In-water stabilization and attitude control system and method for underwater maintenance equipment

Abstract

The underwater stabilization and attitude control system and method for underwater maintenance equipment belong to the field of underwater concrete damage repair of hydraulic structures; the present invention aims to solve the problem of attitude instability caused by water flow and wave when the equipment moves in the underwater environment; the technical solution includes a lower support module, a hydraulic rod, an oil pressure system, an annular mass block, a suspension cable and a variety of sensors, namely an attitude control system composed of accelerometers, gyroscopes, inclinometers, ranging sensors, etc.; the core is to receive sensor data through a PID controller, control the oil pressure system to drive the hydraulic rod to adjust the position of the annular mass block, so as to absorb and reduce the adverse effects of the underwater dynamic environment, realize underwater stabilization and attitude control, and monitor and adjust the equipment attitude in real time to ensure operation accuracy; improve the stability and safety of underwater maintenance equipment, and be suitable for maintenance tasks in various complex underwater environments. It has wide applicability and strong practicality, and the modular design facilitates maintenance and upgrading.

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 and method for underwater maintenance equipment. Background Art

[0002] With the widespread use and continued service of underwater structures such as hydraulic structures, marine facilities, and submarine pipelines, these structures inevitably face problems such as aging, corrosion, and damage, posing a serious threat to their safety and functionality. Therefore, underwater maintenance has become a critical link in ensuring the continued stable operation of these structures. Traditional underwater maintenance relies primarily on direct operation by divers, but this method is not only costly but also carries significant safety risks, especially in deep sea or complex water flow environments, where the safety of divers is greatly threatened.

[0003] To improve the efficiency and safety of underwater maintenance, various underwater robots and automated maintenance equipment have emerged in recent years. These devices are capable of performing a variety of complex maintenance tasks underwater, significantly reducing the workload of divers and improving the accuracy and reliability of maintenance operations. However, the underwater operating environment is complex and dynamic, with currents, waves, and other dynamic factors significantly impacting the stability and operational accuracy of underwater maintenance equipment. In areas with strong currents or rough seas, the instability of underwater maintenance equipment is particularly prominent. This not only affects the efficiency and quality of maintenance operations, but can also damage the equipment itself and even lead to 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 relatively 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 fast response and precise control. In addition, dampers and other mechanical buffer systems are also used to absorb shock and reduce vibration, but these systems are usually complex in structure, with high adjustment and maintenance costs, and it is often difficult to achieve the ideal attitude control effect in actual applications.

[0005] Therefore, existing technologies have yet to provide a simple, effective, and fully adaptable attitude control method for underwater maintenance equipment. Such a method needs to be able to effectively reduce the instability caused by water currents and waves on underwater maintenance equipment, thereby improving the safety and reliability of underwater operations while reducing energy consumption and operational difficulty. Specifically, an ideal attitude control method should have the following characteristics: first, it should be able to monitor and quickly respond to dynamic changes in the underwater environment in real time; second, it should be able to achieve stable control of the equipment's attitude through precise control algorithms and mechanical structures; and third, it should be simple in structure, easy to maintain, and adaptable 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 environments in the field of underwater concrete damage repair of existing hydraulic structures.

[0008] 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 several lower support modules, an annular mass block is connected to the lower support modules through hydraulic rods 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 data fusion of accelerometers, gyroscopes, inclinometers, and ranging sensors to transmit feedback signals to a PID controller, and the 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 solution, the PID controller determines the posture changes of the underwater maintenance equipment based on data feedback from the accelerometer, gyroscope, inclinometer and ranging sensor, and sends a command signal to the oil hydraulic system; the oil hydraulic system serves as the receiving and distribution 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 the bottom hydraulic rod support and the 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 the 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 middle of the robotic arm storage room is hollow and is connected to the dry room cabin, and is surrounded by several layers of platforms.

[0015] In a preferred solution, accelerometers, gyroscopes, inclinometers, ranging sensors and PID controllers are respectively installed on several platforms of the robotic arm storage room, and the accelerometers, gyroscopes, inclinometers, ranging 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 robotic 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 attitude control method for underwater maintenance adopts the above-mentioned underwater stabilization and attitude control system for underwater maintenance, and includes the following steps:

[0018] Step 1: The equipment enters the water. During the voyage and dive, the inclinometer is activated to observe and measure the underwater structural surface, obtain the inclination angle of the underwater structural surface, and send the measurement results to the PID controller. At the same time, the distance sensor is activated to monitor the distance between the bottom of the dry chamber and the structural surface in real time.

[0019] Step 2: The PID controller determines the required attitude angle based on the sensor measurement results and makes a decision. It then sends the decision command to the hydraulic system, which adjusts the position of the hydraulic rod accordingly. Through the movement of the annular mass, the forces acting inside and outside the dry chamber offset each other, achieving underwater stabilization and attitude adjustment.

[0020] Step 3: After achieving underwater stabilization and attitude adjustment at low speed, push the entire equipment toward the structural surface until the bottom of the dry chamber contacts and fits the structural surface. Turn off the thrusters while keeping the underwater stabilization and attitude control systems turned on to resist undercurrents during the maintenance process.

[0021] The underwater stabilization and attitude control system and method for underwater maintenance equipment provided by the present invention have the following beneficial effects:

[0022] 1. The present invention solves the problem of unstable posture of underwater maintenance equipment in complex underwater environments in the field of underwater concrete damage repair of hydraulic structures;

[0023] 2. The present invention resists the instability factors brought by the underwater environment (such as water currents and waves) through the dynamic adjustment of the internal annular mass, effectively reducing the impact on underwater maintenance equipment and effectively solving the problem of unstable posture of underwater maintenance equipment during the diving process and after reaching the working surface;

[0024] 3. The attitude control method for underwater maintenance equipment of the present invention significantly improves the operational stability and safety of underwater maintenance equipment in complex underwater environments by integrating an innovative dynamic adjustment system, intelligent control algorithms, multi-sensor monitoring technology, and the compatibility of annular mass blocks with robotic arms. Furthermore, the attitude control method of the present invention is flexible and scalable, making it widely applicable to various types of underwater maintenance tasks.

[0025] 4. The present invention adopts an intelligent dynamic mass adjustment system. It monitors the dynamic changes of external water flow and waves through high-precision sensors (such as accelerometers, gyroscopes, inclinometers, and ranging sensors). It also uses advanced control algorithms (such as PID control) to adjust the position and posture of the internal annular mass in real time, thereby generating a reaction force to counter external interference and achieving optimal posture control effect.

[0026] 5. This invention integrates advanced oil pressure control technology. By precisely controlling the extension and retraction of the hydraulic rod and the position of the mass block connected to it, a highly responsive dynamic adjustment mechanism is formed. The hydraulic system design adopts an optimized flow channel design and a highly responsive servo valve, which significantly shortens the response time and improves energy conversion efficiency.

[0027] 6. This invention uses multi-sensor fusion technology to accurately monitor the posture of underwater maintenance equipment, achieving all-round real-time monitoring of the equipment posture. By integrating the data of each sensor, it reduces the impact of a single sensor failure and improves the reliability and robustness of the system.

[0028] 7. The mass block of the present invention adopts a ring-shaped design, which is conducive to the underwater maintenance equipment to enter and exit the cabin and move the manipulator arm in the dry chamber during the maintenance process, thereby improving the compatibility and efficiency of the system.

[0029] 8. By integrating an innovative dynamic adjustment system, intelligent control algorithms, and multi-sensor monitoring technology, this invention effectively solves the problem of unstable equipment posture in underwater environments, improving operation accuracy and safety.

[0030] 9. By optimizing the system design and control strategy, the present invention significantly reduces operational complexity, energy consumption, and improves system reliability and stability, compared to existing attitude control technologies that often require continuous power input, have limited response speed, complex structure, and high adjustment and maintenance costs.

[0031] 10. The present invention uses dynamic adjustment of the internal annular mass to resist unstable factors brought about by the underwater environment, such as the force and momentum changes caused by water currents and waves. This effectively resists the dynamic conditions in the complex underwater environment and effectively reduces the impact on underwater maintenance equipment, ensuring the stability and safety of underwater maintenance operations.

[0032] 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;

[0033] 12. The present invention achieves rapid and precise adjustment of the posture of underwater maintenance equipment by precisely controlling the position and movement of the annular mass, thereby improving the efficiency and quality of underwater maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0035] Figure 1 It is a cross-sectional view of the overall structure of the system of the present invention;

[0036] Figure 2 It is a front view of the overall structure of the system of the present invention;

[0037] Figure 3 Schematic diagram of the assembly of the lower support, hydraulic rod and annular mass block of the system of the present invention;

[0038] Figure 4 A top view of the assembly of the lower support, hydraulic rods and annular mass of the system of the present invention;

[0039] Figure 5This is a schematic diagram of the principle of the intelligent dynamic adjustment system for the mass block posture;

[0040] 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

[0041] The technical solutions of the present invention are further described below with reference to the accompanying drawings and embodiments:

[0042] Example 1

[0043] like Figures 1 to 4 As 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 a hydraulic rod 2 and fixed in a dry chamber 13. 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 data fusion of an accelerometer 8, a gyroscope 9, an inclinometer 10, and a ranging 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 attitude stability.

[0044] In this embodiment, the PID controller 12 determines the posture changes of the underwater maintenance equipment based on the data feedback from the accelerometer 8, gyroscope 9, inclinometer 10 and ranging sensor 11, and sends a command signal to the oil hydraulic system 3; the oil hydraulic 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.

[0045] 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.

[0046] 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.

[0047] Furthermore, the annular mass block 6 adopts an annular design to accommodate the movement of the robotic arm in and out of 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.

[0048] 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.

[0049] Furthermore, the robot arm storage room 15 is hollow in the middle and is connected to the dry room cabin 13, and is surrounded by several layers of platforms.

[0050] 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.

[0051] 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.

[0052] Example 2

[0053] In another preferred embodiment, based on Example 1, Figure 5 As shown, the underwater stabilization and attitude control method for underwater maintenance adopts any of the above-mentioned underwater stabilization and attitude control systems for underwater maintenance, including the following steps:

[0054] Step 1: The equipment enters the water. During the voyage and dive, the inclinometer 10 is activated to observe and measure the underwater structural surface, obtain the inclination angle of the underwater structural surface, and send the measurement results to the PID controller 12. At the same time, the distance sensor 11 is activated to monitor the distance between the bottom of the dry chamber 13 and the structural surface in real time.

[0055] Step 2: The PID controller 12 determines the required attitude angle of the equipment based on the sensor measurement results and makes a decision. The decision instruction is sent to the hydraulic system 3. The hydraulic system 3 adjusts the position of the hydraulic rod 2 according to the instruction. Through the movement of the annular mass block 6, the forces acting inside and outside the dry chamber 13 are offset, achieving underwater stabilization and attitude adjustment.

[0056] 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 the maintenance process.

[0057] Example 3

[0058] In another preferred embodiment, based on embodiments 1 and 2, Figure 5 As shown, the detailed workflow of the underwater stabilization and attitude control method for underwater maintenance is as follows:

[0059] 1. When the equipment enters the water, during the dive, observation instruments such as the gyroscope 9, the inclinometer 10 and the distance sensor 11 are activated to detect the stability of the underwater maintenance equipment and transmit the information back to the main controller.

[0060] 2. By controlling the oil pressure system, the movable annular mass block 6 is controlled by the extension and contraction 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 mass block position adjustment; 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.

[0061] 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 control commands to adjust the position of the hydraulic rod 2 to stabilize the posture of the maintenance equipment.

[0062] 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 operation of the manipulator. The intelligent mass block dynamic adjustment system can dynamically adjust the control parameters according to the real-time changes in 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 includes 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 broken 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.

[0063] Example 4

[0064] In another preferred embodiment, based on Examples 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.

[0065] like Figures 1 to 4 As shown, the attitude control system is carried in a submersible and mainly consists 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 robotic arm storage chamber 15. Among them, 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 to adapt to the underwater maintenance equipment when the robotic arm enters and exits the cabin when it reaches the designated working surface, as well as the movement of the robotic arm in the dry chamber during the maintenance process.

[0066] The working principle of the posture control method is as follows:

[0067] 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, obtain the inclination angle of the underwater structural surface, and send the measurement results to the PID controller 12; at the same time, the ranging 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 sufficient preparation time for manual intervention in areas with severe undercurrents.

[0068] Attitude Adjustment and Stabilization: PID controller 12 determines the required attitude angle of the equipment and makes a decision based on real-time monitoring data provided by sensors such as accelerometer 8, gyroscope 9, inclinometer 10, and range sensor 11. This decision is then sent to hydraulic system 3, which adjusts the position of hydraulic rod 2 in response to the PID controller 12's instructions. Hydraulic rod 2, connected to annular mass block 6, controls its movement, canceling out the forces acting inside and outside dry chamber 13, thereby achieving underwater stabilization and attitude adjustment. In this embodiment, there are six hydraulic rods 2, each hingedly connected to bottom hydraulic rod support 4 and upper hydraulic rod support 5 to allow for free rotation in multiple dimensions, thereby enhancing the flexibility of adjusting the position of annular mass block 6.

[0069] Propulsion and Contact: After achieving underwater stabilization and attitude adjustment at low speed, the entire equipment is propelled toward the structural surface. At this point, the thrusters 14 at different locations propel in the same direction. During this 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. Once the bottom of the dry chamber 13 is in contact with the structural surface, that is, the value of the distance sensor 11 reaches zero, the thrusters 14 are turned off. During this process, the underwater stabilization and attitude control systems remain active to resist undercurrents during maintenance. At this point, the dry chamber 13 has completed its coverage of the underwater structural surface to be repaired, providing the necessary conditions for subsequent inspection and repair.

[0070] Example 5

[0071] In another preferred embodiment, based on Examples 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.

[0072] like Figure 5 As shown, the dynamic adjustment of the annular mass 6 relies on the PID controller 12 to provide signal feedback, and the oil pressure system 3 acts as the receiving end to control the six hydraulic rods 2. The PID controller 12 adopts the proportional-integral-differential (PID) control algorithm, combined with fuzzy logic control, to write a control algorithm and load it into the main controller. This algorithm can adjust the position of the mass in real time according to the data provided by the posture monitoring system, achieving fast and accurate posture stabilization.

[0073] The specific implementation steps of the control strategy are as follows:

[0074] Multi-sensor data fusion: Sensors such as the accelerometer 8, gyroscope 9, inclinometer 10, and ranging sensor 11 monitor the posture changes of the underwater maintenance equipment in real time and transmit the data to the PID controller 12; the PID controller 12 analyzes the sensor data and issues control commands.

[0075] 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.

[0076] Intelligent control strategy: The intelligent mass dynamic adjustment system can dynamically adjust control parameters based on 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.

[0077] The above examples demonstrate the remarkable innovation and practicality of the method for controlling the posture of underwater maintenance equipment. This method utilizes dynamic adjustment of the internal annular mass 6 to counteract instabilities introduced by the underwater environment (such as currents and waves), effectively minimizing the impact on underwater maintenance equipment. Furthermore, the present invention utilizes a highly integrated oil pressure control system, multi-sensor fusion technology, and intelligent control strategies to achieve precise 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 operational difficulty and costs, providing strong technical support for deep-sea exploration and maintenance.

[0078] Furthermore, the PID controller 12 determines the posture changes of the underwater maintenance equipment based on the data feedback from the accelerometer 8, gyroscope 9, inclinometer 10 and ranging sensor 11, and sends a command signal to the oil pressure system 3; the oil pressure system 3 serves as the receiving and distribution 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 operating efficiency, and at the same time reduce the risk of equipment damage due to unstable posture.

[0079] 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, through the intelligent algorithm to optimize the control strategy, the oil pressure system 3 can also effectively reduce energy consumption and improve overall operating efficiency.

[0080] 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 setting enables the entire system to more accurately control the trajectory of the annular mass block 6, achieve fast and smooth position adjustment, thereby improving the stability and efficiency of equipment operation, while reducing energy consumption and wear.

[0081] Furthermore, the annular mass block 6 adopts an annular design to adapt to the movement of the robotic arm in and out of 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 setting 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 its internal space optimization, thereby ensuring the smooth progress of the maintenance operation.

[0082] 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 settings enable 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, which facilitates precise position adjustment and moving operations.

[0083] Furthermore, the robotic arm storage room 15 is hollow in the middle and is connected to the dry room cabin 13, with several layers of platforms arranged around it; the above arrangement allows the robotic arm to move flexibly in the storage room and quickly enter the dry room cabin 13 through the through passage to perform precision operations; the reasonable design of each layer of platform ensures the high efficiency of robotic arm storage, maintenance and rapid dispatch.

[0084] 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.

[0085] Furthermore, the three thrusters 14 are respectively installed on the platforms in the middle and lower parts of the robotic 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 settings can ensure the precise control and stable movement of the robotic arm in complex space. The middle vertical thruster 14 provides vertical lifting force, while the lower horizontal thruster 14 realizes left and right and rotational movements, enhancing the flexibility and operating range of the robotic arm.

[0086] In summary, the underwater stabilization and attitude control system and method for underwater maintenance equipment proposed by the present invention solves the problem of unstable attitude of underwater maintenance equipment in complex underwater environments, which exists in the field of underwater concrete damage repair for hydraulic structures. The present invention adopts an intelligent mass block dynamic adjustment system. It uses high-precision sensors (such as accelerometers, gyroscopes, inclinometers, and ranging sensors) to monitor the dynamic changes of external water flow and waves. In combination with advanced control algorithms (such as PID control and fuzzy logic control), it adjusts the position and attitude of the internal annular mass block in real time. 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 to form 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 to it. The hydraulic system design adopts an optimized flow channel design and a high-response servo valve, which significantly shortens the response time and improves energy conversion efficiency. The mass block of the present invention adopts an annular design. This design not only improves the compatibility of the system (for example, it does not affect the movement of the robot arm in the dry chamber) but also enhances the efficiency of the system, allowing the mass block to more effectively generate reaction force to stabilize the equipment. The present invention creatively combines an intelligent mass dynamic adjustment system, a highly integrated oil pressure control system, and multi-sensor fusion technology to form an efficient and reliable method for controlling the attitude of underwater maintenance equipment. This integrated application not only improves the stability and safety of the system, but also significantly reduces energy consumption and operational difficulty. By optimizing the design of the hydraulic system and adopting a high-response servo valve, the present invention achieves rapid and precise control of the mass position. This rapid response enables the system to adjust the mass position within milliseconds to quickly respond to sudden wave impacts, thereby achieving rapid and precise attitude adjustment. The attitude 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 be quickly customized and assembled to adapt to different underwater environments and maintenance requirements. This wide applicability and scalability gives 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 that can monitor equipment status in real time, detect 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 by: The system comprises a plurality of lower support modules (1), an annular mass block (6) connected to the lower support module (1) through 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) for bearing 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 fused data and generates a control command for adjusting the position of the hydraulic rod (2) to achieve attitude stability; The hydraulic rods (2) are arranged in three groups of six, and each hydraulic rod (2) is hinged to the lower support module (1) via a bottom hydraulic rod support (4), and is hinged to the annular mass block (6) via an upper hydraulic rod support (5), allowing the annular mass block (6) to rotate freely in multiple dimensions, thereby enhancing the flexibility of adjusting the position of the annular mass block (6); The annular mass block (6) is designed in an annular shape to accommodate the movement of the robotic arm in and out of the underwater maintenance equipment when it reaches a designated working surface, as well as the movement of the robotic arm in the dry chamber (13) during the maintenance process; 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.

2. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 1 is characterized in that: The PID controller (12) judges 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 the receiving and distributing end of the command signal, adjusts 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 a stable posture.

3. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 2 is characterized in that: The robotic arm storage room (15) is hollow in the middle and is connected to the dry room cabin (13). Several platforms are arranged around it.

4. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 3 is characterized in that: An accelerometer (8), a gyroscope (9), an inclination angle observation instrument (10), a distance sensor (11) and a PID controller (12) are respectively installed on the several platforms of the robotic arm storage room (15); the accelerometer (8), the gyroscope (9), the inclination angle observation instrument (10), the distance sensor (11), the thruster (14) and the oil pressure system (3) are all connected to the PID controller (12).

5. The underwater stabilization and attitude control system for underwater maintenance equipment according to claim 4 is characterized in that: The three propellers (14) are respectively installed on the platforms in the middle and lower parts of the robotic arm storage room (15), the propeller (14) on the middle platform is installed vertically, and the two propellers (14) on the lower platform are installed horizontally and symmetrically.

6. A method for underwater stabilization and attitude control of underwater maintenance equipment, using the underwater stabilization and attitude control system for underwater maintenance equipment according to claim 5, characterized in that: The method comprises the following steps: Step 1: The underwater maintenance equipment is put into the water. During the voyage and diving process, the inclination observation instrument (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 underwater structural surface in real time; Step 2: The PID controller (12) determines the attitude angle that needs to be adjusted for the underwater maintenance equipment based on the measurement results of the distance sensor and makes a decision, and sends the decision instruction to the oil pressure system (3). The oil pressure system (3) adjusts the position of the hydraulic rod (2) according to the instruction, and through the movement of the annular mass block (6), the forces acting inside and outside the dry chamber (13) are offset to achieve underwater stabilization and attitude adjustment; Step 3: After achieving underwater stabilization and attitude adjustment under low-speed conditions, the underwater maintenance equipment is pushed as a whole toward the underwater structural surface until the bottom of the dry chamber (13) contacts and fits the underwater structural surface, and the thruster (14) is turned off. At the same time, the underwater stabilization and attitude control system for the underwater maintenance equipment is kept turned on to resist undercurrents during the maintenance process.

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