Modularized underwater robot stability adjusting system and adjusting method thereof

Abstract

The invention relates to the technical field of underwater robots, in particular to a modular underwater robot stability adjusting system and an adjusting method thereof, which can realize stable navigation of an underwater robot in a complex environment and improve the working efficiency and safety of the underwater robot. According to the system, a modular design concept is adopted, the system can be easily integrated into underwater vehicles of various shapes and sizes, the application range of equipment is greatly expanded, and a suitable application scene can be found from scientific research to commercial development; the stability and maneuverability of the underwater robot in various working environments can be achieved by accurately adjusting the balance weight and the telescopic fixing fins, and the safety and efficiency of underwater operation are ensured. In conclusion, the system achieves balance weight parameter adjustment of the underwater robot, the balance weight parameter adjustment comprises the heavy buoyancy relation, the heavy buoyancy center relation and the lift force, the balance attack angle and the balance rudder angle are reduced, the straight moving resistance of the underwater robot is reduced, and better stability and maneuverability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a modular underwater robot stability adjustment system and an adjustment method thereof. Background Art

[0002] At present, autonomous underwater vehicles are used in various marine activities, such as marine search and rescue, marine development, marine exploration, marine scientific research, etc., to help humans complete challenging tasks under high pressure, low temperature or other harsh environmental conditions, so that humans can better explore and develop the ocean. In the face of the diverse application scenarios of underwater robots, modular robot technology has been applied, which has greatly improved the flexibility and adaptability of underwater robots. Not only can complex and efficient robot systems be built through simple assembly and reorganization, which greatly reduces product development time, but also can significantly improve resource utilization and reduce costs. Therefore, modular design is increasingly becoming the dominant trend in the research and development of marine robots.

[0003] In the current context, the stability adjustment system of underwater robots is crucial. However, although the existing underwater robots adopt modular design, in actual applications, due to the influence of water buoyancy and fluid dynamics, underwater robots are prone to instability during navigation, such as tilting and swinging. These unstable factors limit the working efficiency and operating range of underwater robots; At present, some underwater robots adopt some stability adjustment systems, such as ballast water system, buoyancy adjustment system, etc., but these systems are often complex in structure, slow in adjustment speed, and poor in adaptability in complex marine environments, and it is difficult to meet the needs of diversified application scenarios; Although modular design improves the flexibility and adaptability of underwater robots, in modular design, how to ensure the stability of each module during assembly and reorganization has become an urgent problem to be solved. The existing modular design often ignores the modularization of the stability adjustment system, resulting in certain limitations in the actual application of underwater robots. In order to meet the stability requirements of underwater robots in diversified scenarios, it is necessary to develop a new modular underwater robot stability adjustment system, which should have the following characteristics: simple structure, fast adjustment speed, strong adaptability, and easy modular assembly and reorganization. Summary of the invention

[0004] In view of this, the present invention provides a modular underwater robot stability adjustment system and an adjustment method thereof, which can realize stable navigation of the underwater robot in complex environments and improve its operating efficiency and safety.

[0005] To achieve the above-mentioned object, the present invention provides a modular underwater robot stability adjustment system, comprising a pressure-resistant shell, a retractable fixed fin, a watertight structure and a counterweight; the counterweight comprises a counterweight fixing device and a counterweight sheet;

[0006] The diameter, material and thickness of the pressure hull are determined according to the operating environment of the underwater robot, and the length of the pressure hull is as small as possible to reduce fluid resistance;

[0007] The extension length of the retractable fixed fin is determined according to the desired lift, and watertight measures are taken at the fixed position and watertight position of the pressure hull through a watertight structure;

[0008] The counterweight is used to adjust the size of the buoyancy provided, and the retractable fixed fin is used to provide lift, so that the underwater robot after adding the buoyancy adjustment module can reach an ideal working state as a whole.

[0009] Wherein, the counterweight includes a counterweight fixing device and a counterweight plate. The number of the counterweight plates is adjustable and is determined according to the leveling state. The counterweight fixing device is used to fix the counterweight plates.

[0010] The mechanical interfaces at both ends of the pressure-resistant shell are generally designed according to the interfaces of other modules.

[0011] Among them, the cross-section of the retractable fixed fin is selected as an asymmetric airfoil.

[0012] Among them, the chord length, thickness characteristics, and curvature characteristics of the airfoil are designed according to the speed and lift requirements of the underwater robot.

[0013] The present invention also provides a method for adjusting the stability adjustment system of a modular underwater robot, which is implemented based on the system of the present invention and includes the following steps:

[0014] Calculate the gravity and buoyancy of the selected functional modules without considering the stability control system of the modular underwater robot, as well as the center of gravity and center of buoyancy after assembly;

[0015] According to the above calculation results, the compartment position of the modular underwater robot stability adjustment system is determined, and the number of counterweights and the length of the retractable fixed fins are set;

[0016] Carry out assembly, balancing and debugging of underwater robots.

[0017] Beneficial effects:

[0018] 1. The system of the present invention adopts a modular design concept and can be easily integrated into underwater vehicles of various shapes and sizes, greatly expanding the application scope of the equipment. From scientific research to commercial development, suitable application scenarios can be found; by accurately adjusting the counterweight and retractable fixed fins, the stability and maneuverability of the underwater robot in various operating environments can be achieved, ensuring the safety and efficiency of underwater operations. In summary, the system realizes the adjustment of the underwater robot's counterweight parameters, including the weight-buoyancy relationship, the weight-buoyancy center relationship, and the size of the lift, reduces the balance angle of attack and the balance rudder angle, reduces the underwater robot's straight-line resistance, and has better stability and maneuverability.

[0019] 2. The system of the present invention can significantly reduce fluid resistance and improve the navigation efficiency of the underwater robot by selecting the appropriate pressure hull diameter, material and thickness, and designing an asymmetric airfoil section. The pressure hull and asymmetric airfoil section effectively reduce water flow resistance and improve propulsion efficiency, allowing the underwater robot to complete longer tasks with lower energy consumption.

[0020] 3. The system structure of the present invention is simple, which is easy for operators to understand and maintain. At the same time, the adjustable counterweight and fixed fins simplify the debugging process of the robot. By intelligently adjusting the position of the counterweight and retractable fixed fins, this system can significantly improve the control characteristics and motion stability of the underwater robot, ensuring that it can maintain a good working state even under extreme conditions. At the same time, the use of standardized mechanical and electrical interfaces not only simplifies the assembly process, but also facilitates subsequent maintenance and upgrade work, reducing the operating threshold and technical requirements.

[0021] 4. The method of the present invention is implemented based on the system of the present invention. Through the adjustment method of the present invention, the stability and maneuverability of the underwater robot are effectively guaranteed, and it can complete various tasks safely and efficiently in a complex and changeable underwater environment. It has high practical value and broad application prospects.

[0022] 5. In the method of the present invention, the configuration of the underwater robot can be quickly adjusted by simple module replacement according to specific task requirements, which speeds up the time cycle from preparation to execution. The precise balance adjustment mechanism effectively prevents potential risks, protects the safety of equipment and operators, and provides more reliable protection for underwater operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a radial schematic diagram of the system structure of the present invention.

[0024] Among them, 1 is the pressure-resistant shell; 2 is the retractable fixed fin; 3 is the fixed position and the watertight position; 4 is the counterweight fixing device; 5 is the counterweight plate.

[0025] Figure 2 It is a side view of the system structure of the present invention.

[0026] Figure 3 It is a schematic diagram of the fixed fin airfoil cross section of the system of the present invention. DETAILED DESCRIPTION

[0027] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0028] The core of modular underwater robots lies in the customization of a series of compartment modules with different functions. Each component such as power, energy, control, execution, navigation, and sensing is an independent module, and universal standard mechanical interfaces and electrical interfaces are set to complete the assembly and reorganization of familiar robots according to functional requirements. In addition to the uniformity of the interface, it also involves an important issue that affects the underwater robot's safe and stable underwater navigation, that is, the overall stability and maneuverability of the underwater robot. The underwater controllable movement of the underwater robot is the prerequisite for it to complete underwater operations or tasks. The present invention provides a modular underwater robot stability adjustment system, which is also applicable to the stability adjustment of all rotating underwater vehicles.

[0029] The modular underwater robot stability adjustment system of the present invention comprises a pressure-resistant shell, a retractable fixed fin, a watertight structure and a counterweight; the counterweight comprises a counterweight fixing device and a counterweight sheet; the system is composed as follows Figure 1 and Figure 2 As shown, Figure 1 is a radial schematic diagram of the system structure. Figure 2 It is the side view of the system structure.

[0030] Specifically, for the pressure hull, the shape of a rotating body is used as an example. The rotating body has both cabin capacity and fluid drag reduction, and is convenient for assembly between modules. It has good adaptability and is very suitable as the main shape of a modular underwater robot. The diameter, material and thickness of the pressure hull are determined according to the operating environment of the underwater robot. The length of the pressure hull is as small as possible to reduce fluid resistance. The mechanical interfaces at both ends are designed in a universal manner based on the interfaces of other modules.

[0031] The retractable fixed fin determines the length of the fin according to the desired lift, and watertight measures are taken at the fixed position and watertight position of the pressure hull through a watertight structure, such as Figure 1 In this embodiment, the cross section of the retractable fixed fin is an asymmetric airfoil, such as Figure 3 As shown, the chord length, thickness characteristics, camber characteristics and other parameters of the airfoil can be designed according to the conditions such as the speed and lift requirements of the underwater robot.

[0032] The number of the counterweight plates in the counterweight is adjustable, and the number of the counterweight plates is determined according to the leveling state. The counterweight fixing device is used to fix the counterweight plates.

[0033] In summary, the system's counterweight is used to adjust the size of the buoyancy provided, and the retractable fixed fin is used to provide lift, so that the underwater robot can reach an ideal working state after adding the buoyancy adjustment module. That is, at an economic speed, gravity, buoyancy and fixed fin lift can achieve force balance and torque balance, and the balance attack angle and balance rudder angle can be minimized to reduce the navigation resistance of the underwater robot and increase the maneuverability of the underwater robot.

[0034] After the underwater robot module is selected according to the mission requirements, the connection and balancing work between the cabins will be carried out. The weighing parameters of the underwater robot are crucial to its motion performance. When the selected module cannot achieve an ideal match of weight, center of gravity, buoyancy, and center of buoyancy during the assembly process, it can be considered to add a modular underwater robot stability adjustment system to participate in the balancing work of the underwater robot. The present invention provides an adjustment method for a modular underwater robot stability adjustment system, which is implemented based on the system of the present invention and includes the following steps:

[0035] Calculate the gravity and buoyancy of the selected functional modules without considering the stability control system of the modular underwater robot, as well as the center of gravity and center of buoyancy after assembly;

[0036] According to the above calculation results, the compartment position of the modular underwater robot stability adjustment system is determined, and the number of counterweights and the length of the retractable fixed fins are set;

[0037] Carry out follow-up work such as assembly, balancing and debugging of underwater robots.

[0038] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A modular underwater robot stability adjustment system, characterized in that: A pressure-resistant shell, a retractable fixed fin, a watertight structure and a counterweight; the counterweight includes a counterweight fixing device and a counterweight sheet; The diameter, material and thickness of the pressure hull are determined according to the operating environment of the underwater robot, and the length of the pressure hull is as small as possible to reduce fluid resistance; The extension length of the retractable fixed fin is determined according to the desired lift, and watertight measures are taken at the fixed position and watertight position of the pressure hull through a watertight structure; The counterweight is used to adjust the size of the buoyancy provided, and the retractable fixed fin is used to provide lift, so that the underwater robot after adding the buoyancy adjustment module can reach an ideal working state as a whole.

2. The system according to claim 1, characterized in that The counterweight includes a counterweight fixing device and a counterweight plate. The number of the counterweight plates is adjustable and is determined according to the leveling state. The counterweight fixing device is used to fix the counterweight plates.

3. The system according to claim 1 or 2, characterized in that ,The mechanical interfaces at both ends of the pressure-resistant shell are designed in a universal manner according to the interfaces of other modules.

4. The system according to claim 1 or 2, characterized in that ,The cross section of the retractable fixed fin is selected as an asymmetric airfoil.

5. The system according to claim 4, characterized in that The chord length, thickness characteristics, and curvature characteristics of the airfoil are designed according to the speed and lift requirements of the underwater robot.

6. A method for adjusting the stability adjustment system of a modular underwater robot according to any one of claims 1 to 5, characterized in that: The following steps are involved: Calculate the gravity and buoyancy of the selected functional modules without considering the stability control system of the modular underwater robot, as well as the center of gravity and center of buoyancy after assembly; According to the above calculation results, the compartment position of the modular underwater robot stability adjustment system is determined, and the number of counterweights and the length of the retractable fixed fins are set; Carry out assembly, balancing and debugging of underwater robots.

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