In-soil self-penetration robot for seabed environment and control method of in-soil self-penetration robot

Abstract

The invention discloses an in-soil self-penetration robot for a submarine environment and a control method thereof, and relates to the technical field of submarine robots, and the in-soil self-penetration robot comprises a head used for spraying stable water flow downwards; the left part of the vibration chamber is a semi-cylindrical surface and is used for fixing a vibration motor; the right part of the vibrating chamber is a semi-cylindrical surface and is used for fixing the vibrating motor and allowing water flow to pass through; one end of the sleeve is connected with the head part, and the left part of the vibration chamber and the right part of the vibration chamber are fixed in an inner cavity of the sleeve; the wing part is connected with one end, far away from the head part, of the sleeve; the upper part of the sealing cover is a pagoda-shaped joint used for being connected with an external hose, and the lower part of the sealing cover is a circular pipeline connected with a water pipeline at the right part of the vibration chamber; the control system is used for controlling the vibration motor and the jet flow velocity. According to the in-soil self-penetration robot for the seabed environment and the control method of the in-soil self-penetration robot, stable and continuous movement can be kept in different soil textures.

Description

Technical Field

[0001] The present invention relates to the technical field of subsea robots, and particularly to a soil self-penetrating robot for subsea environment and its control method. Background Art

[0002] With the growth of energy demand, the development of subsea resources has attracted increasing attention. Existing detection technologies have certain limitations. Existing exploration tools include seismic exploration, coring, and logging technologies, etc. Seismic exploration is mainly used for the preliminary investigation of resources in subsea areas; coring technology can provide intuitive and effective sample data, but it is costly; logging technology can conduct continuous high-resolution observation records of the strata near the logging hole, providing important basis for understanding the in-situ properties of subsea hydrates and sediments and predicting the distribution of hydrates. However, this technology requires the cooperation of a subsea drill rig, and it is costly and difficult to operate, making it difficult to achieve long-term mobile monitoring.

[0003] The emergence of subsea drilling robots provides an important tool for the investigation of subsea resources, which can effectively make up for the limitations of the above technologies. The robot is released by a subsea base station, and sensors arranged on the body and the tow cable can be used as new drilling and detection means. The subsea drilling robot can drill, penetrate, and turn in the subsea strata, and transmit the collected sediment stratum information back to the subsea base station. Compared with subsea sediment stratum detection methods such as coring and logging, the drilling robot equipped with sensors can significantly improve the detection efficiency, and has the advantages of convenience, high efficiency, economy, etc., and will surely become the development trend of future subsea sediment stratum detection and even other environmental stratum detection applications.

[0004] However, the current research on subsea drilling robots is still in its initial stage and faces many challenges. One of the biggest technical bottlenecks is how to effectively cope with the soil resistance in complex environments. The heterogeneity, multiphase nature, and high resistance characteristics of the soil cause existing subsea drilling robots to be difficult to operate continuously and reliably, and frequently encounter problems such as blocked movement, excessive energy consumption, and even equipment damage.

[0005] To solve the above problems, it is imperative to develop a small subsea self-moving robot that can overcome soil resistance and has the functions of autonomous movement and intelligent data acquisition and analysis. Summary of the Invention

[0006] The purpose of the present invention is to provide a soil self-penetrating robot for subsea environment and its control method to solve the problems listed in the background art.

[0007] To solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A soil self-penetrating robot for subsea environment of the present invention includes:

[0009] The head, which is used to spray a stable water flow downward;

[0010] The left part of the vibration chamber, which is a semi-cylindrical surface and is used to fix the vibration motor;

[0011] The right part of the vibration chamber, which is a semi-cylindrical surface and is used to fix the vibration motor and allow the water flow to pass through;

[0012] The sleeve, one end of which is connected to the head, and the left part and the right part of the vibration chamber are fixedly installed in the inner cavity of the sleeve;

[0013] The wing part, which is connected to the end of the sleeve far from the head;

[0014] The cover, at the upper end opening of which there is a pagoda-shaped joint connected to an external hose, and at the lower end opening of which is connected to the water passage of the right part of the vibration chamber through a circular pipe;

[0015] The control system, which is used to control the vibration motor and the jet flow rate.

[0016] Preferably, the head is made by 3D printing, the conical angle of the head is 60°, and there is a through hole in the axial direction of the head.

[0017] Preferably, the left part of the vibration chamber is made by 3D printing, it is a semi-cylindrical surface, and there is a motor fixing device one on the inner side surface of the left part of the vibration chamber.

[0018] Preferably, the right part of the vibration chamber is made by 3D printing, it is a semi-cylindrical surface, there is a motor fixing device two on the inner side surface of the right part of the vibration chamber, and there is a water flow channel on the motor fixing device two.

[0019] Preferably, the sleeve is a 3D printed cylindrical hollow structure, there is a water passage hole in the center of the cross-section of the sleeve, and two wire holes are symmetrically distributed on both sides of the water passage hole;

[0020] One end of the sleeve is connected to the head by thread, and after the left part and the right part of the vibration chamber are connected, they are placed in the inner cavity of the sleeve.

[0021] Preferably, the wing part is made by 3D printing, there are several cross-section "Y"-shaped protruding structures equally spaced on the outer peripheral surface of the wing part, and the wing part is connected to the end of the sleeve far from the head through internal threads.

[0022] Preferably, the cover is made by 3D printing technology, the cover is nested between the wing part and the sleeve; there is a circular hook in the center of the upper surface of the cover.

[0023] Preferably, the hardware of the control system includes a host computer, a DC power supply, an Arduino control board, an LN motor drive module, a vibration motor, a water flow sensor water storage container, a water pump and a hose; the DC power supply is electrically connected to the Arduino control board and the water pump;

[0024] The water flow sensor is installed inside the hose, one end of the hose is connected to the water pump, and the other end of the hose is connected to the pagoda connector on the cover; the LN motor drive module is electrically connected to the vibration motor; the host computer, the LN motor drive module, and the water flow sensor are all electrically connected to the Arduino control board.

[0025] A control method for a soil self-penetrating robot used in a seabed environment comprises the following steps:

[0026] S1. Turn on the host computer and DC power supply to complete the preparation work;

[0027] S2, controlling the Arduino control board by operating the host computer to send an electrical signal so that the soil self-penetrating robot performs downward movement;

[0028] When the robot needs to move downward, the Arduino control board sends a signal to the water pump, and the water pump starts working to eject the water in the water storage container through the water flow sensor and out from the head of the soil-penetrating robot; at the same time, the LN motor drive module drives the vibration motor to start working, and under the action of water flow and vibration, the resistance of the soil is reduced, so that the soil-penetrating robot moves downward; and the Arduino control board sends a signal to adjust the water flow rate and the vibration frequency of the vibration motor to achieve continuous downward movement of the soil-penetrating robot.

[0029] Compared with the prior art, the beneficial technical effects of the present invention are:

[0030] 1) Effectively overcome soil resistance: The present invention can move autonomously in a variety of complex soil environments. Compared with existing drilling robots, the present invention effectively reduces the resistance of the soil to the robot by optimizing the power system, so that it can maintain stable and continuous movement in different soils, solving the problem in the prior art that robots are easily obstructed in complex soil environments and difficult to operate autonomously for a long time;

[0031] 2) Equipment miniaturization and improved flexibility: Compared with existing large-scale soil exploration equipment, the soil self-penetrating robot of the present invention has the characteristics of small size and light weight. This design effectively reduces the dependence on external large-scale equipment, thereby improving the exploration efficiency, which not only improves the flexibility of the exploration, but also reduces the transportation and operation costs of the equipment;

[0032] 3) Simplified Structure and Convenient Maintenance: By simplifying the overall structure of the robot and optimizing the internal layout, the present invention reduces the number of vulnerable components during the movement of the robot, improving the stability and reliability of the system. Different from the common complex maintenance procedures in the prior art, the robot of the present invention is convenient to maintain, can significantly reduce the maintenance frequency and cost, and extend the service life of the equipment.

[0033] Generally speaking, the present invention can not only significantly improve the exploration efficiency, but also effectively reduce the dependence on external equipment, lower the labor cost and exploration time, and at the same time improve the accuracy and real-time performance of exploration data. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below in conjunction with the drawings.

[0035] Figure 1 It is an explosion schematic diagram of a soil self-penetrating robot for seabed environment according to the present invention;

[0036] Figure 2 It is a top view schematic diagram of the head of a soil self-penetrating robot for seabed environment according to the present invention;

[0037] Figure 3 It is a three-dimensional schematic diagram of the left part of the vibration chamber of a soil self-penetrating robot for seabed environment according to the present invention;

[0038] Figure 4 It is a three-dimensional schematic diagram of the right part of the vibration chamber of a soil self-penetrating robot for seabed environment according to the present invention;

[0039] Figure 5 It is a top view schematic diagram of the sleeve of a soil self-penetrating robot for seabed environment according to the present invention;

[0040] Figure 6 It is a top view schematic diagram of the wing of a soil self-penetrating robot for seabed environment according to the present invention;

[0041] Figure 7 It is a front view schematic diagram of the cover of a soil self-penetrating robot for seabed environment according to the present invention;

[0042] Figure 8 It is a control principle diagram of a soil self-penetrating robot for seabed environment according to the present invention.

[0043] Description of reference numerals: 200, soil self - penetrating robot; 210, head; 220, left part of vibration chamber; 230, right part of vibration chamber; 240, sleeve; 250, wing part; 260, cover; 270, control system; 211, through - hole; 221, first motor fixing device; 231, second motor fixing device; 232, water flow channel; 241, water passage hole; 242, wire passage hole; 251, protruding structure; 261, water - passing pipe; 262, circular hook; 271, upper computer, 272, DC power supply, 273, Arduino control board, 274, L298N motor drive module, 275, vibration motor, 276, water flow sensor; 277, water storage container; 278, water pump. Detailed implementation manners

[0044] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] As Figure 1-8 shown, a soil self - penetrating robot for submarine environment and its control method include:

[0046] A head 210, the head 210 is used for spraying stable water flow downward;

[0047] The left part 220 of the vibration chamber, the left part 220 of the vibration chamber is a semi - cylindrical surface and is used for fixing the vibration motor;

[0048] The right part 230 of the vibration chamber, the right part 230 of the vibration chamber is a semi - cylindrical surface and is used for fixing the vibration motor and passing water flow;

[0049] A sleeve 240, one end of the sleeve 240 is connected to the head 210, and the left part 220 of the vibration chamber and the right part 230 of the vibration chamber are fixed in the inner cavity of the sleeve 240;

[0050] A wing part 250, the wing part 250 is connected to the end of the sleeve 240 away from the head;

[0051] A cover 260, the upper end opening of the cover 260 is provided with a pagoda - shaped joint for connecting with an external hose, and the lower end opening of the cover 260 is connected to the water - passing pipe of the right part 230 of the vibration chamber through a circular pipe;

[0052] A control system 270, which is used to control the vibration motor and the jet flow velocity so that the soil self - penetrating robot moves in saturated soil.

[0053] As Figure 2As shown, the head 210 is made by 3D printing. The conical angle of the head 210 is 60°, and a through hole 211 is provided in the axial direction of the head 210.

[0054] As Figure 3 shown, the left part 220 of the vibration chamber is made by 3D printing. The left part 220 of the vibration chamber is a semi-cylindrical surface, and a motor fixing device 221 is provided on the inner side surface of the left part 220 of the vibration chamber.

[0055] As Figure 4 shown, the right part 230 of the vibration chamber is made by 3D printing. The right part 230 of the vibration chamber is a semi-cylindrical surface. There is a motor fixing device 231 on the inner surface of the right part 230 of the vibration chamber. A water flow channel 232 is provided between the right part 230 of the vibration chamber and the motor fixing device 231;

[0056] The left part 220 of the vibration chamber is connected to the right part 230 of the vibration chamber by screws, and a vibration motor is clamped inside the left part 220 and the right part 230 of the vibration chamber. The water flow above is conveyed to the head 210 through the vibration motor.

[0057] As Figure 5 shown, the sleeve 240 is a 3D printed cylindrical hollow structure. A water passage hole 241 is opened at the center of the cross-section of the sleeve 240, and two wire holes 242 are symmetrically distributed on both sides of the water passage hole 241;

[0058] One end of the sleeve 240 is connected to the head 210 by threads, and the left part 220 and the right part 230 of the vibration chamber are placed in the inner cavity of the sleeve 240 after being connected.

[0059] As Figure 6 shown, the wing part 250 is made by 3D printing. Four "Y"-shaped protruding structures 251 with a cross-section are equally spaced on the outer peripheral surface of the wing part 250. The wing part 250 is connected to one end of the sleeve 240 far from the head 210 through internal threads.

[0060] As Figure 7 shown, the cover 260 is made by 3D printing technology. The cover 260 is nested between the wing part 250 and the sleeve 240. The lower end opening of the cover 260 is communicated with a water passing pipe 261. A pagoda-shaped joint is connected to the upper end opening of the cover 260, and the pagoda-shaped joint is connected to an external water pipe; A circular hook 262 is provided at the center of the upper surface of the cover 260.

[0061] As Figure 8As shown, the hardware of the control system 270 includes a host computer 271, a DC power supply 272, an Arduino control board 273, an L298N motor drive module 274, a vibration motor 275, a water flow sensor 276, a water storage container 277, a water pump 278 and a hose; the DC power supply 272 is electrically connected to the Arduino control board 273 and the water pump 278;

[0062] The water flow sensor 276 is installed inside the hose, and one end of the hose is connected to the water pump 278, and the other end of the hose is connected to the pagoda connector on the cover 260; the L298N motor drive module 274 is electrically connected to the vibration motor 275; the host computer 271, the L298N motor drive module 274, and the water flow sensor 276 are all electrically connected to the Arduino control board 273.

[0063] A control method for a soil self-penetrating robot used in a seabed environment comprises the following steps:

[0064] S1, turn on the host computer 271 and the DC power supply 272 to complete the preparation work;

[0065] S2, controlling the Arduino control board 273 by operating the host computer 271 to send an electrical signal so that the soil self-penetrating robot performs downward movement;

[0066] When the robot needs to move downward, the Arduino control board 273 sends a signal to the water pump 278, and the water pump 278 starts working to eject the water in the water storage container 277 from the head 210 of the self-penetrating robot in the soil after passing through the water flow sensor 276; at the same time, the L298N motor drive module 274 drives the vibration motor 275 to start working, and under the action of water flow and vibration, the resistance of the soil is reduced, so that the self-penetrating robot in the soil moves downward; and the Arduino control board 273 sends a signal to adjust the water flow rate and the vibration frequency of the vibration motor, so as to realize the continuous downward movement of the self-penetrating robot in the soil.

[0067] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0068] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An in-soil self-penetrating robot for subsea environment, characterized in that, Comprising: A head (210) for ejecting a stable water flow downward; The left part of the vibration chamber (220), which is a semi-cylindrical surface for fixing a vibration motor; The right part of the vibration chamber (230), which is a semi-cylindrical surface for fixing a vibration motor and allowing water flow through; A sleeve (240) with one end connected to the head (210), and the left part of the vibration chamber (220) and the right part of the vibration chamber (230) are fixedly installed in the inner cavity of the sleeve (240); A wing part (250) connected to the end of the sleeve (240) away from the head; A cover (260) with a pagoda-shaped joint provided at the upper end opening, the pagoda-shaped joint is connected to the outside, and the lower end opening of the cover (260) is connected to the water passage of the right part of the vibration chamber (230) through a circular pipe; A control system (270) for controlling the vibration motor and the jet flow rate.

2. The soil self - penetrating robot for sub - sea environment according to claim 1, wherein, The head (210) is made by 3D printing, the conical angle of the head (210) is 60°, and a through hole (211) is provided in the axial direction of the head (210).

3. The self - penetrating robot in soil for seabed environment according to claim 1, characterized in that, The left part of the vibration chamber (220) is made by 3D printing, the left part of the vibration chamber (220) is a semi-cylindrical surface, and a first motor fixing device (221) is provided on the inner side surface of the left part of the vibration chamber (220).

4. A soil self - penetrating robot for sub - sea environment according to claim 1, characterized in that, The right part of the vibration chamber (230) is made by 3D printing, the right part of the vibration chamber (230) is a semi-cylindrical surface, a second motor fixing device (231) is provided on the inner side surface of the right part of the vibration chamber (230), and a water flow channel (232) is provided on the second motor fixing device (231).

5. A soil self - penetrating robot for sub - sea environment according to claim 1, wherein, The sleeve (240) is a 3D printed cylindrical hollow structure, a water passage hole (241) is opened at the center of the cross-section of the sleeve (240), and two wire holes (242) are symmetrically distributed on both sides of the water passage hole (241); One end of the sleeve (240) is connected to the head (210) by a thread, and after the left part of the vibration chamber (220) and the right part of the vibration chamber (230) are connected, they are placed in the inner cavity of the sleeve (240).

6. The self - penetrating robot in soil for subsea environment according to claim 1, characterized in that, The wing part (250) is made by 3D printing, 4 cross-section "Y"-shaped protruding structures (251) are equidistantly installed on the outer peripheral surface of the wing part (250), and the wing part (250) is connected to the end of the sleeve (240) away from the head (210) through internal threads.

7. A soil self - penetrating robot for submarine environment according to claim 6, characterized in that, The cover (260) is made by 3D printing technology, and the cover (260) is nested between the wing part (250) and the sleeve (240); a circular hook (262) is provided at the center of the upper surface of the cover (260).

8. A soil self - penetrating robot for submarine environment according to claim 7, characterized in that, The hardware of the control system (270) includes a host computer (271), a DC power supply (272), an Arduino control board (273), an L298N motor drive module (274), a vibration motor (275), a water flow sensor (276), a water storage container (277), a water pump (278) and a hose; the DC power supply (272) is electrically connected to the Arduino control board (273) and the water pump (278); The water flow sensor (276) is installed inside the hose, and one end of the hose is connected to the water pump (278), and the other end of the hose is connected to the taper joint on the cover (260); the L298N motor drive module (274) is electrically connected to the vibration motor (275); the host computer (271), the L298N motor drive module (274), and the water flow sensor (276) are all electrically connected to the Arduino control board (273).

9. A control method for a soil self - penetrating robot used in a seabed environment according to any one of claims 1 - 8, characterized in that, It includes the following steps: S1. Turn on the host computer (271) and the DC power supply (272) to complete the preparation work; S2. Control the Arduino control board (273) to send an electrical signal by operating the host computer (271) so that the self - penetrating robot in the soil executes a downward movement; When the robot needs to move downward, the Arduino control board (273) sends a signal to the water pump (278), and the water pump (278) starts to work to shoot the water in the water storage container (277) through the water flow sensor (276) from the head (210) of the self - penetrating robot in the soil; at the same time, the L298N motor drive module (274) drives the vibration motor (275) to start working. Under the action of water flow and vibration, the resistance of the soil is reduced, so that the self - penetrating robot in the soil moves downward; and the water flow velocity and the vibration frequency of the vibration motor are adjusted by sending signals through the Arduino control board (273) to realize the continuous downward movement of the self - penetrating robot in the soil.

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