Underwater stabilizing and posture regulating and controlling system for underwater maintenance equipment

Abstract

The invention discloses an underwater stabilization and posture regulation and control system and method for underwater maintenance equipment, and belongs to the field of underwater concrete damage repair of hydraulic structures. The invention aims to solve the problem that the attitude is unstable due to the influence of water flow and waves when equipment moves in an underwater environment. According to the technical scheme, the device comprises a lower supporting module, a hydraulic rod, an oil pressure system, an annular mass block, a suspension steel cable and a posture regulation and control system composed of various sensors, namely an accelerometer, a gyroscope, an inclination angle observation instrument, a distance measuring sensor and the like; the core lies in that a PID controller receives sensor data and controls an oil pressure system to drive a hydraulic rod to adjust the position of an annular mass block so as to absorb and reduce adverse effects of an underwater dynamic environment, underwater stabilization and posture regulation and control are achieved, the posture of equipment is monitored and adjusted in real time, and the operation precision is ensured; stability and safety of the underwater maintenance equipment are improved, the underwater maintenance equipment is suitable for maintenance tasks in various complex underwater environments, applicability is wide, practicability is high, and maintenance and upgrading are convenient due to the modular design.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater maintenance of hydraulic structures and marine facilities, and in particular to an underwater stabilization and posture control system for underwater maintenance equipment. Background Art

[0002] With the widespread application and continuous service of underwater structures such as hydraulic structures, marine facilities and submarine pipelines, these structures inevitably face problems such as aging, corrosion and damage, which pose a serious threat to the safety and functionality of underwater structures. Therefore, underwater maintenance work has become a key link to ensure the continued stable operation of these structures. Traditional underwater maintenance mainly relies on direct operation by divers, but this method is not only costly, but also has great safety risks, especially in deep sea or complex water flow environments, the life safety of divers faces great challenges.

[0003] In order to improve the efficiency and safety of underwater maintenance, various underwater robots and automated maintenance equipment have emerged in recent years. These equipment can perform various complex maintenance tasks in underwater environments, greatly reducing the workload of divers and improving the accuracy and reliability of maintenance operations. However, the underwater operating environment is complex and changeable, and water currents, waves and other dynamic factors have a significant impact on the stability and operating accuracy of underwater maintenance equipment. Especially in areas with strong currents or rough seas, the problem of unstable posture of underwater maintenance equipment is particularly prominent, which not only affects the efficiency and quality of maintenance operations, but may also cause damage to the equipment itself and even cause safety accidents.

[0004] In order to overcome the problem of unstable attitude of underwater maintenance equipment in complex water environments, researchers and engineers have proposed a variety of attitude control technologies. Among them, the method of using thrusters, propellers or other control devices to maintain the stability of the equipment is more common. These methods adjust the attitude of the equipment through continuous power input. Although they can improve the stability of the equipment to a certain extent, they often consume a lot of energy and have limited response speed, which makes it difficult to meet the requirements of underwater maintenance operations for rapid response and precise control. In addition, dampers and other mechanical buffer systems are also used to absorb shocks and reduce vibrations, but these systems are usually complex in structure, with high adjustment and maintenance costs, and it is often difficult to achieve ideal attitude control effects in practical applications.

[0005] Therefore, the prior art has not yet provided a posture control method that is both concise and effective and can fully adapt to the underwater dynamic environment. This method needs to be able to effectively reduce the instability caused by water flow and waves to underwater maintenance equipment, thereby improving the safety and reliability of underwater operations, while reducing energy consumption and operational difficulty. Specifically, the ideal posture control method should have the following characteristics: first, it can monitor and quickly respond to dynamic changes in the underwater environment in real time; second, it can achieve stable control of the equipment posture through precise control algorithms and mechanical structures; third, it has a simple structure, is easy to maintain, and can adapt to various complex underwater operating environments.

[0006] In summary, developing a new attitude control method for underwater maintenance equipment to achieve rapid adaptation and response to complex underwater dynamic conditions and improve the stability and safety of underwater maintenance operations has become a key issue that needs to be urgently solved in the current field of underwater engineering technology. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide an underwater stabilization and posture control system and method for underwater maintenance equipment, so as to solve the problem of unstable posture of underwater maintenance equipment in complex underwater environment in the field of underwater concrete damage repair of existing hydraulic structures.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is: an underwater stabilization and attitude control system for underwater maintenance equipment, including a plurality of lower support modules, an annular mass block is connected to the lower support module through a hydraulic rod and fixed in a dry chamber, and a suspension cable connects the dry chamber and the annular mass block to bear the vertical force of the annular mass block; the system relies on the data fusion of accelerometers, gyroscopes, inclinometers, and ranging sensors to transmit feedback signals to a PID controller, and a PID (Proportion Integration Differentiation) controller processes sensor data and generates control commands for adjusting the position of the hydraulic rod to achieve attitude stability.

[0009] In the preferred scheme, the PID controller determines the posture change of the underwater maintenance equipment based on the data feedback from the accelerometer, gyroscope, inclinometer and ranging sensor, and sends a command signal to the oil hydraulic system; the oil hydraulic system acts as the receiving and distributing end of the command signal, regulates the hydraulic system to adjust the length and position of each hydraulic rod, and uses the reaction force generated by the annular mass block to offset the swaying of the maintenance equipment caused by the waves, thereby achieving posture stability.

[0010] In a preferred solution, the oil pressure system has a fast response characteristic for controlling the hydraulic rod, and can adjust the position of the annular mass block within milliseconds to cope with sudden wave impacts and achieve fast and precise attitude adjustment.

[0011] In a preferred solution, the hydraulic rods are arranged in three groups of six, and each hydraulic rod is hinged to a bottom hydraulic rod support and an upper hydraulic rod support, allowing free rotation in multiple dimensions, thereby enhancing the flexibility of adjusting the position of the annular mass block.

[0012] In a preferred solution, the annular mass block adopts an annular design to accommodate the movement of the robotic arm in and out of the cabin when the underwater maintenance equipment reaches a designated working surface, as well as the movement of the robotic arm in the dry chamber during the maintenance process.

[0013] In a preferred solution, the dry chamber cabin adopts a hemispherical double-layer hollow structure, with a robotic arm storage chamber inserted on the top, a buoyancy block installed on the top of the robotic arm storage chamber, and a group of three thrusters installed in the middle and lower part.

[0014] In a preferred solution, the robot arm storage room is hollow in the middle and is connected with the dry room cabin through and around which are arranged several layers of platforms.

[0015] In a preferred solution, accelerometers, gyroscopes, inclinometers, distance sensors and PID controllers are respectively installed on several platforms of the robotic arm storage room, and the accelerometers, gyroscopes, inclinometers, distance sensors, thrusters and hydraulic systems are all connected to the PID controller.

[0016] In a preferred solution, the three thrusters are respectively installed on the platforms in the middle and lower parts of the robot arm storage room, the thruster on the middle platform is installed vertically, and the two thrusters on the lower platform are installed horizontally and symmetrically.

[0017] The underwater stabilization and posture control method for underwater maintenance adopts any one of the above-mentioned underwater stabilization and posture control systems for underwater maintenance, and comprises the following steps: Step 1: The equipment is put into water. During the navigation and diving process, the inclinometer is started to observe and measure the underwater structural surface, obtain the inclination angle of the underwater structural surface, and send the measurement result to the PID controller; at the same time, the distance sensor is started to monitor the distance between the bottom of the dry chamber and the structural surface in real time; Step 2: The PID controller determines the attitude angle that needs to be adjusted based on the sensor measurement results and makes a decision, and sends the decision command to the oil pressure system. The oil pressure system adjusts the position of the hydraulic rod according to the command. Through the movement of the annular mass block, the forces acting inside and outside the dry chamber are offset, achieving stabilization and attitude adjustment in water; Step 3: After achieving underwater stabilization and attitude adjustment under low-speed conditions, push the entire equipment toward the structural surface until the bottom of the dry chamber is in contact with the structural surface, turn off the thruster, and keep the underwater stabilization and attitude control system turned on to resist undercurrents during maintenance.

[0018] The underwater stabilization and posture control system and method for underwater maintenance equipment provided by the present invention have the following beneficial effects: 1. The present invention solves the problem of unstable posture of underwater maintenance equipment in the field of underwater concrete damage repair of existing hydraulic structures in complex underwater environments; 2. The present invention resists the unstable factors brought by the underwater environment (such as water flow and waves) through the dynamic adjustment of the internal annular mass block, effectively reduces the impact on the underwater maintenance equipment, and effectively solves the problem of unstable posture of underwater maintenance equipment during the diving process and after reaching the working surface; 3. The underwater maintenance equipment posture control method of the present invention significantly improves the operational stability and safety of underwater maintenance equipment in complex underwater environments by integrating innovative dynamic adjustment systems, intelligent control algorithms, multi-sensor monitoring technology, and the compatibility of annular mass blocks and mechanical arms; in addition, the posture control method of the present invention is also flexible and scalable, making it widely applicable to various types of underwater maintenance tasks; 4. The present invention adopts an intelligent dynamic mass adjustment system, which monitors the dynamic changes of external water flow and waves through high-precision sensors (such as accelerometers, gyroscopes, inclinometers, and ranging sensors), and adjusts the position and posture of the internal annular mass block in real time through advanced control algorithms (such as PID control), thereby generating a reaction force to counter external interference and achieving the optimal posture control effect; 5. The present invention integrates advanced oil pressure control technology, and forms a highly responsive dynamic adjustment mechanism by precisely controlling the extension and retraction of the hydraulic rod and the position of the mass block connected thereto. The design of the hydraulic system adopts an optimized flow channel design and a highly responsive servo valve, which greatly shortens the response time and improves the energy conversion efficiency. 6. The present invention uses multi-sensor fusion technology to accurately monitor the posture of underwater maintenance equipment, realizing all-round real-time monitoring of the equipment posture. By integrating the data of each sensor, the impact of a single sensor failure is reduced, and the reliability and robustness of the system are improved; 7. The mass block of the present invention adopts a ring-shaped design, which is conducive to the entry and exit of the manipulator arm when the underwater maintenance equipment reaches the designated working surface, as well as the movement of the manipulator arm in the dry chamber during the maintenance process, thereby improving the compatibility and efficiency of the system; 8. The present invention integrates innovative dynamic adjustment systems, intelligent control algorithms and multi-sensor monitoring technologies. Compared with traditional underwater maintenance equipment, which is easily disturbed in complex and changeable underwater environments (such as dynamic factors such as water flow and waves), resulting in unstable posture, it effectively solves the problem of unstable equipment posture in underwater environments and improves operation accuracy and safety. 9. By optimizing the system design and control strategy, the present invention greatly reduces the operational complexity, reduces energy consumption, and improves the reliability and stability of the system, compared with the existing attitude control technology which often requires continuous power input, has limited response speed, and has a complex structure and high adjustment and maintenance costs; 10. The present invention resists the unstable factors brought by the underwater environment, such as the force and momentum changes caused by water flow and waves, through the dynamic adjustment of the internal annular mass block, effectively resists the dynamic conditions in the complex underwater environment, and also effectively reduces the impact on the underwater maintenance equipment, ensuring the stability and safety of underwater maintenance operations; 11. The attitude control method of the present invention is flexible and scalable, and can be widely applied to various types of underwater maintenance tasks, thereby improving the applicability and practicality of underwater maintenance equipment; 12. The present invention achieves rapid and accurate adjustment of the posture of underwater maintenance equipment by precisely controlling the position and movement of the annular mass block, thereby improving the efficiency and quality of underwater maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings and implementation examples: Figure 1 It is a cross-sectional view of the overall structure of the system of the present invention; Figure 2 It is a front view of the overall structure of the system of the present invention; Figure 3 It is a schematic diagram of the assembly of the lower support, hydraulic rod and annular mass block of the system of the present invention; Figure 4 A top view of the assembly of the lower support, hydraulic rod and annular mass block of the system of the present invention; Figure 5 This is a schematic diagram of the principle of the intelligent dynamic adjustment system for the mass block posture; In the figure: lower support module 1, hydraulic rod 2, oil pressure system 3, bottom hydraulic rod support 4, upper hydraulic rod support 5, annular mass block 6, suspension cable 7, accelerometer 8, gyroscope 9, inclinometer 10, distance sensor 11, PID controller 12, dry chamber 13, thruster 14, robotic arm storage room 15, buoyancy block 16. DETAILED DESCRIPTION

[0020] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments: Example 1 like Figures 1 to 4As shown, the underwater stabilization and attitude control system for underwater maintenance equipment includes several lower support modules 1, the annular mass block 6 is connected to the lower support module 1 through the hydraulic rod 2 and fixed in the dry chamber 13, and the suspension cable 7 connects the dry chamber 13 and the annular mass block 6 to bear the vertical force of the annular mass block 6; the system relies on the data fusion of the accelerometer 8, the gyroscope 9, the inclinometer 10, and the ranging sensor 11 to transmit the feedback signal to the PID controller 12, and the PID controller 12 processes the sensor data and generates a control command for adjusting the position of the hydraulic rod 2 to achieve attitude stability.

[0021] In this embodiment, the PID controller 12 determines the posture change of the underwater maintenance equipment based on the data feedback from the accelerometer 8, the gyroscope 9, the inclinometer 10 and the ranging sensor 11, and sends a command signal to the oil pressure system 3; the oil pressure system 3 acts as the receiving and distributing end of the command signal, regulates the hydraulic system to adjust the length and position of each hydraulic rod 2, and uses the reaction force generated by the annular mass block 6 to offset the swaying of the maintenance equipment caused by the waves, thereby achieving posture stability.

[0022] Furthermore, the oil pressure system 3 has a fast response characteristic in controlling the hydraulic rod 2, and can adjust the position of the annular mass block 6 within milliseconds to cope with sudden wave impacts and achieve fast and accurate posture adjustment.

[0023] Furthermore, the hydraulic rods 2 are arranged in three groups of six, and each hydraulic rod 2 is hinged to the bottom hydraulic rod support 4 and the upper hydraulic rod support 5, allowing free rotation in multiple dimensions, thereby enhancing the flexibility of the position adjustment of the annular mass block 6.

[0024] Furthermore, the annular mass block 6 adopts an annular design to accommodate the movement of the robotic arm of the underwater maintenance equipment in and out of the cabin when it reaches the designated working surface, as well as the movement of the robotic arm in the dry chamber 13 during the maintenance process.

[0025] Furthermore, the dry chamber 13 adopts a hemispherical double-layer hollow structure, with a robotic arm storage chamber 15 inserted on the top, a buoyancy block 16 installed on the top of the robotic arm storage chamber 15, and a group of three thrusters 14 installed in the middle and lower part.

[0026] Furthermore, the robot arm storage room 15 is hollow in the middle and is connected with the dry room cabin 13 through penetration, and is surrounded by several layers of platforms.

[0027] Furthermore, accelerometers 8, gyroscopes 9, inclinometers 10, distance sensors 11 and PID controllers 12 are respectively installed on several platforms of the robotic arm storage room 15, and the accelerometers 8, gyroscopes 9, inclinometers 10, distance sensors 11, thrusters 14 and hydraulic systems are all connected to the PID controller 12.

[0028] Furthermore, the three thrusters 14 are respectively installed on the platforms in the middle and lower parts of the robot arm storage room 15, the thruster 14 on the middle platform is installed vertically, and the two thrusters 14 on the lower platform are installed horizontally and symmetrically.

[0029] Example 2 In another preferred embodiment, based on Example 1, Figure 5 As shown, the underwater stabilization and posture control method for underwater maintenance adopts any one of the above-mentioned underwater stabilization and posture control systems for underwater maintenance, and includes the following steps: Step 1: The equipment is put into water. During the navigation and diving process, the inclinometer 10 is started to observe and measure the underwater structural surface, obtain the inclination angle of the underwater structural surface, and send the measurement result to the PID controller 12; at the same time, the distance sensor 11 is started to monitor the distance between the bottom of the dry chamber 13 and the structural surface in real time; Step 2: The PID controller 12 determines the attitude angle that needs to be adjusted based on the sensor measurement results and makes a decision, and sends the decision command to the oil pressure system 3. The oil pressure system 3 adjusts the position of the hydraulic rod 2 according to the command, and through the movement of the annular mass block 6, the forces acting inside and outside the dry chamber 13 are offset to achieve stabilization and attitude adjustment in water; Step 3: After achieving underwater stabilization and attitude adjustment under low-speed conditions, push the entire equipment toward the structural surface until the bottom of the dry chamber 13 contacts and fits the structural surface, turn off the thruster 14, and keep the underwater stabilization and attitude control system turned on to resist undercurrents during maintenance.

[0030] Example 3 In another preferred embodiment, based on embodiments 1 and 2, Figure 5 As shown, the detailed working process of the underwater stabilization and attitude control method for underwater maintenance is as follows: 1. The equipment enters the water. During the dive, observation instruments such as the gyroscope 9, the inclinometer 10 and the distance sensor 11 are started to detect the stability of the underwater maintenance equipment and transmit the information back to the main controller.

[0031] 2. By controlling the oil pressure system, the movable annular mass block 6 is controlled by the extension and retraction of the hydraulic rod to adjust the position and movement of the mass block 6 to resist the influence of water flow and waves in the underwater environment; in this embodiment, 6 hydraulic rods 2 are installed inside the maintenance equipment, and the bottom support of each hydraulic rod 2 is hingedly connected to the mass block; this design allows the mass block to move in multiple dimensions, thereby enhancing the flexibility of adjusting the position of the mass block; the fast response characteristics of the hydraulic rod 2 allow the position of the mass block to be adjusted within milliseconds to quickly respond to sudden wave impacts.

[0032] 3. In order to monitor and control the posture changes of the maintenance equipment, this embodiment adopts a multi-sensor fusion technology, including an accelerometer 8, a gyroscope 9, an inclinometer 10 and a ranging sensor 11; these sensors monitor the posture of the equipment in real time and transmit the data to the PID controller 12; the PID controller 12 analyzes the sensor data and issues a control command to adjust the position of the hydraulic rod 2 to stabilize the posture of the maintenance equipment.

[0033] 4. In order to achieve the best attitude control effect, this embodiment also includes an annular mass block 6 and an intelligent mass block dynamic adjustment system. The annular mass block 6 plays the expected function of the underwater stabilization and attitude control system without affecting the work of the manipulator. The intelligent mass block dynamic adjustment system can dynamically adjust the control parameters according to the real-time changes of environmental conditions and equipment performance; the control strategy combines PID control 12 and fuzzy logic control to adapt to different underwater dynamic conditions; the hydraulic control system is highly integrated in design, including high-response servo valves and optimized flow channel design to ensure that the hydraulic rod 2 can quickly and accurately adjust the position of the mass block. The stabilization and attitude control system of the maintenance equipment can be quickly customized and assembled according to different underwater maintenance tasks; the underwater maintenance equipment of the present invention comprises a submersible and a dry chamber 13, and the two parts are connected by a connecting section; during underwater operations, the underwater stabilization and attitude control are placed in the dry chamber 13, and the dry chamber 13 is used to cover the part to be repaired; the attitude control method improves the stability and safety of the underwater maintenance equipment, and has a fast response speed and strong adaptability, and is suitable for various complex underwater environments; after the dry chamber 13 and the crushing surface are combined, the thruster 14 is turned off, and the underwater stabilization and attitude control remain in working condition until the repair is completed.

[0034] Example 4 In another preferred embodiment, based on embodiments 1, 2, and 3, Figures 1 to 5 As shown, this embodiment describes in detail the structural composition of the underwater maintenance equipment posture control system and the working principle of the posture control method of the present invention.

[0035] like Figures 1 to 4As shown, the attitude control system is carried in a submersible, and is mainly composed of a lower support module 1, a hydraulic rod 2, an oil pressure system 3, a bottom hydraulic rod support 4, an upper hydraulic rod support 5, an annular mass block 6, a suspension cable 7, an accelerometer 8, a gyroscope 9, an inclinometer 10, a distance sensor 11, a PID controller 12, a dry chamber 13, a thruster 14, and a mechanical arm storage chamber 15; wherein, the annular mass block 6 is placed inside the dry chamber 13, and is connected to the inner wall of the dry chamber 13 through the hydraulic rod 2 and the lower support module 1; the design of the annular mass block 6 is intended to improve the compatibility and efficiency of the system, so as to adapt to the work of the mechanical arm entering and exiting the underwater maintenance equipment when it reaches the designated working surface, and the movement of the mechanical arm in the dry chamber during the maintenance process.

[0036] The working principle of the posture control method is as follows: Equipment entering the water and diving: When the underwater maintenance equipment enters the water and starts to dive, the inclinometer 10 is started to observe and measure the underwater structural surface to obtain the inclination angle of the underwater structural surface, and the measurement result is sent to the PID controller 12; at the same time, the distance measuring sensor 11 is started to monitor the distance between the bottom of the dry chamber 13 and the structural surface in real time to ensure that there is enough preparation time for manual intervention in areas with severe undercurrents.

[0037] Attitude adjustment and stabilization: The PID controller 12 determines the attitude angle that needs to be adjusted and makes a decision based on the real-time monitoring data provided by sensors such as the accelerometer 8, the gyroscope 9, the inclinometer 10, and the distance sensor 11. Then, the decision instruction is sent to the oil pressure system 3, and the oil pressure system 3 adjusts the position of the hydraulic rod 2 under the decision instruction of the PID controller 12; the hydraulic rod 2 is connected to the annular mass block 6 to control the movement of the annular mass block 6, so that the forces acting inside and outside the dry chamber 13 offset each other, thereby achieving the purpose of stabilization and attitude adjustment in the water; in this embodiment, the number of hydraulic rods 2 is 6, and each hydraulic rod 2 is hingedly connected to the bottom hydraulic rod support 4 and the upper hydraulic rod support 5 to allow free rotation in multiple dimensions, thereby enhancing the flexibility of the position adjustment of the annular mass block 6.

[0038] Propulsion and contact: After achieving stabilization and posture adjustment in the water under low-speed conditions, the equipment is pushed as a whole toward the structural surface. At this time, the propellers 14 at different positions have the same propulsion direction. During the process, the distance sensor 11 installed at the bottom of the dry chamber 13 monitors the distance between the bottom of the dry chamber 13 and the structural surface in real time; when the bottom of the dry chamber 13 is in contact with the structural surface, that is, when the value of the distance sensor 11 is zero, the propeller 14 is turned off; during this process, the underwater stabilization and posture control system is always kept in the open state to resist the undercurrent during the maintenance process. At this point, the dry chamber 13 has completed the coverage of the underwater structural surface to be repaired, providing corresponding conditions for subsequent inspection and repair.

[0039] Example 5 In another preferred embodiment, based on embodiments 1, 2, and 3, Figures 1 to 5 As shown, this embodiment further demonstrates the intelligent dynamic adjustment system and control strategy of the annular mass block 6 in the present invention.

[0040] like Figure 5 As shown, the dynamic adjustment of the annular mass block 6 relies on the PID controller 12 to make signal feedback, and the oil pressure system 3 acts as the receiving end to control the six hydraulic rods 2 to achieve it; the PID controller 12 adopts a proportional-integral-differential (PID) control algorithm, combined with fuzzy logic control, to write a control algorithm and load it to the main controller; the algorithm can adjust the position of the mass block in real time according to the data provided by the posture monitoring system, so as to achieve fast and accurate posture stabilization.

[0041] The specific implementation steps of the control strategy are as follows: Multi-sensor data fusion: Sensors such as accelerometer 8, gyroscope 9, inclinometer 10 and ranging sensor 11 monitor the posture changes of underwater maintenance equipment in real time and transmit the data to PID controller 12; PID controller 12 analyzes the sensor data and issues control commands.

[0042] Dynamically adjust the position of the mass block: The PID controller 12 adjusts the position of the hydraulic rod 2 according to the control command to adjust the position and movement of the annular mass block 6; in this embodiment, the fast response characteristics of the hydraulic rod 2 allow the position of the mass block to be adjusted within milliseconds to quickly respond to sudden wave impacts.

[0043] Intelligent control strategy: The intelligent mass block dynamic adjustment system can dynamically adjust control parameters according to real-time changes in environmental conditions and equipment performance; the control strategy combines PID control and fuzzy logic control to adapt to different underwater dynamic conditions; in addition, the system can be quickly customized and assembled according to the specific needs of underwater maintenance tasks.

[0044] Through the description of the above embodiments, it can be seen that the underwater maintenance equipment posture control method of the present invention has significant innovation and practicality. The method resists the unstable factors brought by the underwater environment (such as water flow and waves) through the dynamic adjustment of the internal annular mass block 6, effectively reducing the impact on the underwater maintenance equipment. At the same time, the present invention also adopts a highly integrated oil pressure control system, multi-sensor fusion technology and intelligent control strategy to achieve accurate and rapid control of the posture of underwater maintenance equipment. This method not only improves the safety and stability of underwater operations, but also reduces the difficulty and cost of operation, providing strong technical support for deep-sea exploration and maintenance.

[0045] Furthermore, the PID controller 12 determines the posture change of the underwater maintenance equipment based on the data feedback from the accelerometer 8, the gyroscope 9, the inclinometer 10 and the ranging sensor 11, and sends a command signal to the oil pressure system 3; the oil pressure system 3, as the receiving and distributing end of the command signal, regulates the hydraulic system to adjust the length and position of each hydraulic rod 2, and uses the reaction force generated by the annular mass block 6 to offset the swaying of the maintenance equipment caused by the waves, thereby achieving posture stability; the above settings ensure the accuracy and safety of the underwater maintenance equipment when operating in a complex marine environment, effectively extend the maintenance cycle, improve the operating efficiency, and at the same time reduce the risk of equipment damage caused by unstable posture.

[0046] Furthermore, the oil pressure system 3 has a fast response characteristic in controlling the hydraulic rod 2, and can adjust the position of the annular mass block 6 within milliseconds to cope with sudden wave impacts and achieve fast and precise attitude adjustment; the above settings ensure the stability and safety of the ship in complex sea conditions. At the same time, by optimizing the control strategy through intelligent algorithms, the oil pressure system 3 can also effectively reduce energy consumption and improve overall operating efficiency.

[0047] Furthermore, the hydraulic rods 2 are arranged in three groups of six, and each hydraulic rod 2 is hinged to the bottom hydraulic rod support 4 and the upper hydraulic rod support 5, allowing free rotation in multiple dimensions, thereby enhancing the flexibility of position adjustment of the annular mass block 6; the above arrangement enables the entire system to more accurately control the trajectory of the annular mass block 6, and achieve fast and smooth position adjustment, thereby improving the stability and efficiency of the equipment operation, while reducing energy consumption and wear.

[0048] Furthermore, the annular mass block 6 adopts an annular design to adapt to the operation of the robotic arm entering and exiting the cabin when the underwater maintenance equipment reaches the designated working surface, as well as the movement of the robotic arm in the dry chamber 13 during the maintenance process; the above arrangement enables the annular mass block 6 to not only effectively balance the center of gravity of the underwater maintenance equipment and improve stability, but also provide sufficient working space for the flexible operation of the robotic arm through the optimization of its internal space, thereby ensuring the smooth progress of the maintenance work.

[0049] Furthermore, the dry chamber cabin 13 adopts a hemispherical double-layer hollow structure, with a robotic arm storage chamber 15 inserted on the top, a buoyancy block 16 installed on the top of the robotic arm storage chamber 15, and a group of three thrusters 14 installed in the middle and lower part; the above arrangement enables the dry chamber cabin 13 to maintain a stable posture in a deep sea environment, and the buoyancy block 16 automatically adjusts the buoyancy according to the water depth to ensure overall balance; the thruster 14 provides precise power support to facilitate precise position adjustment and moving operations.

[0050] Furthermore, the robot arm storage room 15 is hollow in the middle and is connected with the dry room cabin 13, and is surrounded by several layers of platforms; the above arrangement allows the robot arm to move flexibly in the storage room and quickly enter the dry room cabin 13 through the through passage to perform precision operations; each layer of platform is reasonably designed to ensure the high efficiency of storage, maintenance and rapid dispatch of the robot arm.

[0051] Furthermore, accelerometers 8, gyroscopes 9, inclinometers 10, distance sensors 11 and PID controllers 12 are respectively installed on several platforms of the robotic arm storage room 15; the accelerometers 8, gyroscopes 9, inclinometers 10, distance sensors 11, thrusters 14 and hydraulic systems are all connected to the PID controller 12; the above settings, through real-time feedback adjustment of the PID controller 12, ensure that the robotic arm can accurately control its posture and position during storage and operation, effectively prevent collisions, and improve the safety and stability of the overall operation.

[0052] Furthermore, the three thrusters 14 are respectively installed on the platforms in the middle and lower parts of the robot arm storage room 15. The thruster 14 on the middle platform is installed vertically, and the two thrusters 14 on the lower platform are installed horizontally and symmetrically. The above arrangement can ensure the precise control and stable movement of the robot arm in a complex space. The middle vertical thruster 14 provides vertical lifting force, while the lower horizontal thruster 14 realizes left and right and rotational movements, thereby enhancing the flexibility and operating range of the robot arm.

[0053] In summary, the underwater stabilization and attitude control system for underwater maintenance equipment proposed in the present invention solves the problem of unstable attitude of underwater maintenance equipment in complex underwater environments in the field of underwater concrete damage repair of existing hydraulic structures; the present invention adopts an intelligent mass block dynamic adjustment system, monitors the dynamic changes of external water flow and waves through high-precision sensors (such as accelerometers, gyroscopes, inclinometers and ranging sensors), and adjusts the position and attitude of the internal annular mass block in real time in combination with advanced control algorithms (such as PID control and fuzzy logic control). This design enables the system to maintain stable control performance in unknown or changing underwater environments and effectively resist external interference; the system integrates advanced oil pressure control technology, and forms a highly responsive dynamic adjustment mechanism by accurately controlling the extension and retraction of the hydraulic rod and the position of the mass block connected thereto. The design of the hydraulic system adopts an optimized flow channel design and a high-response servo valve, which significantly shortens the response time and improves the energy conversion efficiency; the mass block of the present invention adopts an annular design, which not only improves the compatibility of the system (for example, it does not affect the movement of the mechanical arm in the dry chamber), but also enhances the efficiency of the system, so that the mass block can more effectively generate a reaction force to stabilize the equipment attitude. The present invention creatively combines the intelligent mass block dynamic adjustment system, the highly integrated oil pressure control system and the multi-sensor fusion technology to form a set of efficient and reliable underwater maintenance equipment posture control method. This comprehensive application not only improves the stability and safety of the system, but also significantly reduces energy consumption and operation difficulty. By optimizing the design of the hydraulic system and adopting a high-response servo valve, the present invention realizes rapid and precise control of the mass block position. This rapid response characteristic enables the system to adjust the position of the mass block within milliseconds to quickly respond to sudden wave impacts, thereby achieving rapid and precise posture adjustment. The posture control method of the present invention is flexible and scalable, and can be widely applied to various types of underwater maintenance tasks. In addition, by adjusting system parameters and configurations, the method can also be quickly customized and assembled to adapt to different underwater environments and maintenance needs. This wide applicability and scalability give the present invention significant advantages and potential in the field of underwater maintenance. Furthermore, the present invention integrates an advanced fault diagnosis and early warning system, which can monitor the equipment status in real time, discover and prevent potential faults in advance, ensure the continuity and safety of underwater maintenance operations, and provide solid technical support for future deep-sea exploration and maintenance.

Claims

1. An underwater stabilization and attitude control system for underwater maintenance equipment, characterized in that: The system comprises a plurality of lower support modules (1), an annular mass block (6) connected to the lower support module (1) via a hydraulic rod (2) and fixed in a dry chamber (13), a suspension cable (7) connecting the dry chamber (13) and the annular mass block (6) and used to bear the vertical force of the annular mass block (6); the system relies on data fusion of an accelerometer (8), a gyroscope (9), an inclinometer (10) and a distance sensor (11) to transmit feedback signals to a PID controller (12); the PID controller (12) processes the sensor data and generates a control command for adjusting the position of the hydraulic rod (2) to achieve a stable posture.

2. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 1 is characterized in that: The PID controller (12) determines the posture change of the underwater maintenance equipment based on the data feedback from the accelerometer (8), the gyroscope (9), the inclinometer (10) and the distance sensor (11), and sends a command signal to the oil pressure system (3); the oil pressure system (3) serves as a receiving and distributing end of the command signal, controls the hydraulic system to adjust the length and position of each hydraulic rod (2), and uses the reaction force generated by the annular mass block (6) to offset the swaying of the maintenance equipment caused by waves, thereby achieving a stable posture.

3. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 2 is characterized in that: The oil pressure system (3) has a fast response characteristic in controlling the hydraulic rod (2), and can adjust the position of the annular mass block (6) within milliseconds to cope with sudden wave impacts, thereby achieving fast and accurate attitude adjustment.

4. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 3 is characterized in that: The hydraulic rods (2) are arranged in three groups of six, and each hydraulic rod (2) is hinged to a bottom hydraulic rod support (4) and an upper hydraulic rod support (5), allowing free rotation in multiple dimensions, thereby enhancing the flexibility of adjusting the position of the annular mass block (6).

5. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 4 is characterized in that: The annular mass block (6) adopts an annular design to accommodate the work of the mechanical arm going out of and into the cabin when the underwater maintenance equipment reaches a designated working surface, as well as the movement of the mechanical arm in the dry chamber (13) during the maintenance process.

6. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 5 is characterized in that: The dry chamber cabin (13) adopts a hemispherical double-layer hollow structure, with a mechanical arm storage chamber (15) inserted on the top, a buoyancy block (16) installed on the top of the mechanical arm storage chamber (15), and a group of three thrusters (14) installed in the middle and lower part.

7. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 6 is characterized in that: The mechanical arm storage room (15) is hollow in the middle and is connected to the dry room cabin (13) through and around which are arranged several layers of platforms.

8. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 7 is characterized in that: An accelerometer (8), a gyroscope (9), an inclination observation instrument (10), a distance sensor (11) and a PID controller (12) are respectively installed on the several layers of platforms of the mechanical arm storage room (15); the accelerometer (8), the gyroscope (9), the inclination observation instrument (10), the distance sensor (11), the thruster (14) and the hydraulic system are all connected to the PID controller (12).

9. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 7, characterized in that: The three thrusters (14) are respectively installed on the platforms in the middle and lower parts of the robot arm storage room (15), the thruster (14) on the middle platform is installed vertically, and the two thrusters (14) on the lower platform are installed horizontally and symmetrically.

10. A method for underwater stabilization and posture control for underwater maintenance, which adopts the underwater stabilization and posture control system for underwater maintenance as claimed in any one of claims 1 to 9, characterized in that: The method comprises the following steps: Step 1: The equipment is put into water. During the navigation and diving process, the inclinometer (10) is started to observe and measure the underwater structural surface, obtain the inclination angle of the underwater structural surface, and send the measurement result to the PID controller (12); at the same time, the distance sensor (11) is started to monitor the distance between the bottom of the dry chamber (13) and the structural surface in real time; Step 2: The PID controller (12) determines the attitude angle that needs to be adjusted based on the sensor measurement results and makes a decision, and sends the decision command to the oil pressure system (3). The oil pressure system (3) adjusts the position of the hydraulic rod (2) according to the command, and through the movement of the annular mass block (6), the forces acting inside and outside the dry chamber (13) are offset, thereby achieving stabilization and attitude adjustment in water; Step 3: After achieving underwater stabilization and attitude adjustment under low-speed conditions, the equipment is pushed toward the structural surface as a whole until the bottom of the dry chamber (13) contacts and fits the structural surface, and the thruster (14) is turned off. At the same time, the underwater stabilization and attitude control system is kept turned on to resist undercurrents during maintenance.

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