Underwater anti-turbulence device and underwater operation method and device

Abstract

The invention discloses an underwater anti-turbulent-flow device and an underwater operation method and device. The underwater anti-turbulent-flow device comprises an operation robot module; the auxiliary robot module is connected with the operation robot module; the Doppler velocity measurement module is connected with the auxiliary robot module and is used for acquiring the water velocity; and the flow blocking module is connected with the auxiliary robot module and is used for carrying out underwater anti-turbulence treatment according to the water flow speed. The flow blocking module comprises a propeller used for stirring water flow; the motor assembly is connected with the propeller and used for driving the propeller to rotate; the check ring is connected with the motor assembly and used for blocking water flow; the supporting rod is connected with the check ring; and the bracket is connected with the supporting rod. According to the underwater anti-turbulence device, the operation precision is improved, the endurance time is prolonged, and the energy consumption is reduced. The method can be widely applied to the technical field of underwater engineering.

Description

Technical Field

[0001] The present invention relates to the field of underwater engineering technology, and in particular to an underwater anti-turbulence device and an underwater operation method and device. Background Art

[0002] Infrastructure such as submarine pipelines, offshore platforms, submarine cables and bridges are often located in deep water or high water pressure environments. Manual operations have great risks and limitations, and underwater robots are needed to perform operations. Due to the complex underwater environment, the direction and speed of the water flow are constantly changing, which can easily lead to unstable operation of underwater robots. The existing technology uses a flow meter to collect flow rate data, and then adjusts the output power of the servo to match the propulsion speed of the underwater robot with the turbulent flow rate to adjust the posture. However, the continuous output of power by the propeller increases energy consumption and shortens the endurance time. In addition, the posture calculation increases the complexity of the underwater robot system, making the operation difficult and the operation accuracy low.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The embodiments of the present invention provide an underwater anti-turbulence device and an underwater operation method and device, which effectively improve the operation accuracy and endurance time and reduce energy consumption.

[0005] On the one hand, an embodiment of the present invention provides an underwater anti-turbulence device, comprising:

[0006] Operation robot module;

[0007] An auxiliary robot module, the auxiliary robot module is connected to the working robot module;

[0008] A Doppler speed measurement module, which is connected to the auxiliary robot module and is used to obtain water flow velocity;

[0009] A flow blocking module is connected to the auxiliary robot module and is used for performing underwater anti-disturbance processing according to the water flow speed.

[0010] In some embodiments, the flow blocking module includes:

[0011] A propeller, the propeller being used to stir the water flow;

[0012] a motor assembly, the motor assembly being connected to the propeller and being used to drive the propeller to rotate;

[0013] A retaining ring, the retaining ring is connected to the motor assembly and is used to block the water flow;

[0014] A support rod connected to the retaining ring;

[0015] A bracket is connected to the support rod.

[0016] In some embodiments, the propeller is propelled in a direction against the water flow.

[0017] In some embodiments, the motor assembly is a brushless DC motor.

[0018] The beneficial effects of the present invention are as follows:

[0019] The embodiment of the present invention provides an underwater anti-disturbance device including an operating robot module, an auxiliary robot module, a Doppler velocity measurement module and a flow blocking module. The auxiliary robot module is connected to the operating robot module; the Doppler velocity measurement module is connected to the auxiliary robot module for obtaining the water flow velocity; the flow blocking module is connected to the auxiliary robot module for performing underwater anti-disturbance processing according to the water flow velocity, thereby realizing an underwater anti-disturbance device, improving the operating accuracy and endurance time of the operating robot, and reducing energy consumption.

[0020] On the other hand, an embodiment of the present invention provides an underwater operation method applied to an underwater anti-turbulence device, comprising the following steps:

[0021] Get water flow speed and direction;

[0022] Calculating a yaw angle according to the water flow direction;

[0023] According to the yaw angle, the operating robot module and the auxiliary robot module are subjected to formation processing by using an ultra-short baseline to obtain formation position information;

[0024] Calculating the motor output power according to the water flow velocity;

[0025] Underwater anti-disturbance processing is performed according to the formation position information and the motor output power.

[0026] In some embodiments, the calculating the yaw angle according to the water flow direction includes:

[0027] Constructing the carrier coordinate system;

[0028] In the carrier coordinate system, constructing a water flow line according to the water flow direction;

[0029] In the carrier coordinate system, a relative position line is constructed according to the relative position information of the robot;

[0030] The yaw angle is calculated according to the water flow line and the relative position line.

[0031] In some embodiments, the formation processing of the working robot module and the auxiliary robot module using an ultra-short baseline according to the yaw angle to obtain the formation position information includes:

[0032] Acquire the working robot status information, wherein the working robot status information includes distance information, pitch angle information, roll angle information, linear velocity information or angular velocity information;

[0033] Using the minimum mean square error method to perform data fitting on the state information of the working robot to obtain fitting data;

[0034] According to the kinematics of the working robot and the kinematics of the auxiliary robot, the fitting data is subjected to noise filtering through state estimation and Kalman filtering to obtain target state information;

[0035] A formation is performed according to the target state information and the yaw angle to obtain the formation position information.

[0036] In some embodiments, the method further comprises:

[0037] Conduct flow field simulation analysis;

[0038] The flow field simulation analysis comprises the following steps:

[0039] Set simulation parameters;

[0040] According to the simulation parameters and the shape of the propeller blade, a model simulation operation is performed to obtain an electronic calculation result.

[0041] On the other hand, an embodiment of the present invention provides an underwater operation device, including:

[0042] The first module is used to obtain water flow speed and direction;

[0043] The second module is used to calculate the yaw angle according to the water flow direction;

[0044] A third module is used to perform formation processing on the working robot module and the auxiliary robot module using an ultra-short baseline according to the yaw angle to obtain formation position information;

[0045] The fourth module is used to calculate the motor output power according to the water flow speed;

[0046] The fifth module is used to perform underwater anti-disturbance processing according to the formation position information and the motor output power.

[0047] In another aspect, an embodiment of the present invention provides a computer device, comprising:

[0048] at least one processor;

[0049] at least one memory for storing at least one program;

[0050] When the at least one program is executed by the at least one processor, the at least one processor implements the described method.

[0051] The beneficial effects of the present invention are as follows:

[0052] The embodiment of the present invention first obtains the water flow velocity and direction, calculates the yaw angle according to the water flow direction, and then uses an ultra-short baseline to perform formation processing on the working robot module and the auxiliary robot module according to the yaw angle to obtain the formation position information, and then calculates the motor output power according to the water flow velocity. Finally, according to the formation position information and the motor output power, underwater anti-disturbance processing is performed, so that underwater anti-disturbance can be achieved by controlling the auxiliary robot position and the motor output power, thereby improving the operating accuracy and endurance time of the working robot and reducing energy consumption.

[0053] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 This is a schematic structural diagram of an underwater anti-turbulence device according to an embodiment of the present invention;

[0056] Figure 2 This is a schematic structural diagram of a flow blocking module according to an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of a propeller structure and propulsion direction according to an embodiment of the present invention;

[0058] Figure 4 A schematic diagram of the rotation direction of a propeller according to an embodiment of the present invention;

[0059] Figure 5 This is a flow chart of an underwater operation method according to an embodiment of the present invention;

[0060] Figure 6 A schematic diagram of the position relationship between a leader and a follower according to an embodiment of the present invention;

[0061] Figure 7 A schematic diagram of a follower posture adjustment according to an embodiment of the present invention;

[0062] Figure 8 A schematic diagram of a state estimator framework according to an embodiment of the present invention;

[0063] Fig. 9 A schematic diagram of a leader and follower formation control framework according to an embodiment of the present invention;

[0064] Fig.10 A schematic diagram of a communication framework between a flow blocking module and an auxiliary robot according to an embodiment of the present invention;

[0065] Fig.11 A schematic diagram of a simulated observation surface according to an embodiment of the present invention;

[0066] Fig.12 A schematic diagram of a stable watershed according to an embodiment of the present invention;

[0067] Fig.13 A schematic diagram of an eddy flow region according to an embodiment of the present invention;

[0068] Fig.14 This is a schematic structural diagram of an underwater operation device according to an embodiment of the present invention;

[0069] Fig.15 The figure is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0071] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0072] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0073] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0074] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0075] Intelligent underwater robots (AUV, Wingman Vehicles): are cable-free, do not require human operation, and can automatically navigate and perform tasks according to pre-set programs.

[0076] Remotely Operated Vehicle (ROV): connected to the control device via cables and controlled in real time by the operator.

[0077] In the related technology, underwater robots can be used to install, maintain and inspect infrastructure such as submarine pipelines, offshore platforms, submarine cables and bridges. These facilities are often located in deep water or high water pressure environments. Manual operation has great risks and limitations, while robots can accurately and stably complete complex tasks. Underwater robots can inspect and maintain underwater structures and quickly repair them when damaged, reducing long-term costs and risks caused by corrosion, damage, etc. By carrying high-precision sensors, cameras and operating arms, underwater robots can complete delicate welding, cutting, cleaning and other tasks underwater. Especially in deep water conditions, where human power cannot reach, robots can replace manual construction. Due to the complex underwater environment, the direction and speed of the water flow may change continuously when the underwater robot is performing underwater operations, which may easily lead to unstable operation of the underwater robot. Strong ocean currents or turbulence can affect the positioning, navigation and operation accuracy of the robot. When the water flows through complex terrain or large structures, eddies and swirls may be generated, which will cause the underwater robot to be subjected to irregular impacts, affecting its stability and path planning, and increasing the complexity of the task. When facing disturbance operations, traditional underwater robots generally choose to bypass strong current areas or wait until the water flow is stable before operating. Robots may have to plan a longer path to bypass strong current areas, which will increase navigation time and energy consumption, reduce operation efficiency, and the mission range may be within the strong watershed; waiting for the water flow to stabilize before operating may take a long time, especially in areas with obvious tidal or seasonal flows, which may lead to an extension of the operation cycle and affect the progress of the mission. On the other hand, there are also methods that measure the flow rate data through a flow meter and feed it back to the robot, and then adjust the output power of the servo to match its propulsion speed with the disturbance flow rate before operating. This method requires the propeller of the underwater robot to continuously output power, especially in a strong current environment, which will accelerate energy consumption and shorten the endurance time. At the same time, when the underwater robot is performing underwater operations, when it encounters a strong water flow, the propulsion system must provide greater thrust to offset the impact of the water flow to maintain its stable and precise heading, which means that the power of the propulsion system increases and the power consumption accelerates. The increase in the power of the propeller increases the noise generated, affecting the stability of the underwater robot sensor. Furthermore, the robot needs to integrate an operating system, an anti-disturbance system, and image processing, and also needs to be connected to an external flow meter and a robotic arm to operate, which increases the complexity of the algorithm. The robot needs to constantly adjust its posture and thruster output power during the anti-disturbance process, which will affect the robot's underwater operation quality and increase the operator's underwater operation difficulty. Underwater robots are easily affected by water currents and eddies when performing underwater operations, which is not conducive to the underwater operation of underwater robots and reduces their operating accuracy.

[0078] In view of this, the present embodiment forms an underwater anti-disturbance device through an operating robot module, an auxiliary robot module, a Doppler speed measurement module and a flow control module, and uses the underwater anti-disturbance device to perform underwater anti-disturbance operations, thereby providing a relatively stable underwater operating area for the operating robot, improving the operating accuracy and endurance time of the operating robot, and reducing energy consumption.

[0079] The following is a detailed explanation of the embodiments of the present application in conjunction with the accompanying drawings:

[0080] like Figure 1 As shown, an embodiment of the present invention provides an underwater anti-turbulence device, comprising:

[0081] Working robot module 101;

[0082] An auxiliary robot module 102, the auxiliary robot module is connected to the working robot module;

[0083] A Doppler speed measurement module 103, which is connected to the auxiliary robot module and is used to obtain water flow velocity;

[0084] The flow blocking module 104 is connected to the auxiliary robot module and is used to perform underwater anti-disturbance processing according to the water flow speed.

[0085] In some embodiments, an underwater anti-disturbance device provided by an embodiment of the present invention includes an operating robot module 101, an auxiliary robot module 102, a Doppler speed measurement module 103 and a choke module 104. Wherein, the auxiliary robot module is connected to the operating robot module, and the Doppler speed measurement module is connected to the auxiliary robot module, and the water flow velocity can be obtained by the Doppler speed measurement module. The choke module is connected to the auxiliary robot module, and the underwater anti-disturbance processing can be performed by the choke module according to the water flow velocity. Exemplarily, the auxiliary robot module can adopt an intelligent underwater robot (AUV, WingmanVehicles), AUV is a cable-free connection, does not require human operation, and it can perform automatic navigation and task execution according to a pre-set program. The operating robot module can adopt a remotely controlled underwater robot (ROV, Remotely OperatedVehicle), ROV is connected to the control device through a cable, and is controlled in real time by an operator. The flow-blocking module is installed on the intelligent underwater robot. After the installation is completed, the intelligent underwater robot follows behind the remote-controlled underwater robot to protect the remote-controlled underwater robot from the water flow behind it and reduce the impact of the water flow on the remote-controlled underwater robot.

[0086] In some embodiments, Figure 2 As shown, the blocking module includes:

[0087] A propeller 201, which is used to move water flow;

[0088] A motor assembly 202, the motor assembly is connected to the propeller and is used to drive the propeller to rotate;

[0089] A retaining ring 203, which is connected to the motor assembly and is used to block the water flow;

[0090] A support rod 204, the support rod is connected to the retaining ring;

[0091] The bracket 205 is connected to the support rod.

[0092] In some embodiments, the flow control module includes a propeller 201, a motor assembly 202, a retaining ring 203, a support rod 204 and a bracket 205. The propeller is used to move the water flow. The propeller blade surface is concave, the blade back is convex, and it is a left-hand propeller (when viewed from the propeller to the motor, the propeller rotates to the left). The guide edge pushes the water flow to both sides of the baffle. The propeller structure and propulsion direction are as shown in FIG. Figure 3 As shown, it includes a blade surface 301, a blade root 302, a guide edge 303 and a blade back 304. Furthermore, the propulsion direction of the propeller is against the water flow direction. The motor assembly is connected to the propeller, and the propeller can be driven to rotate by the motor assembly. Furthermore, the motor assembly can be a brushless DC motor. The retaining ring is connected to the motor assembly, and the water flow can be blocked by the retaining ring to provide a stable water flow area for the operating robot. The support rod is connected to the retaining ring, and the bracket is connected to the support rod, and the choke module can be fixedly installed on the auxiliary robot module through the support rod and the bracket. It can be understood that the choke module mainly uses the rotation of the propeller to divert the water flow to both sides of the retaining ring, thereby forming a relatively stable watershed field behind the choke module. The rotation direction of the propeller is as shown in Figure 4 shown.

[0093] The beneficial effects of implementing the embodiments of the present invention include: the embodiments of the present invention provide an underwater anti-disturbance device including an operating robot module, an auxiliary robot module, a Doppler speed measurement module and a flow control module. Among them, the auxiliary robot module is connected to the operating robot module; the Doppler speed measurement module is connected to the auxiliary robot module for obtaining the water flow velocity; the flow control module is connected to the auxiliary robot module for performing underwater anti-disturbance processing according to the water flow velocity, thereby realizing an underwater anti-disturbance device, improving the operating accuracy and endurance time of the operating robot, and reducing energy consumption. At the same time, the device of this embodiment can reduce the impact of water flow on the stability of the robot, improve the stability of the underwater robot operation, and can be applied to underwater emergency work under rapids.

[0094] Figure 5 is an optional flow chart of an underwater operation method for an underwater anti-turbulence device provided in an embodiment of the present application. Figure 5 The method may include but is not limited to steps S501 to S505.

[0095] Step S501, obtaining water flow velocity and water flow direction;

[0096] Step S502, calculating the yaw angle according to the water flow direction;

[0097] Step S503: According to the yaw angle, the operation robot module and the auxiliary robot module are formed into a team using an ultra-short baseline to obtain the formation position information;

[0098] Step S504, calculating the motor output power according to the water flow velocity;

[0099] Step S505: Perform underwater anti-disturbance processing according to the formation position information and the motor output power.

[0100] Steps S501 to S505 shown in the embodiment of the present application achieve underwater anti-turbulence, improve the operating accuracy and endurance of the operating robot, and reduce energy consumption.

[0101] In step S501 of some embodiments, the water flow velocity and water flow direction may be obtained by a Doppler velocimeter. The water flow velocity and water flow direction may also be obtained by other means, not limited thereto. A Doppler velocimeter (DVL) may be installed on the auxiliary robot, and a flow blocking module may be installed on the auxiliary robot, and then the auxiliary robot and the working robot may be put into the water.

[0102] In some embodiments, in step S502, calculating the yaw angle according to the water flow direction may include but is not limited to the following steps:

[0103] Constructing the carrier coordinate system;

[0104] In the carrier coordinate system, the water flow line is constructed according to the water flow direction;

[0105] In the carrier coordinate system, a relative position line is constructed according to the relative position information of the robot;

[0106] The yaw angle is calculated based on the water flow line and the relative position line.

[0107] In some embodiments, the carrier coordinate system can be constructed first, and then the water flow line can be constructed according to the water flow direction, and the relative position line can be constructed according to the relative position information of the robot, and then the yaw angle can be calculated according to the water flow line and the relative position line. For example, in order to describe the relative position information of the working robot and the auxiliary robot, the carrier coordinate system can be constructed first, and the analysis can be performed with the carrier coordinate system, such as Figure 6 As shown in the figure, the working robot (i.e., the leader) and the auxiliary robot (i.e., the follower) are regarded as a mass point. The carrier coordinate system takes the working robot as the center origin. The angle between the flow direction of the water and the x-axis of the carrier coordinate system is In this way, a straight line l2 passing through the origin O is constructed as y2=k2x, where The straight line l1 constructed by the connection between the auxiliary robot and the working robot is y1=k1x. The auxiliary robot adjusts its position through the relative position information of the working robot transmitted by USBL (ultra-short baseline), so that the straight line l1 keeps approaching l2, and the straight line l1 is transformed into l1′, y1′=k ′ 1x, l1′=l2. Figure 7 By adjusting the relative positions of the auxiliary robot (i.e., follower) and the working robot (i.e., navigator), the auxiliary robot is blocked between the working robot and the water flow, and then the blocking module is used to provide a stable working environment for the working robot.

[0108] In some embodiments, in step S503, the operation robot module and the auxiliary robot module are formed into a team using an ultra-short baseline according to the yaw angle to obtain the formation position information, which may include but is not limited to the following steps:

[0109] Acquire the working robot status information, the working robot status information includes distance information, pitch angle information, roll angle information, linear velocity information or angular velocity information;

[0110] The minimum mean square error method is used to perform data fitting on the state information of the working robot to obtain fitting data;

[0111] According to the kinematics of the working robot and the auxiliary robot, the noise of the fitting data is filtered through state estimation and Kalman filtering to obtain the target state information;

[0112] According to the target status information and yaw angle, the formation is carried out to obtain the formation position information.

[0113] In some embodiments, the operation robot status information n can be obtained first. s(t) , where the operating robot status information includes distance information l (t) , pitch angle information θ (t) , rolling angle information ρ (t) , Linear speed information u (t) Or angular velocity information r (t) Furthermore, the robot status information may also include yaw angle information. and time t. Then, the minimum mean square error method is used to perform data fitting on the state information of the working robot to obtain fitting data. Then, according to the kinematics of the working robot and the kinematics of the auxiliary robot, the fitting data is noise-filtered through state estimation and Kalman filtering to obtain the target state information. Finally, according to the target state information and the yaw angle, a formation is formed to obtain the formation position information. Exemplarily, in this embodiment, the ROV kinematics (working robot kinematics) is based on the rigid body motion theory, including position and attitude, velocity vector, where the velocity vector includes linear velocity and angular velocity; AUV kinematics (auxiliary robot kinematics) is centered on heading control and attitude adjustment, and relies on inertial navigation and acoustic signal positioning. The auxiliary robot uses the minimum mean square error method to complete data fitting of the received working robot state information, eliminates state abnormalities caused by data loss and other reasons, and estimates the target state information of the navigator (i.e., the working robot) at the current moment in combination with the state estimator, reduces the impact of communication delays and noise factors on the data, thereby achieving data correction and error compensation. The state estimator framework is as follows: Figure 8 As shown. It can be understood that the working robot and the auxiliary robot communicate through USBL (Ultra Short Baseline), and the formation stealth adopts Leader-Follower formation control. In this formation control, the working robot is the leader and the auxiliary robot is the follower. The follower dynamically adjusts its own posture state as the position and posture of the leader change. The leader and follower formation control framework is shown in Fig. 9 As shown. Moreover, the state estimator uses the Kalman filtering algorithm to filter the noise of the information transmitted by USBL. The Kalman filtering algorithm (KF) is widely used in navigation, tracking and control systems. It is an algorithm that uses the linear system state equation and the system input and output observation data to make the optimal estimate. It can be used in any dynamic system containing uncertain information to predict the position of the target and use the prediction results to correct the tracked target. USBL (Ultra-Short Baseline) is an acoustic technology widely used in underwater positioning and communication, suitable for navigation and collaborative operation in multi-robot systems. The base station of USBL is installed on the working robot, and transmits sound wave signals to the auxiliary robot through an acoustic transducer. The auxiliary robot receives the state information of the working robot through the receiver.

[0114] In some embodiments, in step S504-step S505, the motor output power can be calculated according to the water flow speed, and then the underwater anti-disturbance processing can be performed according to the formation position information and the motor output power. Fig.10As shown in the figure, the water flow direction and water flow velocity collected by the Doppler velocimeter can be sent to the auxiliary robot to calculate and adjust the motor output power and yaw angle. In the underwater anti-disturbance process, the Doppler velocimeter (DVL) can be installed on the auxiliary robot, the flow blocking module can be installed on the auxiliary robot, and the auxiliary robot and the working robot can be put into the water. Then the auxiliary robot follows the working robot to form a formation through the USBL system. After the working robot arrives at the working position, the auxiliary robot adjusts its relative position with the working robot so that the flow blocking module blocks the working robot and the water flow, and turns on the propeller of the flow blocking module. The propeller is a left-hand propeller (facing the blade surface, the propeller rotates to the left). After the flow blocking device is turned on, the propeller rotates to provide forward propulsion to the flow blocking module and guide the head-on impact water flow to both sides of the device. The motor output power of the propeller is calculated and adjusted according to the flow velocity fed back by the DVL, so that the overall propulsion force of the flow blocking module and the auxiliary robot is offset by the water flow impact force on the flow blocking module. After the auxiliary robot is stabilized, the operating robot performs underwater operations in the stable water area provided behind the blocking module.

[0115] In some embodiments, the method further comprises:

[0116] Conduct flow field simulation analysis;

[0117] The flow field simulation analysis includes the following steps:

[0118] Set simulation parameters;

[0119] According to the simulation parameters and the shape of the propeller blades, the model simulation operation is performed to obtain the electronic calculation results.

[0120] In some embodiments, flow field simulation analysis can be performed by first setting simulation parameters, and then performing model simulation operations based on the simulation parameters and the shape of the propeller blades to obtain electronic calculation results. For example, flow field simulation analysis of the propeller and the retaining ring is performed using Ansys Fluent. In the simulation parameter setting, the flow field is a liquid water flow field, the gravity acceleration direction is along the Z axis, and the magnitude is -9.8 m / s 2 The boundary conditions are pressure inlet and pressure outlet. The propeller has only one degree of freedom to rotate around the Y axis. The retaining ring limits displacement and rotation. The propeller rotates 2000 times counterclockwise per minute. The shape of the propeller blade is used as the variable for calculation. The flow field after the model calculation is observed, and the computer calculation result is finally obtained. With the end of the propeller as the origin, a XOY two-dimensional plane is set, and this plane is used as the observation plane. The simulation observation plane is as follows Fig.11As shown. The water flow is sucked into the suction surface of the propeller. After rotation and acceleration, when the angle β between the tangent of the water flow trace line derived from the guide edge and the Y axis is greater than the angle α between the tangent of the contour line of the retaining ring and the Y axis, that is, β>α, the flow field A behind the retaining ring is in a stable state, no vortex is generated, and the stable flow field is as follows Fig.12 When the angle β between the tangent of the water flow trace line derived from the guide edge and the Y axis is smaller than the angle α between the tangent of the retaining ring outline and the Y axis, that is, β<α, a vortex will be generated in the flow field A behind the retaining ring. The vortex flow field is as follows Fig.13 shown.

[0121] The beneficial effects of implementing the embodiments of the present invention include: the embodiments of the present invention first obtain the water flow velocity and water flow direction, calculate the yaw angle according to the water flow direction, and then use the ultra-short baseline to perform formation processing on the working robot module and the auxiliary robot module according to the yaw angle to obtain the formation position information, and then calculate the motor output power according to the water flow velocity. Finally, according to the formation position information and the motor output power, underwater anti-disturbance processing is performed, so that underwater anti-disturbance can be achieved by controlling the auxiliary robot position and the motor output power, thereby improving the operating accuracy and endurance of the working robot and reducing energy consumption.

[0122] In some embodiments, the flow-blocking module is driven by a propeller to provide the underwater robot with a part of the power to resist the water flow. At the same time, the propeller can guide the water flow to both sides of the retaining ring, reducing the force of the water flow directly impacting the flow-blocking device. The flow-blocking module can provide a relatively stable watershed field for the working robot, thereby improving the working efficiency and stability of the working robot. This embodiment proposes the correlation between the stability of the watershed field and the trace of the water flow direction and the outline of the retaining ring. When the angle β between the tangent of the water flow trace derived by the blade and the Y axis is greater than the angle α between the tangent of the retaining ring outline and the Y axis, that is, β>α, the watershed field A behind the retaining ring is in a stable state. The more the water flow trace fits the contour of the retaining ring, the higher the flow-blocking efficiency of the flow-blocking module. In addition, since this embodiment does not integrate too many devices and algorithms, it reduces the risk of robot errors and increases the endurance of the robot. By using the auxiliary robot and the working robot, the special strengthening design of the underwater robot can be carried out. The auxiliary robot is designed for anti-turbance flow, and the working robot is designed for underwater operation, which can increase the efficiency and accuracy of underwater operation. This embodiment can cope with stronger turbulence and more underwater operation situations.

[0123] like Fig.14 As shown, an embodiment of the present invention further provides an underwater operation device, comprising:

[0124] The first module 801 is used to obtain water flow speed and water flow direction;

[0125] The second module 802 is used to calculate the yaw angle according to the water flow direction;

[0126] The third module 803 is used to perform formation processing on the working robot module and the auxiliary robot module using an ultra-short baseline according to the yaw angle to obtain formation position information;

[0127] The fourth module 804 is used to calculate the motor output power according to the water flow speed;

[0128] The fifth module 805 is used to perform underwater anti-disturbance processing according to the formation position information and the motor output power.

[0129] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0130] like Fig.15 As shown, an embodiment of the present invention further provides a computer device, including:

[0131] at least one processor 901;

[0132] At least one memory 902, used to store at least one program;

[0133] When at least one program is executed by at least one processor, the at least one processor implements Figure 5 The method shown.

[0134] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0135] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. An underwater anti-turbulence device, characterized in that: include: Operation robot module; An auxiliary robot module, the auxiliary robot module is connected to the working robot module; A Doppler speed measurement module, which is connected to the auxiliary robot module and is used to obtain water flow velocity; A flow blocking module is connected to the auxiliary robot module and is used for performing underwater anti-disturbance processing according to the water flow speed.

2. The device according to claim 1, characterized in that The blocking module comprises: A propeller, the propeller being used to stir the water flow; a motor assembly, the motor assembly being connected to the propeller and being used to drive the propeller to rotate; A retaining ring, the retaining ring is connected to the motor assembly and is used to block the water flow; A support rod connected to the retaining ring; A bracket is connected to the support rod.

3. The device according to claim 2, characterized in that The propulsion direction of the propeller is against the water flow direction.

4. The device according to claim 2, characterized in that The motor assembly is a brushless DC motor.

5. An underwater operation method applied to the underwater anti-turbulence device according to any one of claims 1 to 4, characterized in that: The following steps are involved: Get water flow speed and direction; Calculating a yaw angle according to the water flow direction; According to the yaw angle, the operating robot module and the auxiliary robot module are subjected to formation processing by using an ultra-short baseline to obtain formation position information; Calculating the motor output power according to the water flow velocity; Underwater anti-disturbance processing is performed according to the formation position information and the motor output power.

6. The method according to claim 5, characterized in that The calculating the yaw angle according to the water flow direction comprises: Constructing the carrier coordinate system; In the carrier coordinate system, constructing a water flow line according to the water flow direction; In the carrier coordinate system, a relative position line is constructed according to the relative position information of the robot; The yaw angle is calculated according to the water flow line and the relative position line.

7. The method according to claim 5, characterized in that The step of performing formation processing on the working robot module and the auxiliary robot module using an ultra-short baseline according to the yaw angle to obtain formation position information includes: Acquire the working robot status information, wherein the working robot status information includes distance information, pitch angle information, roll angle information, linear velocity information or angular velocity information; Using the minimum mean square error method to perform data fitting on the state information of the working robot to obtain fitting data; According to the kinematics of the working robot and the kinematics of the auxiliary robot, the fitting data is subjected to noise filtering through state estimation and Kalman filtering to obtain target state information; A formation is performed according to the target state information and the yaw angle to obtain the formation position information.

8. The method according to claim 5, characterized in that The method further comprises: Conduct flow field simulation analysis; The flow field simulation analysis comprises the following steps: Set simulation parameters; According to the simulation parameters and the shape of the propeller blade, a model simulation operation is performed to obtain an electronic calculation result.

9. An underwater working device, characterized in that: include: The first module is used to obtain water flow speed and direction; The second module is used to calculate the yaw angle according to the water flow direction; A third module is used to perform formation processing on the working robot module and the auxiliary robot module using an ultra-short baseline according to the yaw angle to obtain formation position information; The fourth module is used to calculate the motor output power according to the water flow speed; The fifth module is used to perform underwater anti-disturbance processing according to the formation position information and the motor output power.

10. A computer device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 5 to 8.

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