Method for stably moving self-sustaining platform in extreme flow field environment

Abstract

The invention relates to a method for stably moving a self-sustaining platform in an extreme flow field environment, which comprises the following steps of: S1, firstly, putting the self-sustaining platform into a pipeline along the flowing direction of a fluid medium, and starting a propeller at the top of the self-sustaining platform to enable the self-sustaining platform to be attached to the inner wall of the pipeline; s2, after the self-control adsorber makes contact with the inner wall of the pipeline, an electromagnet in the self-control adsorber is started, and a suction cup at the bottom of the self-control adsorber is adsorbed to the pipeline; s3, the steering engine drives the first rod frame to rotate, so that the crawling frame moves, the platform forecabin is propelled, the acceleration a1 is given to the platform forecabin, and two self-control adsorbers of the platform forecabin are started to fix the platform forecabin; s4, closing the two self-control adsorbers of the rear cabin of the platform, and pushing the rear cabin of the platform through the crawling frame to give an acceleration a2 to the rear cabin of the platform; two self-control adsorbers of the platform rear cabin are started to adsorb and fix the platform rear cabin on the inner wall of the pipeline; and S5, repeating the processes of the steps S3-S4 to enable the self-sustaining platform to wriggle and crawl. The device can adapt to an extreme underwater environment, the labor cost is reduced, and the manual operation risk is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater pipeline detection, and particularly relates to a self-sustaining platform stable moving method in an extreme flow field environment. BACKGROUND

[0002] Traditional underwater environment pipelines mainly rely on divers for artificial inspection. However, due to the particularity of the underwater environment, divers face difficulties such as limited field of view and poor working environment when working underwater, and the operation is difficult and risky. At present, the development of underwater pipeline detection technology is primarily due to the innovation and application of remote sensing technology, sonar systems, underwater robots (ROV) and autonomous underwater vehicles (AUV). As the core technology of underwater detection, sonar can penetrate seawater to realize non-contact detection of underwater topography and pipeline distribution by emitting and receiving reflected waves. The rise of multi-beam sonar technology has greatly improved the resolution and coverage of detection, and can construct a detailed three-dimensional seabed topographic map to provide strong support for underwater pipeline routing positioning.

[0003] Modern underwater pipeline routing detection systems automatically identify and classify underwater targets through advanced signal processing algorithms, but in the face of extreme or complex water environments such as underwater vortex, tidal flow field, deep ocean current, etc. Water movement, the current technology cannot ensure that the robot or vehicle can move stably. Therefore, a more safe and reliable underwater platform stable moving method needs to be designed. SUMMARY

[0004] The application provides a self-sustaining platform stable moving method in an extreme flow field environment to solve the technical problems in the prior art, which can adapt to extreme underwater environments and reduce the risk of manual operation.

[0005] The application comprises the following technical solutions: A self-sustaining platform stable moving method in an extreme flow field environment comprises the following steps: S1. First, place the self-sustaining platform in the pipeline along the flow direction of the fluid medium, start the thruster at the top of the self-sustaining platform to make the self-sustaining platform adhere to the inner wall of the pipeline; the self-sustaining platform comprises a platform front cabin, a connecting hose and a platform rear cabin, the platform front cabin is connected to the platform rear cabin through the connecting hose, and the three wrap around a space structure connected internally, the space structure is provided with a crawling frame hinged to the inner sides of the platform front cabin and the platform rear cabin; S2. The platform front cabin and the platform rear cabin are provided with a self-control adsorber on the side away from the connecting hose, and the self-control adsorber is provided with an electromagnet inside the self-control adsorber, which is activated after contacting the inner wall of the pipeline to adsorb the suction cup at the bottom of the self-control adsorber on the pipeline; S3, the crawling frame is composed of two groups of first, second, third and fourth pole frames which are hinged to each other; when creeping, first close the two self-controlled adsorbers of the front cabin, the steering engine on the side of the third pole frame drives the first pole frame to rotate so as to make the crawling frame move and push the front cabin to give it an acceleration a1, then adjust the angle speed of the steering engine to adjust a1, and then start the two self-controlled adsorbers of the front cabin to fix the front cabin on the inner wall of the pipeline; S4, close the two self-controlled adsorbers of the rear cabin, push the rear cabin through the crawling frame to give it an acceleration a2, and then adjust the angle speed of the steering engine to adjust a2; then start the two self-controlled adsorbers of the rear cabin to adsorb and fix the rear cabin on the inner wall of the pipeline; S5, repeat the process of steps S3-S4 to make the self-sustaining platform creep.

[0006] Further, the front cabin and the rear cabin of the platform are respectively provided with a propeller; the two sides of the front cabin and the rear cabin of the platform are respectively provided with an attitude control device, and the attitude control device comprises an attitude instrument and an obstacle avoidance radar.

[0007] Further, the attitude angle is calculated by using the attitude instrument: Where θ is the angle of the self-sustaining platform relative to the horizontal plane, a 横 and a 纵 are the readings of the accelerometer in the transverse and longitudinal directions respectively.

[0008] Further, the ranging formula of the obstacle avoidance radar is: Where c 雷达 is the measured distance, and c 雷达波 is the propagation speed of the radar wave.

[0009] Further, the third and fourth pole frames are hinged to each other in the connecting hose and the other ends are respectively hinged to the rear cabin and the front cabin of the platform, and the first and second pole frames are hinged to each other at one end and the other ends are respectively hinged to the third and fourth pole frames.

[0010] Further, the thrust F 螺 provided by the propeller in S1 is: Where ω is the angular speed of the propeller, D is the diameter of the propeller, N is the number of blades, b is the width of the blade, s is the blade spacing, η is the propelling efficiency of the propeller, and ρ represents the density of the fluid medium.

[0011] Further, when the flow field changes, the suction force F 吸 is When the self-sustaining platform needs the propeller to provide a thrust equal to F 吸 to maintain balance, the angular speed ω of the propeller is: , where P 管内 It is the pressure inside the pipe, P 管外 The pressure outside the pipe is ρ, the density of the fluid medium is A. 管 This represents the cross-sectional area of ​​the pipe.

[0012] Furthermore, the adsorption pressure P provided by a single self-controlled adsorber in S2 a for: , where P 管内 It is the pressure inside the pipe, P 管外 It is the external pressure of the pipeline, A a A represents the contact area between a single self-controlled adsorber and the pipeline. 管 Let μ be the cross-sectional area of ​​the pipe, μ be the coefficient of friction, and ρ be the density of the fluid medium.

[0013] Furthermore, a1 in S3 is calculated according to the following formula: Wherein, the length of the first linkage is L1, the angular velocity provided by the servo motor when driving the front compartment of the platform to move is ω1, the weight of the self-supporting platform as a whole is m, the thrust on the first linkage is F1=ω1L1, the angle between F1 and the second linkage is α1, the acute angle between the second linkage and the fourth linkage is α2, the acute angle between the fourth linkage and the horizontal direction is α3, and F4 is the horizontal component of the force F3 on the fourth linkage.

[0014] Furthermore, a2 in S4 is calculated according to the following formula: The angular velocity provided by the servo motor when moving the rear compartment of the drive platform is ω2, the acute angle between the third linkage and the horizontal direction is α5, and F6 is the horizontal component of the force F5 on the third linkage. 4' It is the opposite force of F4, and F5 is the opposite force of F. 4' The included angle is α4.

[0015] The advantages and positive effects of this invention are as follows: The invention features thrusters at both ends of the top and attitude control devices on the sides. When moving inside the pipe, it adjusts its own state in a timely manner through obstacle avoidance radar and attitude device, which significantly improves work efficiency and safety.

[0016] This invention combines electromagnetic adsorption with a linkage peristalsis system to improve the stability and passability of the device. The peristaltic movement of the crawling frame enables the device to move flexibly in complex pipeline environments. Whether it is a vertical, horizontal or curved pipeline, the device can easily cope with it, enhancing its adaptability to complex environments and thus enabling it to adapt to extreme flow field environments.

[0017] This invention uses a self-controlled adsorber to firmly adhere to the inner wall of the pipe, ensuring the stability of the device within the pipe and thus coping with extreme underwater flow fields. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 is the schematic diagram of the overall structure of the present application; Fig. 2 is the schematic diagram of the internal structure of the present application; Fig. 3 is the structural sectional view of the self-control adsorber; Fig. 4 is the schematic diagram of the structure of the crawling frame; Fig. 5 is the force analysis diagram of the crawling frame when the front cabin of the driving platform moves; Fig. 6 is the force analysis diagram of the crawling frame when the rear cabin of the driving platform moves; In the figure: 1 is the front cabin of the platform, 2 is the connecting hose, 3 is the rear cabin of the platform, 4 is the attitude control device, 5 is the rudder, 6 is the crawling frame; 601 is the first rod frame, 602 is the second rod frame, 603 is the third rod frame, 604 is the fourth rod frame; 7 is the self-control adsorber; 701 is the suction cup, 702 is the chamber, 703 is the support frame, 704 is the magnetic piston, 705 is the electromagnet, 706 is the controllable power supply; 8 is the propeller. DETAILED DESCRIPTION

[0019] In order to further disclose the invention content, characteristics and effects of the present application, the following examples are specifically exemplified and described in detail as follows in combination with the drawings.

[0020] In the description of the following embodiments, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the patent and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the patent.

[0021] In the description of the following embodiments, it should be noted that unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "setting" should be understood broadly, for example, it can be fixedly connected, set, or it can be detachably connected, set, or integrally connected, set. For those skilled in the art, the specific meaning of the above terms in the patent can be understood according to the specific circumstances.

[0022] Embodiment: refer to the attached Figs. 1-6 A self-sustaining platform stable moving method in an extreme flow field environment, comprising the following steps: S1, first put the self-sustaining platform into the pipeline along the fluid medium flow direction, start the thruster 8 at the top of the self-sustaining platform to make the self-sustaining platform adhere to the inner wall of the pipeline; the self-sustaining platform comprises a platform front cabin 1, a connecting hose 2 and a platform rear cabin 3, the platform front cabin 1 is connected with the platform rear cabin 3 through the connecting hose 2, and the three wrap a space structure in communication with each other, and a crawling frame 6 is arranged in the space structure and hinged to the inner sides of the platform front cabin 1 and the platform rear cabin 3. The platform front cabin 1 and the platform rear cabin 3 are respectively provided with a thruster 8 at the top; the two sides of the platform front cabin 1 and the platform rear cabin 3 are respectively provided with an attitude control device 4, and the attitude control device 4 comprises an attitude instrument and an obstacle avoidance radar.

[0023] The attitude angle is calculated by using the attitude instrument: Where θ is the angle of the self-sustaining platform relative to the horizontal plane, a 横 and a 纵 are the readings of the accelerometer in the lateral direction and the longitudinal direction respectively.

[0024] The distance measuring formula of the obstacle avoidance radar is: Where c 雷达 is the measured distance, and c 雷达波 is the propagation speed of the radar wave.

[0025] The thrust F 螺 provided by one thruster 8 in S1 is: Where ω is the angular velocity provided by one thruster 8, D is the diameter of the thruster, N is the number of blades, b is the width of the blade, s is the blade pitch, η is the propelling efficiency of the thruster 8, and ρ represents the density of the fluid medium.

[0026] When the flow field changes, the suction force F 吸 is , and the self-sustaining platform needs the thruster 8 to provide a thrust equal to F 吸 to maintain balance. The angular velocity ω of the thruster 8 is: Where P 管内 is the internal pressure of the pipeline, P 管外 is the external pressure of the pipeline, ρ is the density of the fluid medium, and A 管 is the cross-sectional area of the pipeline.

[0027] S2, the platform front cabin 1 and the platform rear cabin 3 are provided with self-controlled adsorbers 7 away from the side of the connecting hose 2, and the self-controlled adsorbers 7 start the electromagnet 705 in the inside to adsorb the suction cup 701 at the bottom on the pipeline after contacting the inner wall of the pipeline.

[0028] The adsorption pressure P a provided by a single self-controlled adsorber 7 in S2 is: Where P 管内 is the internal pressure of the pipeline, P 管外 is the external pressure of the pipeline, and Aa A is the contact area of the single self-controlled adsorber 7 with the pipeline 管 A is the cross-sectional area of the pipeline, μ is the friction coefficient, and ρ represents the density of the fluid medium.

[0029] S3, the crawling frame 6 is composed of two groups of first, second, third and fourth lever frames 601, 602, 603 and 604 which are hingedly connected to each other; when creeping, first, close the two self-controlled adsorbers 7 of the front cabin 1, the steering wheel 5 on one side of the third lever frame 603 drives the first lever frame 601 to rotate, so that the crawling frame 6 moves and pushes the front cabin 1 to give it an acceleration a1, and then adjusts the angle speed of the steering wheel 5 to adjust a1, and then starts the two self-controlled adsorbers 7 of the front cabin 1 to fix the front cabin 1; a1 in S3 is calculated according to the following formula: wherein the length of the first lever frame 601 is L1, the angular velocity provided by the steering wheel 5 when driving the front cabin 1 to move is ω1, the weight of the self-sustaining platform as a whole is m, the thrust F1 received by the first lever frame 601 is ω1L1, the included angle between F1 and the second lever frame 602 is α1, the acute angle between the second lever frame 602 and the fourth lever frame 604 is α2, the acute angle between the fourth lever frame 604 and the horizontal direction is α3, and F4 is the horizontal component of the force F3 received by the fourth lever frame 604.

[0030] S4, close the two self-controlled adsorbers 7 of the rear cabin 3, push the rear cabin 3 through the crawling frame 6 to give it an acceleration a2, adjust the angular velocity of the steering wheel 5 to adjust a2, and then start the two self-controlled adsorbers 7 of the rear cabin 3 to adsorb and fix the rear cabin 3 on the inner wall of the pipeline; a2 in S4 is calculated according to the following formula: wherein the angular velocity provided by the steering wheel 5 when driving the rear cabin 3 to move is ω2, the acute angle between the third lever frame 603 and the horizontal direction is α5, F6 is the horizontal component of the force F5 received by the third lever frame 603, F 4' is the counterforce of F4, and the included angle between F5 and F 4' is α4.

[0031] S5, repeat the process of steps S3-S4 to make the self-sustaining platform creep.

[0032] As shown in Figs. 1-2 , the whole self-sustaining platform is in the shape of a bionic caterpillar, and the front cabin 1 and the rear cabin 3 away from the side of the connecting hose 2 are provided with self-controlled adsorbers 7 for adsorbing the pipeline. The bottom of each of the front cabin 1 and the rear cabin 3 is provided with two symmetrically arranged self-controlled adsorbers 7, and the adsorption function of the self-controlled adsorbers 7 is controlled to cooperate with the crawling frame 6 to realize creeping forward on the inner wall of the pipeline.

[0033] As shown in Fig. 3 The self-control adsorber 7 is in a cylindrical structure as a whole, including a suction cup 701, a chamber 702, a support frame 703, a magnetic piston 704, an electromagnet 705, and a controllable power supply 706. The suction cup 701 is loaded below the chamber 702 to form a closed whole. The chamber 702 has the support frame 703 inside. The support frame 703 is above the suction cup 701 and supports the magnetic piston 704. The magnetic piston 704 can move up and down. The electromagnet 705 is designed above the magnetic piston 704. The electromagnet 705 is fixed in the groove of the chamber 702 and is connected to the controllable power supply 706 above to provide power.

[0034] As shown in Fig. 4 The crawling frame 6 is driven by the steering engine 5 to provide power and drive the whole self-sustaining platform through the crank linkage principle. The third lever frame 603 and the fourth lever frame 604 are hinged to each other in the connecting hose 2 and are hingedly connected to the rear cabin 3 and the front cabin 1 of the platform, respectively. The first lever frame 601 and the second lever frame 602 are hingedly connected to each other at one end and are hingedly connected to the third lever frame 603 and the fourth lever frame 604, respectively.

[0035] Although the preferred embodiments of the present application are described above, the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims. These all belong to the protection scope of the present application.

Claims

1. A self-sustaining platform stable movement method under an extreme flow field environment, characterized in that, It comprises the following steps: S1, first put the self-sustaining platform into the pipeline along the fluid medium flow direction, start the thruster (8) at the top of the self-sustaining platform to make the self-sustaining platform adhere to the inner wall of the pipeline; the self-sustaining platform comprises a platform front cabin (1), a connecting hose (2) and a platform rear cabin (3), the platform front cabin (1) is connected with the platform rear cabin (3) through the connecting hose (2), and the three wrap a space structure in communication; the space structure is provided with a crawling frame (6) hinged to the inner sides of the platform front cabin (1) and the platform rear cabin (3); S2, the platform front cabin (1) and the platform rear cabin (3) are provided with self-control adsorbers (7) away from the connecting hose (2) side, the self-control adsorbers (7) start the electromagnet (705) in the self-control adsorbers (7) to adsorb the suction cups (701) at the bottom of the self-control adsorbers (7) on the pipeline after contacting the inner wall of the pipeline; S3, the crawling frame (6) is composed of two groups of first lever frames (601), second lever frames (602), third lever frames (603) and fourth lever frames (604) hinged to each other; when peristaltic crawling, first close the two self-control adsorbers (7) of the platform front cabin (1), the steering wheel (5) on one side of the third lever frame (603) drives the first lever frame (601) to rotate so as to make the crawling frame (6) move and then push the platform front cabin (1) to give it an acceleration a1, adjust the angular velocity of the steering wheel (5) to adjust a1, then start the two self-control adsorbers (7) of the platform front cabin (1) to fix the platform front cabin (1); S4, close the two self-control adsorbers (7) of the platform rear cabin (3), push the platform rear cabin (3) through the crawling frame (6) to give it an acceleration a2, adjust the angular velocity of the steering wheel (5) to adjust a2; then start the two self-control adsorbers (7) of the platform rear cabin (3) to adsorb and fix the platform rear cabin (3) on the inner wall of the pipeline; S5, repeat the process of steps S3-S4 to make the self-sustaining platform peristaltic crawl.

2. The method of claim 1, wherein: The platform front cabin (1) and the platform rear cabin (3) are respectively provided with a thruster (8) at the top; the platform front cabin (1) and the platform rear cabin (3) are respectively provided with a posture control device (4) on both sides, the posture control device (4) comprises a posture instrument and an obstacle avoidance radar.

3. The method of claim 2, wherein: The attitude angle is calculated using the attitude meter: where θ is the angle of the self-contained platform relative to the horizontal, a 横 and a 纵 are the accelerometer readings in the lateral and longitudinal directions, respectively.

4. The method of claim 2, wherein: The ranging formula of the obstacle avoidance radar is: wherein c 雷达 is the measured distance, c 雷达波 is the propagation speed of the radar wave.

5. The method of claim 1, wherein: The third lever frame (603) and the fourth lever frame (604) are hinged to each other in the connecting hose (2) and hinged to the platform rear cabin (3) and the platform front cabin (1) at the other end respectively, and the first lever frame (601) and the second lever frame (602) are hinged to each other at one end and hinged to the third lever frame (603) and the fourth lever frame (604) at the other end respectively.

6. The method of claim 1, wherein: The thrust force F provided by one of the propellers (8) in the S1 螺 is: where ω is the angular velocity provided by one propeller, D is the propeller diameter, N is the number of blades, b is the blade width, s is the blade pitch, η is the propeller efficiency, and p represents the fluid medium density.

7. The method of claim 1, wherein: When the flow field changes, the suction force F 吸 is , the self-sustaining platform needs a propeller (8) to provide a thrust equal to F 吸 to maintain the balance, the angular velocity ω of the propeller (8) is: where P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, p is the density of the fluid medium, A 管 is the cross-sectional area of the pipe.

8. The method of claim 1, wherein: The adsorption pressure P provided by the single self-controlled adsorber (7) in S2 a is: where P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, A a is the contact area of the individual self-controlled adsorber (7) with the pipe, A 管 is the cross-sectional area of the pipe, μ is the friction coefficient, and ρ denotes the density of the fluid medium.

9. The method of claim 1-8, wherein: The a1 in the S3 is calculated as: Wherein, the length of the first pole frame (601) is L1, the angular velocity provided by the steering gear (5) when moving the front cabin (1) of the driving platform is ω1, the weight of the self-sustaining platform as a whole is m, the thrust F1 of the first pole frame (601) is ω1L1, the included angle between F1 and the second pole frame (602) is α1, the acute angle between the second pole frame (602) and the fourth pole frame (604) is α2, the acute angle between the fourth pole frame (604) and the horizontal direction is α3, and F4 is the horizontal component of the force F3 on the fourth pole frame (604).

10. The method of claim 9, wherein: The a2 in the S4 is calculated according to the following formula: Wherein the angular velocity provided by the steering gear (5) when the driving platform rear cabin (3) moves is ω2, the acute angle between the third lever frame (603) and the horizontal direction is α5, F6 is the horizontal component of the force F5 acting on the third lever frame (603), F 4' is the counterforce of F4, and the angle between F5 and F 4' is α4.

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