanism caused by control failure and collision of mass blocks.

[0026] like Figure 2 and Figure 3As shown, a single center of mass adjustment mechanism includes a base plate 8, a mass block 9 is provided on the upper surface of the base plate, a slider 14 is fixed on the lower surface, the slider 14 is slidably connected to the guide rail 2, and a transmission mechanism is provided at the end of the base plate 8 away from the slider 14. The transmission mechanism includes a motor 3, which is installed on the upper surface of the base plate 8 through a motor bracket 11. The output shaft of the motor 3 is connected to the roller 5 through a coupling 13. A gear 6 is installed at the end of the roller 5, and the gear 6 is meshed with the rack 1. The gear 6 is installed on the high-precision roller 5 to reduce the gap in the movement, thereby improving the accuracy and stability of the gear transmission and reducing the influence of the return difference. The motor 3 drives the gear rack to mesh, driving the base plate 8 and the slider 14 to move along the circumference of the guide rail 2, thereby driving the mass block 9 on the surface of the base plate 8 to move, thereby achieving precise adjustment of the center of mass position and posture balance of the underwater robot.

[0027] A photoelectric encoder 4 is provided on the top of the motor 3, and the photoelectric encoder 4 is connected to the mass center adjustment controller. The photoelectric encoder 4 drives the motor 3 to rotate according to the command of the mass center adjustment controller. The motor 3 drives the roller 5 to rotate through the coupling 13, and the roller 5 drives the gear 6 to rotate, thereby driving the slider 14 to move on the guide rail 2. The slider 14 is connected to the bottom plate 8, and the bottom plate 8 moves with the movement of the slider 14, thereby adjusting the position of the mass block 9. The coupling 13 is effectively used to reduce the influence of the vibration of the motor 3 on the transmission accuracy of the gear 6, ensuring that even if the output shaft of the motor 3 is not completely aligned with the axis of the roller 5, the system can still efficiently transmit the driving force.

[0028] Laser sensors 7 are installed on both sides of the slider 14, and the laser sensor 7 is connected to the center of mass adjustment controller. A limit switch 10 is installed on one side of the motor 3. The laser sensor 7 is used to detect the position between the sliders 14 in real time. When the slider 14 is about to reach the collision area, the laser sensor 7 triggers the limit switch 10 and immediately stops driving the motor 3 to prevent the gear 6 from colliding.

[0029] The motor 3 adopts a double-winding design, and an electromagnetic brake 12 is provided on the coupling 13; the electromagnetic brake 12 locks the position of the gear 6 after the motor 3 is powered off to ensure the stability of the system.

[0030] The center of mass control controller adopts hot backup design, including main system and backup system. The main system and backup system of the center of mass control controller are completely consistent, using two STM32 microcontrollers, the main MCU performs the main tasks, and the backup MCU monitors the status of the main MCU. If the main MCU fails, the backup MCU can take over the task and keep the robot running.

[0031] like Figure 4As shown, the main system and the backup system both include a power module, a main control system, a communication circuit module, a motor drive module, a photoelectric encoder acquisition module and a sensor signal acquisition module. The main control system is connected to the communication circuit module, the motor drive module, the photoelectric encoder acquisition module and the sensor signal acquisition module through cables. The motor drive module transmits the output instruction to the motor winding of the center of mass adjustment mechanism, and the communication circuit module establishes a communication connection with the computer. The photoelectric encoder acquisition module is connected to the photoelectric encoder of the center of mass adjustment mechanism, and the sensor signal acquisition module is connected to the laser sensor and the limit switch. The main control system receives and analyzes the center of mass adjustment instruction of the computer through the communication circuit module, generates corresponding execution instructions, and drives the motor 3 to move through the motor drive module. The motor 3 drives the gear 6 to drive the photoelectric encoder 4 to rotate, and the photoelectric encoder acquisition module transmits the output signal to the main control system. The main control system calculates the position of the mass block 9 in real time through these signals, and adjusts the position of the mass block 9 according to the calculation results. After reaching the specified position, the motor 3 stops, and the adjustment of the center of mass of the underwater robot is completed. During the movement of the mass block 9, the sensor module monitors the status information of the slider 14 in real time.

[0032] The input end of the power module is connected to the power supply, and the output end is connected to the main control system, the motor drive module and the photoelectric encoder acquisition module. In addition, the output end of the power module is also powered by photoelectric encoding, and the power switching circuit is connected to the photoelectric encoder 4 of the centroid adjustment mechanism. The main function of the power module is to provide the necessary power for each module, the motor 3 and the photoelectric encoder 4.

[0033] The motor drive module can drive multiple motors at the same time, which not only reduces power consumption and weight, but also simplifies software design, while effectively solving the problem of mutual influence of induced voltages between the main and standby windings of the motor.

[0034] The center of mass adjustment mechanism adopts modular design, which makes the system highly flexible and maintainable. Each module can be designed, tested and replaced independently without large-scale changes to the entire system.

[0035] like Figure 5 As shown, the adjustment method of the center of mass adjustment system based on the disc-shaped underwater robot of the present invention comprises the following steps:

[0036] S1. First, determine the installation position of the mass center adjustment mechanism. In order to ensure the stability of the underwater robot, the mass center adjustment mechanism is evenly distributed along the guide rail. The mass of the mass block 9 is calculated. According to the weight of the underwater robot and the mass center adjustment range, the weight and adjustment range of the mechanism on the mass block 9 are determined.

[0037] S2. After receiving the center of mass adjustment instruction from the computer, the center of mass adjustment controller parses and executes the command, connects the power supply of the corresponding photoelectric encoder 4 and the winding of the corresponding motor, drives the motor 3, and the motor 3 drives the coupling 13 to rotate, the coupling 13 drives the gear 6 to rotate, and the gear 6 drives the mass block 9 to move along the guide rail 2. At the same time, the motor 3 drives the photoelectric encoder 4 to rotate, and the output signal of the photoelectric encoder 4 is collected to obtain the number of rotations and angles, so as to adjust the position of the mass block 9 to reach the specified position, thereby realizing the adjustment of the center of mass of the underwater robot; at the same time, during the movement of the mass block 9, the sensor information acquisition module collects the status information of the laser sensor 7 to determine whether the mass block 9 reaches the collision risk zone of the guide rail 2. If it reaches, the limit switch 10 is triggered to immediately stop the driving motor.

Claims

1. A mass center adjustment system based on a saucer-shaped underwater robot, characterized in that: The invention comprises a center of mass adjustment device and a center of mass adjustment controller installed inside the underwater robot. The center of mass adjustment device comprises a base installed inside the underwater robot. A rack is arranged around the inner side of the base. A guide rail is arranged around the surface of the base. At least two center of mass adjustment mechanisms are slidably connected in the guide rail. A single center of mass adjustment mechanism comprises a bottom plate. A mass block is arranged on the upper surface of the bottom plate. A slider is fixed on the lower surface. The slider is slidably connected to the guide rail. A transmission mechanism is arranged on the end of the bottom plate away from the slider. The transmission mechanism is transmission-connected to the rack.

2. A mass center adjustment system based on a saucer-shaped underwater robot according to claim 1, characterized in that: The transmission mechanism comprises a motor, which is mounted on the upper surface of the base plate. The output shaft of the motor is connected to the roller through a coupling. A gear is mounted at the end of the roller, and the gear is meshed with the rack.

3. A mass center adjustment system based on a saucer-shaped underwater robot according to claim 2, characterized in that: A photoelectric encoder is arranged on the top of the motor, and the photoelectric encoder is connected to the mass center adjustment controller.

4. A mass center adjustment system based on a saucer-shaped underwater robot according to claim 3, characterized in that: Laser sensors are installed on both sides of the slider, the laser sensors are connected to the center of mass adjustment controller, and a limit switch is installed on one side of the motor.

5. A mass center adjustment system based on a saucer-shaped underwater robot according to claim 4, characterized in that: The laser sensor is used to detect the position between the sliders in real time. When the sliders are about to reach the collision area, the laser sensor triggers the limit switch to stop the driving motor.

6. The mass center adjustment system based on a saucer-shaped underwater robot according to claim 1, characterized in that: The center of mass adjustment controller includes a main system and a backup system, both of which include a power supply module, a main control system, a communication circuit module, a motor drive module, a photoelectric encoder acquisition module and a sensor signal acquisition module, and the main control system is connected to the communication circuit module, the motor drive module, the photoelectric encoder acquisition module and the sensor signal acquisition module.

7. A mass center adjustment system based on a saucer-shaped underwater robot according to claim 6, characterized in that: The motor drive module transmits the output instruction to the motor winding of the center of mass adjustment mechanism, and the communication circuit module establishes a communication connection with the computer; the photoelectric encoder acquisition module is connected to the photoelectric encoder of the center of mass adjustment mechanism, and the sensor signal acquisition module is connected to the laser sensor and the limit switch; the main control system receives and analyzes the computer's center of mass adjustment instruction through the communication circuit module, drives the motor to move, and the motor drive gear drives the photoelectric encoder to rotate. The photoelectric encoder acquisition module transmits the output signal to the main control system, and the main control system adjusts the position of the mass block.

8. The mass center adjustment system based on a saucer-shaped underwater robot according to claim 1, characterized in that: The coupling is provided with an electromagnetic brake.

9. The mass center adjustment system based on a saucer-shaped underwater robot according to claim 1, characterized in that: The guide rail is coaxially installed with the rack.

10. A method for adjusting the mass center adjustment system of a disc-shaped underwater robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: The mass center adjustment mechanism is evenly distributed along the guide rail, the mass of the mass block is calculated, and the weight and adjustment range of the mechanism on the mass block are determined according to the weight of the underwater robot and the mass center adjustment range; After receiving the center of mass adjustment instruction, the center of mass adjustment controller connects the corresponding photoelectric encoder and the corresponding motor, and drives the motor to drive the mass block to move along the guide rail. At the same time, the motor drives the photoelectric encoder to rotate, and adjusts the position of the mass block by collecting the output signal of the photoelectric encoder. At the same time, during the movement of the mass block, the status information of the laser sensor is collected to determine whether the mass block reaches the collision danger zone of the guide rail. If it reaches it, the limit switch is triggered to stop the drive motor immediately.

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