An underwater anti-turbulence device and underwater operation method and device

Abstract

The application discloses an underwater anti-turbulence device and an underwater operation method and device, and relates to the technical field of underwater engineering. The underwater anti-turbulence device comprises an operation robot module, an auxiliary robot module connected with the operation robot module, a Doppler velocity measurement module connected with the auxiliary robot module and used for acquiring a water flow velocity, and a flow resistance module connected with the auxiliary robot module and used for performing underwater anti-turbulence processing according to the water flow velocity. The flow resistance module comprises a propeller used for stirring water flow, a motor assembly connected with the propeller and used for driving the propeller to rotate, a baffle ring connected with the motor assembly and used for resisting water flow, a supporting rod connected with the baffle ring, and a support connected with the supporting rod. The underwater anti-turbulence device can improve operation accuracy and endurance time and reduce energy consumption. The application can be widely applied to the technical field of underwater engineering.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater engineering, and in particular to an underwater anti-turbulence device and an underwater operation method and device. BACKGROUND

[0002] Infrastructure such as submarine pipelines, offshore platforms, submarine cables and bridges is often located in deep water or high water pressure environments, and manual operation has great risks and limitations, so underwater robots need to be used for operation. Due to the complexity of the underwater environment, the direction and speed of the water flow change constantly, which easily leads to unstable operation of the underwater robot. The prior art uses a flowmeter to collect flow rate data, and then adjusts the output power of the rudder to match the propelling speed of the underwater robot with the turbulence flow rate, so as to adjust the attitude. However, the continuous output of power by the propeller leads to increased energy consumption and shortened endurance time, and the attitude calculation increases the complexity of the underwater robot system, which is difficult to operate and has low operation accuracy.

[0003] To sum up, the technical problems in the related art need to be improved. SUMMARY

[0004] The underwater anti-turbulence device and the underwater operation method and device provided by the embodiments of the present application effectively improve the operation accuracy and endurance time, and reduce the energy consumption.

[0005] In one aspect, the present application provides an underwater anti-turbulence device, comprising:

[0006] a work robot module;

[0007] an auxiliary robot module connected with the work robot module;

[0008] a Doppler speed measurement module connected with the auxiliary robot module and configured to obtain a water flow speed;

[0009] a flow resistance module connected with the auxiliary robot module and configured to perform underwater anti-turbulence processing according to the water flow speed.

[0010] In some embodiments, the flow resistance module comprises:

[0011] a propeller configured to stir the water flow;

[0012] a motor assembly connected with the propeller and configured to drive the propeller to rotate;

[0013] a blocking ring connected with the motor assembly and configured to block the water flow;

[0014] a support rod connected with the blocking ring;

[0015] a support, which is connected with the support rod.

[0016] In some embodiments, the propelling direction of the propeller is opposite to the water flow direction.

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

[0018] The present application has the following beneficial effects:

[0019] The underwater anti-turbulence device provided by the embodiment of the present application comprises a working robot module, an auxiliary robot module, a Doppler speed measurement module and a flow resistance module. The auxiliary robot module is connected with the working robot module. The Doppler speed measurement module is connected with the auxiliary robot module and is used to obtain the water flow speed. The flow resistance module is connected with the auxiliary robot module and is used to perform underwater anti-turbulence processing according to the water flow speed, so that the underwater anti-turbulence device is realized, the working precision and the endurance time of the working robot are improved, and the energy consumption is reduced.

[0020] In another aspect, the embodiment of the present application provides an underwater working method applied to the underwater anti-turbulence device, which comprises the following steps:

[0021] obtaining the water flow speed and the water flow direction;

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

[0023] performing formation processing on the working robot module and the auxiliary robot module by using an ultra-short baseline according to the yaw angle to obtain formation position information;

[0024] calculating motor output power according to the water flow speed;

[0025] performing underwater anti-turbulence processing according to the formation position information and the motor output power.

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

[0027] constructing a carrier coordinate system;

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

[0029] constructing a relative position line in the carrier coordinate system according to robot relative position information;

[0030] calculating the yaw angle according to the water flow line and the relative position line.

[0031] In some embodiments, the formation processing of the work robot module and the auxiliary robot module according to the yaw angle by using the ultra-short baseline obtains formation position information, including:

[0032] Obtaining work robot state information, the work robot state information including distance information, pitch angle information, roll angle information, linear velocity information or angular velocity information;

[0033] Data fitting of the work robot state information by using a least mean square error method obtains fitting data;

[0034] Noise filtering of the fitting data by state estimation and Kalman filtering according to work robot kinematics and auxiliary robot kinematics obtains target state information;

[0035] Formation according to the target state information and the yaw angle obtains the formation position information.

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

[0037] Flow field simulation analysis is performed;

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

[0039] Simulation parameters are set;

[0040] Model simulation operation according to the simulation parameters and the shape of the propeller blade obtains a computer result.

[0041] In another aspect, an embodiment of the present application provides an underwater work device, including:

[0042] A first module is configured to obtain a water flow velocity and a water flow direction;

[0043] A second module is configured to calculate a yaw angle according to the water flow direction;

[0044] A third module is configured to perform formation processing of the work robot module and the auxiliary robot module according to the yaw angle by using the ultra-short baseline to obtain formation position information;

[0045] A fourth module is configured to calculate a motor output power according to the water flow velocity;

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

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

[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 method.

[0051] The present application has the following beneficial effects:

[0052] The embodiment of the present application first acquires the water flow speed and the water flow direction, calculates the yaw angle according to the water flow direction, then uses the ultra-short baseline to process the formation of the working robot module and the auxiliary robot module according to the yaw angle, obtains the formation position information, calculates the motor output power according to the water flow speed, and finally performs underwater anti-turbulence processing according to the formation position information and the motor output power, so as to realize underwater anti-turbulence by controlling the auxiliary robot position and the motor output power, improve the working accuracy and endurance time of the working robot, and reduce the energy consumption.

[0053] Other features and advantages of the present application will be further described in the following specification, and some will become apparent from the specification, or will be learned by practice of the present application. The purpose and other advantages of the present application can be achieved and obtained by the structure specifically pointed out in the specification and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

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

[0056] Figure 2 It is a structural schematic diagram of a flow resistance module according to an embodiment of the present application;

[0057] Figure 3 It is a schematic diagram of a propeller structure and a propelling direction according to an embodiment of the present application;

[0058] Figure 4 It is a schematic diagram of the rotating direction of a propeller according to an embodiment of the present application;

[0059] Figure 5 It is a flow chart of an underwater working method according to an embodiment of the present application;

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

[0061] Figure 7 A schematic diagram of a follower pose adjustment for an embodiment of the application;

[0062] Figure 8 A schematic diagram of a state estimator framework for an embodiment of the application;

[0063] Figure 9 A schematic diagram of a leader and follower formation control framework for an embodiment of the application;

[0064] Figure 10 A schematic diagram of a blockage module and auxiliary robot communication framework for an embodiment of the application;

[0065] Figure 11 A schematic diagram of a simulated observation surface for an embodiment of the application;

[0066] Figure 12 A schematic diagram of a stable flow regime for an embodiment of the application;

[0067] Figure 13 A schematic diagram of a vortex flow regime for an embodiment of the application;

[0068] Figure 14 A schematic diagram of a structure of an underwater working device for an embodiment of the application;

[0069] Figure 15 A schematic diagram of a hardware structure of a computer device for an embodiment of the application. DETAILED DESCRIPTION

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

[0071] It can be understood that the terms “first”, “second”, and the like used in the present application can be used herein to describe various concepts, but unless specifically stated, 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 embodiments of the present application, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information. Depending on the context, the word “if” as used herein can be interpreted as “when” or “upon” or “in response to determining”.

[0072] As used herein, the terms "at least one", "multiple", "each", "any", and the like, means one, two, or more, multiple means two or more, and each refers to every one of a corresponding plurality.

[0073] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification is for describing the embodiments of this application only and is not intended to limit this application.

[0074] Before the embodiments of the present application are explained in detail, the description first addresses a description of several terms and phrases used in the embodiments of the present application, which are applicable to the following explanations.

[0075] Autonomous Underwater Vehicle (AUV, Wingman Vehicles): is a tethered connection, without human operation, can be automatically navigated and task execution according to the pre-set program.

[0076] Remotely Operated Vehicle (ROV, Remotely Operated Vehicle): connected with the control device through the cable, real-time control by the operator.

[0077] In the related art, underwater robots can be used to install, maintain and detect underwater pipelines, offshore platforms, submarine cables and bridges and other infrastructure. These facilities are often located in deep water or high water pressure environment, manual operation has great risk and limitation, and robots can accurately and stably complete complex tasks. Underwater robots can inspect, maintain and quickly repair underwater structures 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 perform fine welding, cutting, cleaning and other work underwater, especially in deep water conditions where manpower cannot reach, robots can replace manual labor for construction. Due to the complexity of the underwater environment, the direction and speed of the water flow may change constantly when the underwater robot is working underwater, which can easily cause the underwater robot to operate unstably. Strong ocean currents or turbulent flows can affect the positioning, navigation and operation accuracy of the robot. When the water flow passes through complex topography or large structures, vortex and rotational flow may be generated, which can cause the underwater robot to be subjected to irregular impact, affecting its stability and path planning, and increasing the complexity of the task. Traditional underwater robots facing turbulent flow generally choose to bypass the strong flow area or wait until the water flow is stable before working. The robot may need to plan a longer path to bypass the strong flow area, increasing the navigation time and energy consumption, reducing the work efficiency, and the task range may be within the strong flow area; waiting for the water flow to be stable before working may take a long time, especially in areas with obvious tidal or seasonal flow, which may cause the operation period to be prolonged, affecting the task progress. On the other hand, the flow rate data measured by the flow meter is fed back to the robot, and then the output power of the rudder is adjusted to match the propeller speed with the turbulent flow speed before the operation. This method requires the propeller of the underwater robot that needs to work to continuously output power, especially in strong flow environments, which will accelerate energy consumption and shorten the endurance time. At the same time, when the underwater robot is working underwater, it must provide more thrust to the propeller system to resist the impact of the water flow in order to maintain its stability and accurate heading, which means that the power of the propeller system increases and the power consumption accelerates. The increase in the power of the propeller increases the noise, affecting the stability of the underwater robot sensors. More, the robot needs to integrate the operating system, anti-turbulence system and image processing, and needs to connect the flow meter and mechanical arm for operation, which increases the complexity of the algorithm. The robot needs to constantly adjust the attitude and adjust the output power of the propeller during the anti-turbulence process, which will affect the quality of the underwater operation of the robot and increase the difficulty of the underwater operation of the operator. The underwater robot is easily affected by the water flow and vortex when working underwater, which is not conducive to the underwater operation of the underwater robot and reduces its operation accuracy.

[0078] Therefore, the underwater anti-turbulence device is composed of the operation robot module, the auxiliary robot module, the Doppler velocity measurement module and the flow resistance module, and the underwater anti-turbulence operation is performed by using the underwater anti-turbulence device, so that a relatively stable underwater operation area is provided for the operation robot, the operation precision and the endurance time of the operation robot are improved, and the energy consumption is reduced.

[0079] The embodiments of the present application will be explained in detail below with reference to the drawings:

[0080] As shown in Figure 1 , the embodiment of the present application provides an underwater anti-turbulence device, which comprises:

[0081] an operation robot module 101;

[0082] an auxiliary robot module 102, which is connected with the operation robot module;

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

[0084] a flow resistance module 104, which is connected with the auxiliary robot module and is used to perform underwater anti-turbulence processing according to the water flow velocity.

[0085] In some embodiments, the underwater anti-turbulence device provided by the embodiment of the present application comprises the operation robot module 101, the auxiliary robot module 102, the Doppler velocity measurement module 103 and the flow resistance module 104. The auxiliary robot module is connected with the operation robot module, the Doppler velocity measurement module is connected with the auxiliary robot module, and the water flow velocity can be obtained through the Doppler velocity measurement module. The flow resistance module is connected with the auxiliary robot module, and the underwater anti-turbulence processing can be performed through the flow resistance module according to the water flow velocity. Exemplarily, the auxiliary robot module can adopt an intelligent underwater robot (AUV, Wingman Vehicles), which is connected by a wireless cable and does not need to be manually operated, and can automatically navigate and perform tasks according to a pre-set program. The operation robot module can adopt a remotely operated underwater robot (ROV, Remotely Operated Vehicle), which is connected with a control device by a cable and is controlled in real time by an operator. The flow resistance module is installed on the intelligent underwater robot, and after the installation is completed, the intelligent underwater robot follows the remotely operated underwater robot at the rear, resists the water flow at the rear of the remotely operated underwater robot, and reduces the influence of the water flow on the remotely operated underwater robot.

[0086] In some embodiments, as shown in Figure 2 , the flow resistance module comprises:

[0087] a propeller 201, which is used to stir the water flow;

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

[0089] The blocking ring 203 is connected with the motor assembly and used to block the water flow;

[0090] The support rod 204 is connected with the blocking ring;

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

[0092] In some embodiments, the flow blocking module includes the propeller 201, the motor assembly 202, the blocking ring 203, the support rod 204, and the bracket 205. The propeller is used to push the water flow, the propeller surface is concave, the back surface is convex, it is a left-handed propeller (from the motor direction, the propeller rotates to the left), the guide edge pushes the water flow to the two sides of the baffle, the propeller structure and the propulsion direction are shown in Figure 3 , including the surface 301, the root 302, the guide edge 303, and the back surface 304. Further, the propulsion direction of the propeller is opposite to the water flow direction. The motor assembly is connected with the propeller, and the propeller can be driven to rotate by the motor assembly. Further, the motor assembly can be a brushless DC motor. The blocking ring is connected with the motor assembly, and the water flow can be blocked by the blocking ring to provide a stable water flow area for the working robot. The support rod is connected with the blocking ring, and the bracket is connected with the support rod, which can fix and install the flow blocking module on the auxiliary robot module through the support rod and the bracket. It can be understood that the flow blocking module mainly pushes the water flow to the two sides of the blocking ring through the rotation of the propeller, and forms a relatively stable flow field behind the flow blocking module. The rotation direction of the propeller is shown in Figure 4 .

[0093] The beneficial effects of implementing the embodiments of the present application include that the underwater anti-turbulence device provided by the embodiments of the present application includes a working robot module, an auxiliary robot module, a Doppler speed measurement module, and a flow blocking module. The auxiliary robot module is connected with the working robot module; the Doppler speed measurement module is connected with the auxiliary robot module and used to obtain the water flow speed; and the flow blocking module is connected with the auxiliary robot module and used to perform underwater anti-turbulence processing according to the water flow speed, thereby realizing the underwater anti-turbulence device, improving the working precision and the endurance time of the working robot, and reducing the energy consumption. At the same time, the device can reduce the influence of the water flow on the stability of the robot and improve the stability of the underwater robot working, and can be applied to underwater emergency work in a strong current.

[0094] Figure 5 is an optional flowchart of an underwater working method applied to the underwater anti-turbulence device provided by the embodiments of the present application, Figure 5 , which can include but is not limited to steps S501 to S505.

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

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

[0097] Step S503, using ultra-short baseline to conduct formation processing on the working robot module and the auxiliary robot module according to the yaw angle, to obtain formation position information;

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

[0099] Step S505, conducting underwater anti-turbulence processing according to the formation position information and the motor output power.

[0100] The steps S501 to S505 shown in the embodiments of the present application realize underwater anti-turbulence, improve the working accuracy and endurance time of the working robot, and reduce energy consumption.

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

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

[0103] constructing a carrier coordinate system;

[0104] constructing a water flow line in the carrier coordinate system according to the water flow direction;

[0105] constructing a relative position line in the carrier coordinate system according to the robot relative position information;

[0106] calculating the yaw angle according to the water flow line and the relative position line.

[0107] In some embodiments, the carrier coordinate system can be constructed first, then the water flow line can be constructed according to the water flow direction, the relative position line can be constructed according to the robot relative position information, and the yaw angle can be calculated according to the water flow line and the relative position line. For example, 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 in the carrier coordinate system, as shown in FIG. 1, 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, and the included angle between the water flow direction and the x-axis of the carrier coordinate system is Figure 6 ​A straight line l2 passing through the origin O is constructed as y2=k2x, where The straight line l1 constructed by the connecting line of the auxiliary robot and the working robot is y1=k1x. The auxiliary robot adjusts its position according to the relative position information of the working robot transmitted by the USBL (ultra-short baseline), so that the straight line l1 continuously approaches l2, and the straight line l1 changes to l1', y1'=k ′ 1x, l1'=l2. As shown in the figure. By adjusting the relative position of the auxiliary robot (i.e. the follower) and the working robot (i.e. the leader), the auxiliary robot is blocked between the working robot and the water flow, and the working robot is provided with a stable working environment by the flow blocking module. Figure 7

[0108] In some embodiments, in step S503, according to the yaw angle, the working robot module and the auxiliary robot module are processed by using the ultra-short baseline to obtain the formation position information, which can include but is not limited to the following steps:

[0109] Obtaining working robot state information, the working robot state information including distance information, pitch angle information, roll angle information, linear velocity information or angular velocity information;

[0110] Using the least mean square error method to data fit the working robot state information to obtain fitting data;

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

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

[0113] In some embodiments, the working robot state information η s(t) may be obtained first, wherein the working robot state information includes distance information l (t) , pitch angle information θ (t) , roll angle information ρ (t) , linear velocity information u (t) or angular velocity information r (t) . More, the working robot state information can also include yaw angle information ​and time t. Then, the state information of the working robot is data fitted by using the least mean square error method to obtain fitted data. Then, the fitted data is filtered by noise through state estimation and Kalman filtering according to the kinematics of the working robot and the kinematics of the auxiliary robot to obtain target state information. Finally, the formation is performed according to the target state information and the yaw angle to obtain formation position information. In the embodiment, the kinematics of the ROV (the kinematics of the working robot) is based on the rigid body motion theory and includes position and attitude, a velocity vector, wherein the velocity vector includes linear velocity and angular velocity; the kinematics of the AUV (the kinematics of the auxiliary robot) is centered on heading control and attitude adjustment and relies on inertial navigation and acoustic signal positioning. The state information of the working robot received by the auxiliary robot is data fitted by using the least mean square error method to eliminate abnormal values of the state caused by data loss and the like. The target state information of the leader (i.e. the working robot) at the current time is estimated by a state estimator to reduce the influence of communication time delay and noise factors on data, so as to realize correction and error compensation of data. The framework of the state estimator is shown in Figure 8 It can be understood that the working robot and the auxiliary robot communicate through USBL (ultra-short baseline), and the formation diving adopts Leader-Follower (leader-follower) formation control. In the formation control, the working robot is the leader, and the auxiliary robot is the follower. The follower dynamically adjusts the attitude state of itself according to the position and attitude changes of the leader. The framework of the leader-follower formation control is shown in Figure 9 More, the state estimator filters the information transmitted by the USBL through the Kalman filtering algorithm. The Kalman filtering algorithm (Kalman Filtering, KF) is widely used in navigation, tracking and control systems. It is an algorithm for optimal estimation by using the state equation of a linear system and observing the input and output data of the system. It can be used in any dynamic system containing uncertain information to predict the position of the target and correct the tracked target by using the prediction result. USBL (ultra-short baseline, Ultra-Short Baseline) is an acoustic technology widely used in underwater positioning and communication, which is suitable for navigation and cooperative operation in a multi-robot system. The base station of the USBL is installed on the working robot, and a sound wave signal is transmitted to the auxiliary robot through an acoustic transducer device. The state information of the working robot is received by the auxiliary robot through a receiver.

[0114] In some embodiments, in steps S504-S505, the motor output power can be calculated according to the water flow velocity, and then the underwater anti-turbulence processing is performed according to the formation position information and the motor output power. Exemplarily, the communication framework between the blocking flow module and the auxiliary robot is shown in Figure 10As shown, the water flow direction and water flow speed collected by the Doppler velocity log can be sent to the auxiliary robot, and the motor output power and yaw angle are calculated and adjusted. In the underwater anti-flow process, the Doppler velocity log (DVL) can be installed on the auxiliary robot, the flow resistance module is installed on the auxiliary robot, and the auxiliary robot and the working robot are put into the water. Then the auxiliary robot follows the working robot to form a team by the USBL system. After the working robot reaches the working position, the auxiliary robot adjusts the relative position of itself and the working robot, so that the flow resistance module is blocked between the working robot and the water flow, and the propeller of the flow resistance module is started. The propeller is a left-handed propeller (facing the blade direction, the propeller rotates to the left), and when the flow resistance device is started, the propeller rotates to provide forward thrust to the flow resistance module and guide the water flow to the sides of the device. The motor output power of the propeller is calculated and adjusted according to the flow rate fed back by the DVL, so that the total thrust of the flow resistance module and the auxiliary robot cancels out the water flow impact on the flow resistance module. After the auxiliary robot is stabilized, the working robot performs underwater work in the stable water area provided behind the flow resistance module.

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

[0116] performing flow field simulation analysis;

[0117] performing flow field simulation analysis, comprising the following steps:

[0118] setting simulation parameters;

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

[0120] In some embodiments, the flow field simulation analysis can be performed by first setting the simulation parameters, and then according to the simulation parameters and the shape of the propeller blade, model simulation operation is performed to obtain the calculation result. Exemplarily, the flow field simulation analysis of the propeller and the baffle ring is performed by 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 direction, the size is -9.8 m / s 2 , the boundary condition is pressure inlet and pressure outlet, the propeller has only one degree of freedom of rotation around the Y axis, the baffle ring limits displacement and rotation, and the propeller rotates counterclockwise at 2000 revolutions per minute. The shape of the propeller blade is taken as the variable of the operation, the flow field condition after the model operation is observed, and finally the calculation result is obtained. Taking the end of the propeller as the origin, an XOY two-dimensional plane is set, and the plane is taken as the observation plane. The simulation observation plane is as follows: Figure 11As shown. The water flow is sucked into the suction surface of the propeller, and after rotation and acceleration, when the tangent of the water flow trajectory led by the guide edge is greater than the tangent of the Y-axis, that is, β > α, the flow field A after the baffle is in a stable state, and no vortex is generated, and the stable flow field is as shown in Figure 12 As shown. When the tangent of the water flow trajectory led by the guide edge is less than the tangent of the Y-axis, that is, β < α, the flow field A after the baffle will generate vortex, and the vortex flow field is as shown in Figure 13 As shown.

[0121] The beneficial effects of the embodiment of the present application include: the embodiment of the present application first acquires the water flow speed and the water flow direction, calculates the yaw angle according to the water flow direction, then uses the ultra-short baseline to process the formation of the working robot module and the auxiliary robot module according to the yaw angle to obtain the formation position information, calculates the motor output power according to the water flow speed, and finally performs underwater anti-turbulence processing according to the formation position information and the motor output power, so as to realize underwater anti-turbulence by controlling the auxiliary robot position and the motor output power, improve the working precision and endurance time of the working robot, and reduce the energy consumption.

[0122] In some embodiments, the flow resistance module is driven by the propeller to provide part of the power for the underwater robot to resist the water flow, and the propeller can guide the water flow to both sides of the baffle to reduce the direct impact of the water flow on the flow resistance device. The flow resistance module can provide a relatively stable flow field for the working robot to improve the working efficiency and stability of the working robot. The present embodiment proposes that when the tangent of the water flow trajectory led by the guide edge is greater than the tangent of the Y-axis, that is, β > α, the flow field A after the baffle is in a stable state. The more the water flow trajectory fits the baffle contour line, the higher the flow resistance efficiency of the flow resistance module. In addition, the present embodiment reduces the risk of robot error and increases the endurance of the robot due to the lack of integrated devices and algorithms. The use of auxiliary robots and working robots can be used for special reinforcement design of underwater robots, and the auxiliary robots are designed for anti-turbulence, and the working robots are designed for underwater operation, which can increase the efficiency and accuracy of underwater operation. The present embodiment can cope with stronger turbulence and more underwater operation conditions.

[0123] As shown in Figure 14 The present embodiment further provides an underwater operation device, which comprises:

[0124] The first module 801 is used for acquiring the water flow speed and the water flow direction.

[0125] The second module 802 is used for calculating 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 velocity;

[0128] The fifth module 805 is used to perform underwater anti-turbulence processing based on 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 Figure 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, configured 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 are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope 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 being connected to the operating robot module; A Doppler speed measurement module, connected to the auxiliary robot module, for obtaining water flow velocity; a flow blocking module, connected to the auxiliary robot module, and configured to perform underwater anti-disturbance processing according to the water flow velocity; The flow blocking module includes: A propeller, the propeller is used to move the water flow, and the propeller's propulsion direction is against the water flow direction; a motor assembly, the motor assembly being connected to the propeller and configured to drive the propeller to rotate, the motor assembly being a brushless DC motor; a retaining ring connected to the motor assembly and used to block water flow; a support rod connected to the retaining ring; A bracket is connected to the support rod.

2. An underwater operation method applied to the underwater anti-turbulence device according to claim 1, 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 formed using an ultra-short baseline to obtain formation position information; Calculating the motor output power according to the water flow velocity; performing underwater anti-turbulence processing according to the formation position information and the motor output power; The process of forming 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: Acquiring state information of the operating robot, wherein the state information of the operating robot includes distance information, pitch angle information, roll angle information, linear velocity information or angular velocity information; Performing data fitting on the state information of the working robot using a minimum mean square error method to obtain fitting data; According to the kinematics of the working robot and the kinematics of the auxiliary robot, noise is filtered on the fitting data 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.

3. The method according to claim 2, characterized in that Calculating the yaw angle according to the water flow direction includes: Construct 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.

4. The method according to claim 2, 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 a computerized result.

5. An underwater working device, which is applied to the underwater anti-turbulence device according to claim 1, 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 configured 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; A fifth module is configured to perform underwater anti-turbulence processing based on the formation position information and the motor output power; The process of forming 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: Acquiring state information of the operating robot, wherein the state information of the operating robot includes distance information, pitch angle information, roll angle information, linear velocity information or angular velocity information; Performing data fitting on the state information of the working robot using a minimum mean square error method to obtain fitting data; According to the kinematics of the working robot and the kinematics of the auxiliary robot, noise is filtered on the fitting data 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.

6. 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 2 to 4.

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