Micro optical fiber active compensation device for autonomous remote control underwater robot

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to a micro optical fiber active compensation device for an autonomous remote control underwater robot. Comprising a box body and a control box, a fiber winding assembly, a damping assembly and a tension detection assembly which are arranged in the box body, the fiber winding assembly is used for winding a micro optical fiber, the micro optical fiber penetrates out of the box body after sequentially passing through the damping assembly and the tension detection assembly, and the damping assembly is used for providing damping for the micro optical fiber. The tension detection assembly is used for detecting the tension of the micro optical fiber and outputting tension information, the control box receives the tension information output by the tension detection assembly and outputs a control instruction to the fiber winding assembly and the damping assembly according to the tension information, and the fiber winding assembly performs actions of winding and unwinding the micro optical fiber according to the control instruction. The damping assembly changes damping according to the control instruction for tension compensation. According to the invention, real-time active compensation and tension control of the optical fiber in water are realized, optical fiber consumption can be saved, and intelligence of an optical fiber management system is enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a micro-optical fiber active compensation device for autonomous remote control of underwater robots. Background Art

[0002] Autonomous and Remotely Underwater Vehicle (ARV) integrates the advantages of autonomous underwater robot's large-scale cruise detection and remote underwater robot's online real-time control. Its concept has been proposed for more than 20 years and has become a unique direction for the development of underwater robot technology. This type of underwater robot is connected to the mother ship through a fine optical fiber (diameter range 0.4-1mm), which can transmit image video data and instructions in real time and in two directions. In order to prevent the optical fiber around the autonomous remote underwater robot from being disturbed by the water flow and entangled with the robot body, a hose and a float far away from the carrier end can be added in actual application to isolate the fine optical fiber to a certain distance away from the carrier. The optical fiber is released freely. When the carrier is sailing or the water flow rate increases, the optical fiber will be released faster. However, this structure will increase the navigation resistance of the underwater robot, and the uncertain floating state of the float in the water will also affect its maneuverability and cause optical fiber waste. In addition, after the underwater robot completes the task, it will cut the optical fiber and float up. When there is no active optical fiber compensation or recovery device at the carrier end, it is difficult to recover all the optical fibers at the surface end, and the optical fiber left in the water will have a great impact on the marine ecological environment. Therefore, in response to the above two application requirements, an optical fiber active compensation device for an autonomous remote-controlled underwater robot is needed, which can be installed at the carrier end or the surface end to enhance the safety of the optical fiber around the robot and reduce the optical fiber loss during the operation of the underwater robot.

[0003] Patent CN105700100B proposes a 10,000-meter ARV optical fiber system, in which a light group is placed at the surface end and the carrier end respectively. Both optical fiber groups can release optical fibers freely. When the optical fiber is affected by the ocean current and the tension increases, the optical fiber can be easily pulled out from any optical fiber group. The system responds quickly to changes in optical fiber tension, and the optical fiber will not be broken due to the influence of ocean currents. Therefore, it has a certain anti-interference ability against ocean currents. The system has good optical fiber compensation capabilities for underwater robot dives and long-term operations on the seabed, which belongs to passive compensation. However, real-time management cannot be achieved for the optical fibers freely released at the carrier end and the surface end. Therefore, based on this scenario, a proposed optical fiber active compensation device can complement the advantages of the above-mentioned global passive optical fiber compensation method, thereby enhancing the optical fiber management capabilities at both ends of the ARV optical management system. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot, as an effective means for this type of robot to enhance the terminal optical fiber management capability.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot, comprising a box body and a control box, a fiber winding assembly, a damping assembly and a tension detection assembly arranged in the box body, wherein the fiber winding assembly is used to wind the micro-optical fiber, the micro-optical fiber passes through the damping assembly and the tension detection assembly in sequence and then passes out of the box body, the damping assembly is used to provide damping for the micro-optical fiber, the tension detection assembly is used to detect the tension of the micro-optical fiber and output tension information, the control box receives the tension information output by the tension detection assembly, and outputs control instructions to the fiber winding assembly and the damping assembly according to the tension information, the fiber winding assembly retracts and releases the micro-optical fiber according to the control instructions, and the damping assembly changes the damping according to the control instructions to perform tension compensation.

[0007] The fiber winding assembly includes a drum, a base I, a motor I and a bevel gear set, wherein the base I is arranged on the box body, the drum is rotatably mounted on the base I, the motor I is mounted on the base I and the output end is connected to the drum through the bevel gear set, and the motor I provides power for the rotation of the drum; the fine optical fiber is wound on the drum.

[0008] The axis of the reel is parallel to the bottom of the box, and the rotation axis of the motor I is perpendicular to the axis of the reel.

[0009] The damping assembly includes a motor II and a magnetic damper, wherein the magnetic damper is arranged on the box body, and the input end of the magnetic damper is connected to the motor II, and the motor II drives the magnetic damper to rotate and adjust the damping gear; the output end of the magnetic damper is provided with a roller with a groove, and the fine optical fiber is wound on the roller, and the roller transmits the damping force to the fine optical fiber.

[0010] The tension detection component includes a base II, a spring, a base, a guide wheel, a magnet and a magnetic distance measuring sensor, wherein the base II is arranged on the box body, the lower end of the magnetic distance measuring sensor is slidably connected to the base II, and the upper end is connected to the base, the guide wheel is installed on the base, the spring is sleeved on the magnetic distance measuring sensor, and the two ends are respectively abutted against the base and the base II; the magnet is arranged on the box body and located below the magnetic distance measuring sensor; the fine optical fiber is wound around the guide wheel; when the fine optical fiber is straightened, the guide wheel and the magnetic distance measuring sensor will be pressed down, and the magnetic distance measuring sensor can detect the distance change between the magnet and the magnetic distance measuring sensor, thereby obtaining the tension value of the fine optical fiber.

[0011] The box body is provided with a threading hole, a bell mouth is arranged inside the threading hole, and a large diameter end of the bell mouth is in contact with the box body.

[0012] Two guide members for guiding the fine optical fiber are respectively arranged on both sides of the damping component.

[0013] The guide member comprises a bracket and a threading barrel, wherein the bracket is arranged on the box body, the threading barrel is arranged on the top of the bracket, and the threading barrel is used for the fine optical fiber to pass through.

[0014] The advantages and positive effects of the present invention are:

[0015] 1. In the application of ARV, compared with the passive compensation form with only two fine optical fiber groups on the surface end and the carrier end, the present invention realizes real-time active compensation and tension control of optical fiber in water, which can save optical fiber consumption, enhance the intelligence of optical fiber management system, and especially improve the long-term survivability of optical fiber around underwater robots, so that they have the advantages of longer operation time and more complex operation range in deep sea.

[0016] 2. The magnetic damper and magnetic distance sensor used in the present invention both utilize magnetic field for force control and measurement, have non-contact characteristics, are not affected by the working water depth, and all circuits of the device are integrated and packaged in a pressure-resistant control box.

[0017] 3. The present invention has good versatility and can be installed at the carrier end and the surface end at the same time. It is also suitable for the scenarios of water pool debugging and offshore testing of the same type of underwater robots using fine optical fibers.

[0018] 4. The electric reel structure of the present invention can also be used to recover fine optical fibers after testing, and has both compensation and recovery functions, thus saving the structural space of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an axonometric diagram of a micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to the present invention;

[0020] Figure 2 This is a front view of a micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to the present invention;

[0021] Figure 3 It is a control flow chart of the present invention.

[0022] In the figure: 1 is a reel, 2 is a base I, 3 is a motor I, 4 is a bevel gear set, 5 is a magnetic damper, 6 is a motor II, 7 is a guide member, 8 is a base II, 9 is a spring, 10 is a base, 11 is a guide wheel, 12 is a fine optical fiber, 13 is a horn, 14 is a box, 15 is a control box, 16 is a magnet, and 17 is a magnetic ranging sensor. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] like Figure 1 , Figure 2 As shown, the present invention provides a micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot, comprising a box body 14 and a control box 14, a fiber winding assembly, a damping assembly and a tension detection assembly arranged in the box body 14, wherein the fiber winding assembly is used to wind the micro-optical fiber 12, the micro-optical fiber 12 passes through the damping assembly and the tension detection assembly in sequence and then passes through the box body 14, the damping assembly is used to provide damping for the micro-optical fiber 12, the tension detection assembly is used to detect the tension of the micro-optical fiber 12 and output tension information, the control box 14 receives the tension information output by the tension detection assembly, and outputs control instructions to the fiber winding assembly and the damping assembly according to the tension information, the fiber winding assembly retracts and releases the micro-optical fiber 12 according to the control instructions, and the damping assembly changes the damping according to the control instructions to perform tension compensation.

[0025] like Figure 1 , Figure 2 As shown, in an embodiment of the present invention, the fiber winding assembly includes a reel 1, a base Ⅰ2, a motor Ⅰ3 and a bevel gear set 4, wherein the base Ⅰ2 is arranged on a box body 14, the reel 1 is rotatably mounted on the base Ⅰ2, the motor Ⅰ3 is mounted on the base Ⅰ2 and the output end is connected to the reel 1 through the bevel gear set 4, and the motor Ⅰ3 provides power for the rotation of the reel 1; the fine optical fiber 12 is wound on the reel 1.

[0026] Furthermore, the axis of the reel 1 is parallel to the bottom of the box 14, and the rotation axis of the motor I3 is perpendicular to the axis of the reel 1. The motor I3 drives the reel 1 to rotate through the bevel gear set 4. The bevel gear set 4 includes two bevel gears meshing with each other. The two bevel gears are respectively arranged at the output end of the motor I3 and the rotating shaft of the reel 1. The transmission form of the bevel gear is arranged to save transmission space. A hole slightly larger than the fine optical fiber 12 is opened in the middle of the reel 1, and the fine optical fiber 12 passes through the hole.

[0027] like Figure 1 , Figure 2 As shown, in an embodiment of the present invention, the damping assembly includes a motor II 6 and a magnetic damper 5, wherein the magnetic damper 5 is arranged on a box 14, and the input end of the magnetic damper 5 is connected to the motor II 6, and the motor II 6 drives the magnetic damper 5 to rotate and adjust the damping gear; the output end of the magnetic damper 5 is provided with a roller with a groove, and the fine optical fiber 12 is wound on the roller, and the roller transmits the damping force to the fine optical fiber 12, thereby reducing the flow speed of the fine optical fiber 12 in the water.

[0028] Specifically, the magnetic damper 5 is a device that transmits constant torque using a magnetic field as a medium. It is equipped with a damping disk and a magnet inside. The two are non-contact and have no sliding friction. The damping control has a long and stable life. When in use, the magnetic damper 5 has a damping adjustment ring on the outside of the full-sea-depth underwater robot working environment. The motor II 6 drives the rotating adjustment ring to a high or low gear position, so that the output of the magnetic damper 5 is high damping or low damping. In this embodiment, the magnetic damper 5 is a commercially available product purchased from Xingtai Electronics Factory in Dongguan City, Guangdong Province, and the model is XT-05.

[0029] like Figure 1 , Figure 2 As shown, in an embodiment of the present invention, the tension detection component includes a base II8, a spring 9, a base 10, a guide wheel 11, a magnet 16 and a magnetic distance sensor 17, wherein the base II8 is arranged on the box 14, the magnetic distance sensor is a cylindrical structure, the lower end of which is slidably connected to the base II8, the upper end of the magnetic distance sensor is connected to the base 10, the guide wheel 11 is installed on the base 10, the spring 9 is sleeved on the magnetic distance sensor 17, and the two ends are respectively abutted against the base 10 and the base II8; the magnet 16 is arranged on the box 14 and is located below the magnetic distance sensor 17; the fine optical fiber 12 is wound around the guide wheel 11; when the fine optical fiber 12 is straightened, it will press down the guide wheel 11 and the magnetic distance sensor 17, and the magnetic distance sensor 17 can detect the distance change between it and the magnet 16, thereby obtaining the tension value of the fine optical fiber 12.

[0030] Furthermore, a threading hole is provided on the box body 14, and a bell mouth 13 is provided inside the threading hole. The large diameter end of the bell mouth 13 contacts the box body 14, and the fine optical fiber 12 passes through the bell mouth 13, which reduces the wear between the fine optical fiber 12 and the structural parts.

[0031] Furthermore, two guide members 7 for guiding the fine optical fiber 12 are respectively arranged on both sides of the damping assembly. The guide member 7 includes a bracket and a threading barrel, wherein the bracket is arranged on the box body 14, and the threading barrel is arranged on the top of the bracket, and the threading barrel is used for the fine optical fiber 12 to pass through. The threading barrel is a hollow circular tube structure, which is used to limit the stretching path of the fine optical fiber 12.

[0032] In the embodiment of the present invention, the working principle of the tension detection assembly is: the fine optical fiber 12 is wound on the guide wheel 11, and the fine optical fiber 12 is deformed in the axial direction after being subjected to water friction resistance. Since the core of the fine optical fiber 12 has a certain rigidity, it is converted into a tension force in the axial direction. When the fine optical fiber 12 is straightened by the tension force, the guide wheel 11, the base 10, the spring 9 and the magnetic distance sensor 17 of the tension detection assembly will be pressed down, and the distance between the magnetic distance sensor 17 and the magnet 16 at the bottom will become closer. The magnetic signal is converted into an electrical signal inside the magnetic distance sensor 17, and the tension value of the fine optical fiber 12 at this time is obtained by solution. On the contrary, when the fine optical fiber 12 is relaxed, the tension decreases, the magnetic distance sensor 17 moves up, and the distance between it and the magnet 16 becomes farther, and the tension value solved becomes smaller. The magnetic distance sensor 17 is a commercially available product purchased from Yueqing Huaquan Electric Co., Ltd., and the model is a DC three-wire NPN normally open type.

[0033] In the embodiment of the present invention, the motor I3 and the motor II6 contain electronic components, which are encapsulated in a pressure-resistant shell according to the operating depth of the underwater robot. The electronic components of the magnetic distance sensor 17 are encapsulated in the control box 15, which also includes the control circuit of the entire device, and the control box shell is also made into a pressure-resistant structure.

[0034] In specific applications, the active compensation device of the present invention can be installed at the outlet of the micro-optical fiber on the underwater robot carrier or the surface end. The micro-optical fiber coil is connected to the left side of the device. The micro-optical fiber 12 enters from the opening of the box 14, passes through the reel 1 and the guide 7, bypasses the roller of the magnetic damper 5 and the guide wheel 11 of the tension detection component, and finally passes through the bell mouth 13 into the water.

[0035] like Figure 3 As shown, the present invention provides a micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot, and its control process is as follows:

[0036] Before the robot is launched into the water, the damping gear of the magnetic damper 5 is adjusted to the middle gear, which not only ensures that the optical fiber is smoothly extended during the dive, but also avoids the optical fiber being washed out and wasted by the water flow in large quantities during the dive. After diving to the operating water depth, the underwater robot is first judged in its operating state. If it is sailing straight ahead, the motor I3 is powered off, the reel 1 does not reel the fiber, and the fine optical fiber 12 is gradually extended with the navigation. The tension detection component judges the relationship between the tension of the fine optical fiber 12 and the maximum tensile strength of the fine optical fiber 12 at this time; if the speed increases, the tension of the fine optical fiber 12 will be greater than the maximum tensile strength, and the magnetic damper 5 reduces the damping gear until the optical fiber tension is less than the maximum tensile strength to avoid the fine optical fiber 12 from being broken, and then maintains the gear; if the robot is in-situ operation or reversing state, the fine optical fiber 12 will generally be gradually pulled out with the ocean current, accumulate around the robot, or meet the extended optical fiber on the way back, and the optical fiber tension will generally be less than the maximum tensile strength. To avoid entanglement with the robot, the motor II6 adjusts the damping gear of the magnetic damper 5 to the lowest gear, and starts the motor I3 to quickly roll the fine optical fiber 12 around the robot onto the reel 1. During the fiber winding process, the fine optical fiber 12 in the water gradually shortens, or when encountering turbulence, the tension will be greater than the maximum tensile strength, the motor I3 is powered off, the damping gear of the magnetic damper 5 is reduced, and the reel 1 is in a relaxed state and no longer winds the fiber. The reel 1 will also reverse and release the optical fiber until the tension is less than the maximum tensile strength, and then continue to wind the fiber; after the robot completes the task, it cuts the fine optical fiber 12 and floats up, and the device installed on the surface of the water reduces the damping to the lowest gear, and starts the motor I3 to recycle the fine optical fiber 12. If the tension is too large, it can stop and wait for the water flow to slow down and the fiber tension to weaken before continuing to wind the fiber. The above-mentioned whole process is automatically controlled by the control box 15, without human control, so as to achieve the purpose of actively compensating the fine optical fiber 12 around the robot and reclaiming the optical fiber.

[0037] The present invention provides a fine optical fiber active compensation device for an autonomous remote-controlled underwater robot. The magnetic damper and magnetic ranging sensor used in the device both use magnetic fields for force control and measurement, have non-contact characteristics, are not affected by the working water depth, and all circuits of the device are integrated and packaged in a pressure-resistant control box. The present invention realizes real-time active compensation and tension control of optical fibers in water, can save optical fiber consumption, enhance the intelligence of the optical fiber management system, and especially improves the long-term survival ability of optical fibers around underwater robots, so that they have the advantages of longer operating time and more complex operating range in the deep sea. The magnetic damper and magnetic ranging sensor used in the present invention both use magnetic fields for force control and measurement, have non-contact characteristics, are not affected by the working water depth, and all circuits of the device are integrated and packaged in a pressure-resistant control box. The present invention has good versatility and can be installed at the carrier end and the surface end at the same time. It is also suitable for the same type of underwater robots using fine optical fibers in the water pool debugging and offshore testing scenes.

[0038] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A micro-optical fiber active compensation device for autonomous remote control underwater robot, characterized in that: The invention comprises a box body (14), a control box (14) arranged in the box body (14), a fiber winding assembly, a damping assembly and a tension detection assembly, wherein the fiber winding assembly is used to wind a fine optical fiber (12), the fine optical fiber (12) passes through the damping assembly and the tension detection assembly in sequence and then passes out of the box body (14), the damping assembly is used to provide damping for the fine optical fiber (12), the tension detection assembly is used to detect the tension of the fine optical fiber (12) and output tension information, the control box (14) receives the tension information output by the tension detection assembly, and outputs control instructions to the fiber winding assembly and the damping assembly according to the tension information, the fiber winding assembly performs the action of retracting and releasing the fine optical fiber (12) according to the control instructions, and the damping assembly changes the damping according to the control instructions to perform tension compensation.

2. The micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to claim 1, characterized in that: The fiber winding assembly comprises a reel (1), a base I (2), a motor I (3) and a bevel gear set (4), wherein the base I (2) is arranged on the box body (14), the reel (1) is rotatably mounted on the base I (2), the motor I (3) is mounted on the base I (2) and the output end is connected to the reel (1) through the bevel gear set (4), and the motor I (3) provides power for the rotation of the reel (1); the fine optical fiber (12) is wound on the reel (1).

3. The micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to claim 2, characterized in that: The axis of the reel (1) is parallel to the bottom of the box (14), and the rotation axis of the motor I (3) is perpendicular to the axis of the reel (1).

4. The micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to claim 1, characterized in that: The damping assembly comprises a motor II (6) and a magnetic damper (5), wherein the magnetic damper (5) is arranged on the box (14), and the input end of the magnetic damper (5) is connected to the motor II (6), and the motor II (6) drives the magnetic damper (5) to rotate and adjust the damping gear; the output end of the magnetic damper (5) is provided with a roller with a groove, and the fine optical fiber (12) is wound on the roller, and the roller transmits the damping force to the fine optical fiber (12).

5. The micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to claim 1, characterized in that: The tension detection assembly comprises a base II (8), a spring (9), a base (10), a guide wheel (11), a magnet (16) and a magnetic distance measuring sensor (17), wherein the base II (8) is arranged on the box body (14), the lower end of the magnetic distance measuring sensor (17) is slidably connected to the base II (8), and the upper end is connected to the base (10), the guide wheel (11) is installed on the base (10), the spring (9) is sleeved on the magnetic distance measuring sensor (17), and the two ends are respectively connected to the magnetic distance measuring sensor (17). The base (10) is in contact with the base II (8); the magnet (16) is arranged on the box (14) and is located below the magnetic distance measuring sensor (17); the fine optical fiber (12) is wound around the guide wheel (11); when the fine optical fiber (12) is straightened, it presses down the guide wheel (11) and the magnetic distance measuring sensor (17), and the magnetic distance measuring sensor (17) can detect the change in the distance between the magnet (16) and the magnetic distance measuring sensor (17), thereby obtaining the tension value of the fine optical fiber (12).

6. The micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to claim 1, characterized in that: The box body (14) is provided with a threading hole, a bell mouth (13) is arranged inside the threading hole, and the large diameter end of the bell mouth (13) is in contact with the box body (14).

7. The micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to claim 1, characterized in that: Two guide members (7) for guiding the fine optical fiber (12) are respectively arranged on both sides of the damping component.

8. The micro-optical fiber active compensation device for an autonomous remote-controlled underwater robot according to claim 7, characterized in that: The guide member (7) comprises a bracket and a threading barrel, wherein the bracket is arranged on the box body (14), and the threading barrel is arranged on the top of the bracket, and the threading barrel is used for the fine optical fiber (12) to pass through.

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