Power supply control method and device for underwater robot in hydraulic tunnel

Abstract

The invention discloses a power supply control method and device for an underwater robot in a hydraulic tunnel, and the method comprises the steps: 1, obtaining the cable release length, the cable surface area and the water density of the underwater robot, and the relative water flow speed of the underwater robot, and calculating the total resistance value of a cable; 2, performing nonlinear exponential gain compensation based on the total resistance value of the cable to obtain a dynamic pressure compensation voltage value; step 3, performing voltage correction operation according to the working current corresponding to the total resistance value of the cable and the total resistance value of the cable to obtain a voltage correction value; 4, accumulating the dynamic voltage compensation voltage value and the voltage correction value to obtain a target voltage output value, and supplying power to the underwater robot according to the target voltage output value; the dynamic change of the underwater environment can be coped with, and the power supply of the underwater robot is adjusted so as to adapt to different working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to a power supply control method and device for underwater robots in hydraulic tunnels. BACKGROUND

[0002] An underwater robot is a robot system designed for task execution in a hydraulic tunnel or other underwater environment. It usually has the ability to perceive and locate in underwater environments, and can perform precise operations in complex underwater environments. The underwater robot is commonly used for tasks such as detection, maintenance and repair of hydraulic tunnels. It is equipped with various sensors such as sonar, inertial navigation system and camera, which can obtain real-time environmental data and perform related operations according to the task requirements, such as detecting structural and functional defects of hydraulic tunnels and cleaning sediments in hydraulic tunnels. In addition, underwater robots can also perform tasks in extreme conditions such as strong water flow, low visibility and deep water, and their design takes into account high pressure resistance, good corrosion resistance and long endurance.

[0003] In traditional technology, the power supply control of underwater robots often cannot accurately respond to the dynamic changes of the environment in the hydraulic tunnel, resulting in the power supply system being unable to adjust in real time to adapt to different working conditions. This deficiency makes the robot prone to unstable power supply or energy waste when operating in complex underwater environments. Specifically, due to the influence of changes in the robot's own attitude or environment in the hydraulic tunnel, existing power supply control methods cannot fully consider these dynamic factors, resulting in low energy utilization efficiency of the robot under different attitudes or loads, and even possible excessive energy consumption or power supply interruption, affecting the efficiency and duration of the task execution. SUMMARY

[0004] The purpose of the present application is to overcome the above-mentioned deficiencies and provide a power supply control method and device for underwater robots in hydraulic tunnels, which can respond to the dynamic changes of the underwater environment and adjust the power supply of the underwater robot to adapt to different working conditions.

[0005] To solve the above technical problems, the technical solution adopted by the present application is: a power supply control method for underwater robots in hydraulic tunnels, the method comprising: Step 1, obtaining the cable release length, cable surface area, water density and relative water flow speed of the underwater robot, and calculating the total cable resistance value; Step 2, performing nonlinear exponential gain compensation based on the total cable resistance value to obtain a dynamic pressure compensation voltage value; Step 3, performing voltage correction operation on the working current corresponding to the total cable resistance value and the total cable resistance to obtain a voltage correction value; Step 4, accumulating the dynamic pressure compensation voltage value and the voltage correction value to obtain a target voltage output value, and supplying power to the underwater robot according to the target voltage output value.

[0006] Preferably, the step 1 specifically comprises: Step 1.1, calculating the dynamic pressure resistance, viscous resistance and cable elastic potential energy term according to the cable release length, cable surface area, water density and relative water flow velocity, respectively; Step 1.2, combining and calculating the dynamic pressure resistance, viscous resistance and cable elastic potential energy term to obtain a cable total resistance value.

[0007] More preferably, the step 1.1 specifically comprises: The water density is multiplied by the square of the relative water flow velocity and the cable surface area, and the resistance coefficient is proportionally adjusted to calculate the dynamic pressure resistance; The water body viscous coefficient is multiplied by the cable release length, and a nonlinear correction factor for hydraulic diameter is introduced to calculate the fluid shear friction resistance of the cable under the condition of transition Reynolds number, thereby obtaining the viscous resistance; The redundant cable length identified by the cable release length is multiplied by the cable elastic stiffness coefficient to obtain the cable elastic potential energy term.

[0008] More preferably, the step 1 further comprises: Step 1.3, calculating the difference between the cable total resistance values in two adjacent sampling periods and dividing by the sampling period to obtain the change rate of the cable total resistance value; Step 1.4, when the change rate exceeds a preset change rate threshold, performing a cable redundant release operation to control the cable winch to release the redundant cable length.

[0009] More preferably, the step 1 further comprises: Step 1.5, determining the current required redundant cable length to be released according to the relative water flow velocity and the change rate within a control period, the redundant cable length being composed of a velocity release term and a disturbance compensation term; Step 1.6, based on the redundant cable length, dynamically buffering and adjusting the cable total resistance value by the cable elastic potential energy term.

[0010] Preferably, the step 2 specifically comprises: The cable total resistance value is subjected to ratio normalization processing with a reference resistance value to obtain a normalization result; An exponential nonlinear gain function is applied to the normalization result to generate a dynamic pressure compensation voltage value.

[0011] Preferably, the step 3 specifically comprises: determining a working current corresponding to the current working condition according to the total cable resistance value; multiplying the working current and the total cable resistance to obtain a voltage correction value, wherein the total cable resistance is calculated by dynamically expanding the unit length resistance, the unit length resistance is a preset reference value, and the temperature compensation is performed according to the difference between the current water temperature and the reference temperature in combination with the resistance temperature rise correction coefficient.

[0012] In addition, the application also discloses a power supply control device for an underwater robot in a hydraulic tunnel, which is used for executing the power supply control method for the underwater robot in the hydraulic tunnel, and comprises an acquisition module, a processing module and an output module. The acquisition module is used for acquiring the cable release length, the cable surface area, the water density and the relative water flow speed of the underwater robot, and calculating the total cable resistance value. The processing module is used for performing nonlinear exponential gain compensation based on the total cable resistance value to obtain a dynamic pressure compensation voltage value. The processing module is used for performing voltage correction operation on the working current corresponding to the total cable resistance value and the total cable resistance to obtain a voltage correction value. The output module is used for accumulating the dynamic pressure compensation voltage value and the voltage correction value to obtain a target voltage output value, and supplying power to the underwater robot according to the target voltage output value.

[0013] The application also discloses an electronic device, which comprises a processor, a communication bus, a user interface, a network interface and a memory.

[0014] The application also discloses a computer readable storage medium, which stores instructions, and when the instructions are executed, the power supply control method for the underwater robot in the hydraulic tunnel is executed.

[0015] The application has the following beneficial effects: 1. The present application obtains the cable release length, cable surface area, water density and relative water flow speed of the underwater robot in real time, calculates the total cable resistance value, and performs nonlinear exponential gain compensation and voltage correction operations based on the resistance value, thereby dynamically adjusting the voltage output. By comprehensively considering the changes in the underwater environment, especially the water flow speed and resistance changes, the system can perceive and respond to these changes in real time, automatically adjust the power supply voltage, and ensure that the underwater robot always obtains stable and sufficient power supply under different working conditions, effectively responding to the dynamic changes in the underwater environment.

[0016] 2. The present application can more flexibly compensate for cable resistance changes by normalizing the total cable resistance value with the reference resistance value and applying an exponential nonlinear gain function, especially under low resistance and high resistance conditions, to avoid excessive compensation and ensure smooth and efficient voltage regulation.

[0017] 3. The present application dynamically calculates the current and resistance, and considers the influence of temperature changes on cable resistance, to achieve accurate voltage correction for environmental condition changes, optimize the adaptability to cable impedance, and ensure stable and reliable power supply for the underwater robot.

[0018] 4. The present application monitors the change rate of the total cable resistance value in real time, and starts redundant cable release when the resistance change exceeds the preset threshold, which can effectively respond to the influence of sudden water flow or external disturbance on the cable system, avoid power system instability due to sudden load changes, and ensure the continuous and stable operation of the underwater robot in complex environments. It can respond to the dynamic changes in the underwater environment and adjust the power supply of the underwater robot to adapt to different working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a flowchart of a power supply control method for an underwater robot in a hydraulic tunnel according to an embodiment of the present application; Figure 2 is a schematic diagram of the working principle of a power supply control system according to an embodiment of the present application; Figure 3 is a module schematic diagram of a power supply control device for an underwater robot in a hydraulic tunnel according to an embodiment of the present application; Figure 4 is a structural schematic diagram of an electronic device according to an embodiment of the present application.

[0020] Explanation of reference numerals: 301, acquisition module; 302, processing module; 303, output module; 401, processor; 402, communication bus; 403, user interface; 404, network interface; 405, memory. DETAILED DESCRIPTION

[0021] The application will be described in further detail below with reference to the drawings and specific embodiments.

[0022] An underwater robot is a robot system designed for task execution in a water tunnel or other underwater environment. It usually has the ability of underwater environment perception and positioning, and can perform precise operations in complex underwater environments. The underwater robot is commonly used for tasks such as detection, maintenance and repair of water tunnels. It is equipped with various sensors such as sonar, inertial navigation system and camera, which can obtain real-time environmental data and perform related operations according to the task requirements, such as detecting structural and functional defects of water tunnels and cleaning sediments in water tunnels. In addition, the underwater robot can also perform tasks in extreme conditions such as strong water flow, low visibility and deep water, and its design takes into account high pressure resistance, good corrosion resistance and long endurance.

[0023] Embodiment 1: This embodiment discloses a power supply control method of an underwater robot in a water tunnel, referring to Figure 1 , comprising the following steps S110-S140: S110, obtaining the cable release length, cable surface area, water density and relative water flow speed of the underwater robot, and calculating the total cable resistance value.

[0024] The power supply control method of the underwater robot in the water tunnel disclosed in the application is applied to a power supply control system, referring to Figure 2 , the power supply control system is based on real-time multi-parameter acquisition, and realizes power supply stability control through resistance prediction and voltage compensation algorithm. The system is divided into two parts of shore-based system and underwater robot, and the signal flow and control chain are as follows: In the shore-based system, the winch controller is responsible for managing the release behavior of the cable, and cooperates with the multi-parameter acquisition module to obtain the cable release length L, cable surface area S and water density ρ in real time. These parameters are transmitted as input to the downstream FOC (Field-Oriented Control) vector control unit. The control unit receives the resistance prediction feedback voltage value Ubase from the underwater robot, and controls the programmable power supply accordingly to realize dynamic output voltage adjustment, thereby compensating for the voltage loss caused by cable resistance.

[0025] In the underwater robot system, the ADCP current meter measures the relative flow velocity Vrel of the robot in the water and performs preliminary processing through the central processor; the step-down converter and the actuator together constitute the energy management structure of the robot end. In the control logic, Vrel together with L, S, and p three parameters from the shore base are input into the resistance prediction model as inputs, through the comprehensive modeling of dynamic pressure resistance, viscous resistance, and elastic potential energy, the dynamic total resistance is output, and the corrected voltage Ubase is further generated in the dynamic voltage compensation algorithm module and fed back to the shore base system. The Ubase signal is adjusted by the FOC control unit to adjust the shore-based programmable power supply output, realizing the precise response of the power supply side to the dynamic changes of the load side.

[0026] The overall architecture realizes the two-way collaborative control mechanism of the shore base and the underwater robot: the shore base side dominates the power regulation and environmental parameter acquisition, the underwater side is responsible for speed sensing and resistance modeling analysis, and through feedback loop, the system realizes fast dynamic response to complex underwater impedance and load fluctuations. This design significantly improves the stability and energy efficiency of power supply, meeting the needs of long-distance complex water operation.

[0027] The cable release length is measured by an encoder installed on the robot or the shore base. The encoder records the release amount of the cable in real time and feeds back the data to the main control system. During operation, the encoder monitors the winding and unwinding state of the cable and accurately tracks the position of the cable according to the winding or release length of the cable. In specific implementation, the encoder is usually connected to the cable reel, and the actual release length of the cable is calculated by using the rotation ratio relationship between the cable winding and the encoder rotation. Assuming that the robot advances forward during underwater operation and releases the cable at the same time, the encoder accurately records the release length of the cable and outputs the value as real-time data of the cable release length. In this process, the "rotation angle-length" conversion method is used, which reads the angle change of rotation through the encoder, and then calculates the actual release length of the cable. This length value plays an important role in subsequent cable resistance model calculation, because the length of the cable directly affects the friction between the cable and the water flow and the resistance characteristics of the cable.

[0028] The cable surface area is usually obtained based on the geometric structure model of the cable. For a standard circular cross-section cable, the cable surface area can be obtained by calculating the area of the outer surface of the cable. In specific implementation, first measure the outer diameter of the cable, and the formula for calculating the cable surface area is:

[0029] where, is the diameter of the cable, ​is the released length of the cable. For other shapes of the cable, different surface area calculation methods may be required, such as for elliptical or rectangular cross-section cables. In practice, the surface area of the cable is closely related to the interaction with the water flow, as the greater the surface area, the greater the friction between the cable and the water flow, so the calculation of the cable surface area is crucial to the accuracy of the resistance model. In actual operation, the surface area of the cable can be obtained by design parameters or sensor measurements, such as measurement and recording by laser scanners or other contact measurement devices.

[0030] Water density refers to the mass of water per unit volume, which is affected by water temperature, salinity, and water pressure. In practice, water density is usually measured by a densimeter or calculated. In underwater environments, water density changes with changes in depth, temperature, and salinity. To accurately obtain water density, a water density sensor can be installed in the control system of the robot, or it can be calculated according to the data of water temperature and salinity by a known formula. The specific calculation method can use the international standard seawater density formula:

[0031] wherein, is the standard water density, and are the influence coefficients of water temperature and salinity on water density, is the water temperature, is the standard water temperature, is the salinity. Water density is very important for cable resistance calculation, as the density of water affects the hydrodynamic pressure and viscous resistance experienced by the cable.

[0032] Relative water flow velocity refers to the relative motion speed between the underwater robot and the water flow, which is usually measured by a flowmeter installed on the robot. The equipment used to measure the relative water flow velocity is usually an acoustic Doppler current profiler (ADCP) or a flowmeter sensor. These devices emit sound waves and calculate the water flow speed based on the reflection time of the sound waves. In practice, ADCP can accurately measure the speed of water flow at different depths and directions, usually by measuring the Doppler shift of the water flow to determine the relative water flow velocity. Assuming that the robot travels along the tunnel, the flowmeter can measure the speed and direction of the water flow in real time and feed the data back to the control module of the robot for dynamic adjustment of the working state and power supply requirements of the robot. Through this technical solution, the robot can adapt to different water flow conditions, optimizing operation efficiency and energy consumption.

[0033] In a possible implementation, the cable total resistance value is calculated by obtaining the cable release length, cable surface area, water density, and relative water flow speed of the underwater robot, and specifically includes: calculating the dynamic pressure resistance, viscous resistance, and cable elastic potential energy term according to the cable release length, cable surface area, water density, and relative water flow speed; and combining the dynamic pressure resistance, viscous resistance, and cable elastic potential energy term to obtain the cable total resistance value.

[0034] In the formula, the dynamic pressure resistance, viscous resistance, and cable elastic potential energy term are calculated according to the cable release length, cable surface area, water density, and relative water flow speed, and specifically include: multiplying the water density, the square of the relative water flow speed, and the cable surface area together, and combining the resistance coefficient to adjust the proportion, to obtain the dynamic pressure resistance; multiplying the water body viscous coefficient and the cable release length, and introducing a nonlinear correction factor for the hydraulic diameter, to calculate the fluid shear friction resistance of the cable under the condition of transition Reynolds number, to obtain the viscous resistance; and multiplying the redundant cable length identified by the cable release length and the cable elastic stiffness coefficient to obtain the cable elastic potential energy term.

[0035] Specifically, the calculation of the dynamic pressure resistance involves Bernoulli's equation and dynamic pressure theory in fluid mechanics. In specific implementation, the density of the water flow ( ) and the relative speed of the water flow ( ) are first obtained, and then the dynamic pressure of the water flow, that is, the pressure generated when the fluid interacts with the cable surface, is calculated. The surface area of the cable ( ) determines the area in contact with the fluid, and the water density and the square of the water flow speed jointly affect the dynamic pressure received by the cable. In actual operation, the dynamic pressure resistance is calculated by the formula:

[0036] In the formula, C is the resistance coefficient of the cable, which is usually provided by experimental data and depends on the shape and surface roughness of the cable, the water density and the square of the water flow speed jointly affect the dynamic pressure resistance received by the cable. In the implementation process, the water flow speed and the cable surface area are monitored in real time in the robot control, and the dynamic pressure resistance is calculated according to these parameters, and then the voltage output is adjusted to compensate for the power loss.

[0037] The viscous resistance is the friction caused by the viscosity of the water body, which usually dominates in the case of low flow speed or long cable. To calculate the viscous resistance, the viscous coefficient of the water body ( ) needs to be obtained first, which is a measure of the rheological properties of water and depends on the water temperature and salinity. Then, the resistance is calculated according to the release length of the cable ( ). The formula for calculating the viscous resistance is:

[0038] wherein, is the released length of the cable, is the diameter of the cable, is the viscosity coefficient of the water body, is the relative velocity of the water flow. Further, to account for the influence of the water flow in the transitional Reynolds number interval, a nonlinear correction factor of the hydraulic diameter (e.g. ) is introduced, which adjusts the calculation of the viscous resistance according to the actual state of the water flow, ensuring the accuracy of the calculation results in complex flow states (e.g. in the interval of Reynolds number 2000 to 4000). In implementation, the control needs to collect these environmental data in real time, and based on this, calculate the viscous resistance, and adjust the power output in real time.

[0039] The calculation of the cable elastic potential energy term is mainly related to the elastic deformation ability of the cable, especially when the cable releases the redundant length. The redundant cable length (Lr) refers to the additional cable length intentionally reserved to absorb instantaneous loads in response to sudden changes in water flow or mechanical impact. The calculation of the cable elastic potential energy term is based on Hooke's Law, and the elastic potential energy formula is:

[0040] wherein, is the elastic stiffness coefficient of the cable, representing the resistance of the cable to deformation, is the released redundant cable length. This calculation reflects the potential energy stored in the cable due to deformation, and provides a buffer force under the action of water flow changes or external forces, avoiding overload. In the implementation process, by controlling the real-time monitoring of the cable state, it is determined whether the redundant cable needs to be released, and based on the elastic stiffness coefficient of the cable, the elastic potential energy of the cable is calculated, so as to determine whether dynamic voltage compensation is needed. This technology optimizes the adaptability of the robot to dynamic environment by effectively managing the released length and elastic potential energy of the cable.

[0041] In the combined calculation of dynamic pressure resistance, viscous resistance and elastic potential energy term, first, the dynamic pressure resistance and the viscous resistance are added to obtain the dynamic resistance of the cable , and then the cable elastic potential energy term is introduced into the calculation of the total resistance. The specific combination process is as follows:

[0042] wherein, is the dynamic pressure resistance, is the viscous resistance.

[0043] S120, based on the total resistance value of the cable, nonlinear exponential gain compensation is carried out to obtain the dynamic pressure compensation voltage value.

[0044] In one possible implementation, the nonlinear exponential gain compensation is performed based on the total cable resistance value to obtain a dynamic pressure compensation voltage value, specifically including: performing ratio normalization processing on the total cable resistance value and a reference resistance value to obtain a normalization result; and applying an exponential nonlinear gain function to the normalization result to generate the dynamic pressure compensation voltage value.

[0045] First, the calculated total cable resistance value is subjected to ratio normalization processing with a preset reference resistance value . The reference resistance value is usually set according to experimental data or a standard model, and is used to represent the standard resistance of the cable under ideal working conditions. The purpose of normalization processing is to standardize the total cable resistance value and eliminate the direct influence caused by environmental factors (such as changes in water flow, depth differences, etc.), so that dynamic adjustment can be performed according to relative changes.

[0046] By normalizing the ratio of the total cable resistance to the reference resistance, it can be ensured that when the actual resistance of the cable changes greatly, the voltage output can be adjusted according to this ratio. The normalized result can facilitate subsequent further control strategy design, avoiding excessive compensation or excessive response of the power supply caused by changes in cable resistance.

[0047] After obtaining the normalization result, an exponential nonlinear gain function is applied next to more effectively respond to changes in the total cable resistance, especially under low and high resistance conditions. The introduction of the exponential gain function is mainly to optimize the adaptability to changes in cable resistance. In actual applications, factors such as water flow speed and depth in the underwater environment often cause the resistance value of the cable to fluctuate greatly. Traditional linear gain functions may cause excessive or slow compensation under such conditions, and cannot respond to rapidly changing environments in real time.

[0048] The exponential gain function controls the growth rate of the voltage output, so that when the cable resistance is low, the compensation gain is small, and when the cable resistance is high, the gain increases rapidly, thereby ensuring a rapid response to large changes in resistance. In specific implementation, the following exponential gain function is used:

[0049] wherein, is a calibrated voltage value, is an exponential gain factor, usually adjusted between 0 and 1. By adjusting the exponential gain factor This allows for flexible control of the sensitivity of the compensation response. With a small gain factor (e.g., 0.8), compensation is smooth under low resistance conditions, while under high resistance conditions, the gain increases rapidly, enhancing the compensation effect and thus avoiding overcompensation. In practical operation, this exponential gain function can be optimized based on experimental data to ensure stable and efficient voltage compensation in various underwater operating environments.

[0050] S130 performs a voltage correction operation based on the operating current corresponding to the total cable resistance and the total cable resistance to obtain the voltage correction value.

[0051] In one possible implementation, a voltage correction operation is performed based on the operating current corresponding to the total cable resistance value and the total cable resistance to obtain a voltage correction value. Specifically, this includes: determining the operating current corresponding to the current operating condition based on the total cable resistance value; multiplying the operating current and the total cable resistance to obtain the voltage correction value. The total cable resistance is obtained by dynamically expanding the resistance per unit length, with the resistance per unit length being a preset reference value. Temperature compensation is then performed based on the difference between the current water temperature and the reference temperature, combined with a resistance temperature rise correction coefficient.

[0052] The operating current is determined based on the relationship between the total resistance of the cable and the output voltage of the power supply. First, based on the total resistance value of the cable... and the output voltage of the power supply The corresponding operating current is calculated based on Ohm's law. This process assumes a linear relationship between the total resistance of the cable and the current. Specifically, the operating current... The calculation formula is:

[0053] in, This is the total resistance of the cable, which includes resistance determined by factors such as cable material, temperature, and cable length. The current magnitude directly reflects the cable's current demand under the current operating environment, and this data is a crucial basis for subsequent voltage correction. By monitoring the cable's total resistance in real time, the current magnitude can be dynamically adjusted to ensure power supply stability matches load requirements.

[0054] Once the operating current is determined, the next step is to calculate the voltage correction value. This is obtained by multiplying the operating current by the total resistance of the cable. This calculation is based on Ohm's law, which states that the voltage drop due to cable impedance is obtained by multiplying the current and resistance. The typical formula is:

[0055] here, is the total resistance of the cable, which reflects the resistance characteristics of the cable during operation. The product of current and resistance represents the resistance encountered by the current flowing in the cable, and is proportional to the voltage loss. This voltage loss will cause the output voltage at the power supply end to decrease, so compensation is needed to ensure stable operation. In implementation, the control dynamically calculates the voltage correction value according to the working current and resistance, and adjusts the output voltage of the power supply in real time.

[0056] The resistance of the cable increases linearly with the increase of the cable length, so the total resistance of the cable is obtained by extending the calculation of the unit length resistance . The unit length resistance refers to the resistance per unit length of the cable (such as per kilometer), which is usually calibrated according to the material and cross-sectional area of the cable as a preset reference value. The resistance of the cable is not only related to the length of the cable, but also closely related to the ambient temperature. With the change of water temperature, the resistance of the cable will change, so temperature compensation is needed.

[0057] Temperature compensation is usually based on the resistance temperature coefficient . The resistance temperature coefficient is the rate at which the resistance of the cable changes with temperature, which is usually determined by the physical properties of the cable material. The temperature compensation calculation method is:

[0058] wherein, is the unit length resistance, is the length of the cable, is the resistance temperature correction coefficient, is the current water temperature, is the reference temperature. By calculating the difference between the water temperature and the reference temperature, combined with the resistance temperature correction coefficient, the fluctuation of the cable resistance caused by the change of water temperature can be accurately compensated, ensuring that the calculation of the total resistance of the cable is closer to the actual working environment. In this way, the voltage correction value can be adjusted in real time to avoid energy loss caused by temperature changes, thereby improving power supply efficiency and battery endurance.

[0059] S140, add the dynamic pressure compensation voltage value and the voltage correction value to obtain a target voltage output value, and supply power to the underwater robot according to the target voltage output value.

[0060] The dynamic pressure compensation voltage value calculated through the foregoing steps needs to be added to the voltage correction value to obtain a target voltage output value The dynamic pressure compensation voltage value is based on the voltage compensation required due to the change in resistance of the cable in the water flow, while the voltage correction value is based on the voltage adjustment made due to the change in resistance of the cable. To ensure that the power supply can adapt to the current working state of the cable, the two parts of the compensation value need to be added to obtain a suitable target voltage output value. Specifically, the accumulation operation can be realized by simple addition:

[0061] This target voltage output value is the final voltage delivered to the underwater robot, which can compensate for the voltage loss caused by the change in resistance and the change in resistance in the cable, thereby ensuring that the underwater robot can obtain stable and sufficient power supply during the working process. This step ensures that the power supply can adapt to the dynamic changes of the underwater robot under different working conditions, and maintains the stability and efficiency of the power supply.

[0062] The target voltage output value is calculated according to the working state and environmental changes of the cable, and represents the voltage required to provide stable power to the underwater robot. In the implementation process, the target voltage output value will be input as an instruction to the power supply module controlled by the shore base, and the power supply module will adjust the output voltage according to the voltage value to ensure that the underwater robot obtains the required voltage supply. In actual operation, the power supply module usually uses an adjustable DC power supply (such as a programmable power supply) to dynamically adjust its output according to the feedback target voltage output value. Specifically, the power supply module will monitor the voltage output value in real time, and adjust the output voltage of the power supply according to the target voltage to ensure that the battery or power of the underwater robot is always maintained within the appropriate working voltage range, thereby avoiding failures or energy waste caused by insufficient or excessive voltage.

[0063] In one possible implementation, after obtaining the cable release length, cable surface area, water density, and relative water flow speed of the underwater robot, and calculating the total cable resistance value, the method further includes: calculating the difference between the total cable resistance values in the adjacent two sampling periods and dividing by the sampling period to obtain the change rate of the total cable resistance value; when the change rate exceeds a preset change rate threshold, performing a cable redundant release operation to control the cable winch to release a redundant cable length.

[0064] Specifically, the change rate of the total cable resistance value is determined by calculating the difference between the total cable resistance values in the adjacent two sampling periods and and dividing the difference by the sampling period . Specifically, first, in each sampling period ( ) will be collected, which reflect the frictional resistance and dynamic pressure resistance encountered by the cable in the water flow. Then, the difference between the total cable resistance values at two adjacent time points is calculated and normalized according to the time interval to obtain the rate of change. The formula is as follows:

[0065] wherein, is the time interval of the sampling period, usually a few seconds or minutes, depending on the real-time monitoring frequency. This rate of change describes the rate of change of the total cable resistance over time, which can effectively reflect the dynamic resistance response of the cable under changing water flow conditions. By calculating this rate of change, the dramatic changes in the resistance experienced by the cable can be detected, thereby enabling real-time adjustment.

[0066] Once the rate of change of the total cable resistance value is calculated, it will be compared with a pre-set rate of change threshold . The pre-set rate of change threshold is usually set according to the behavior characteristics of the cable in the actual working environment, representing the maximum rate of resistance change that can be tolerated. When the rate of change exceeds this threshold, it indicates that the cable has experienced a large dynamic load change, which may be caused by sudden changes in water flow speed, collisions or other external disturbance factors. This change may adversely affect the cable, so it needs to be relieved by releasing the redundant cable.

[0067] In one possible implementation, the length of the redundant cable required at the current time is determined according to the relative water flow speed and the rate of change within the control period, and the length of the redundant cable is composed of a speed release term and a disturbance compensation term; the cable elastic potential energy term is calculated based on the length of the redundant cable to dynamically buffer and adjust the total cable resistance value.

[0068] Specifically, in actual operation, the cable redundant release operation is performed by controlling the mechanism of the cable winch. Specifically, when the rate of change exceeds the set threshold, an instruction is delivered to the winch control module to initiate the rapid release of the redundant cable. The amount of release of the length of the redundant cable is usually dynamically adjusted according to the rate of change of resistance. For example, the amount of release of the length of the redundant cable can be determined by the following strategy:

[0069] wherein, is the relative water flow speed, is an adjustment factor representing the response sensitivity to resistance change, is the rate of change. In this way, the cable winch will release the appropriate length of the redundant cable according to the load change of the cable, thereby effectively absorbing the sudden external pressure or load fluctuation.

[0070] the length of the redundant cable is calculated dynamically according to the water flow changes and external disturbances, and combined with the elastic properties of the cable, to buffer the dynamic load on the cable. The cable elastic potential energy term is generated by the elastic restoring force of the redundant cable, and this part of the potential energy is stored when the cable releases the redundant length, and released when the external load suddenly changes, to help alleviate the impact of sudden resistance. The calculation of the elastic potential energy term depends on the redundant cable length and the elastic stiffness coefficient of the cable . The specific calculation is:

[0071] wherein, is the elastic restoring force of the cable, is the release length of the redundant cable, is the elastic stiffness coefficient of the cable. The elastic stiffness coefficient is part of the cable material properties, indicating the cable's resistance to deformation. By combining the redundant cable length and the elastic stiffness coefficient of the cable, the calculated can provide a counteracting restoring force under external force, dynamically adjusting the total resistance of the cable , thereby acting as a buffer. This elastic potential energy term helps maintain the stability of the cable when the water flow or external disturbance changes rapidly, and prevents the cable from overloading or damage.

[0072] Embodiment 2: The embodiment also discloses a power supply control device for an underwater robot in a hydraulic tunnel, referring to Figure 3 , comprising an acquisition module 301, a processing module 302 and an output module 303, the device is used to execute any one of the above-mentioned power supply control methods for an underwater robot in a hydraulic tunnel, wherein: The acquisition module 301 is used to acquire the cable release length, the cable surface area, the water density and the relative water flow speed of the underwater robot, and calculate the total cable resistance value.

[0073] The processing module 302 is used to perform nonlinear exponential gain compensation based on the total cable resistance value to obtain a dynamic pressure compensation voltage value.

[0074] The processing module 302 is used to perform voltage correction operation on the total cable resistance according to the working current corresponding to the total cable resistance value, to obtain a voltage correction value.

[0075] The output module 303 is used to accumulate the dynamic pressure compensation voltage value and the voltage correction value to obtain a target voltage output value, and supply power to the underwater robot according to the target voltage output value.

[0076] In a possible implementation, the processing module 302 is configured to calculate the dynamic pressure resistance, the viscous resistance and the cable elastic potential energy item according to the cable release length, the cable surface area, the water density and the relative water flow velocity, respectively.

[0077] The processing module 302 is configured to combine the dynamic pressure resistance, the viscous resistance and the cable elastic potential energy item to obtain a total cable resistance value.

[0078] In a possible implementation, the processing module 302 is configured to multiply the water density, the square of the relative water flow velocity and the cable surface area together, and combine the resistance coefficient to perform proportional adjustment, to obtain the dynamic pressure resistance.

[0079] The processing module 302 is configured to multiply the water body viscous coefficient and the cable release length, and introduce a nonlinear correction factor of the hydraulic diameter, to calculate the fluid shear friction resistance of the cable under the transition Reynolds number condition, to obtain the viscous resistance.

[0080] The processing module 302 is configured to multiply the identified redundant cable length of the cable release length and the cable elastic stiffness coefficient to obtain the cable elastic potential energy item.

[0081] In a possible implementation, the processing module 302 is configured to perform ratio normalization processing on the total cable resistance value and the reference resistance value to obtain a normalization result.

[0082] The processing module 302 is configured to apply an exponential nonlinear gain function to the normalization result to generate a dynamic pressure compensation voltage value.

[0083] In a possible implementation, the acquisition module 301 is configured to determine a working current corresponding to a current working condition according to the total cable resistance value.

[0084] The processing module 302 is configured to multiply the working current and the total cable resistance to obtain a voltage correction value, and the total cable resistance is obtained by dynamic expansion calculation on a unit length resistance, the unit length resistance being a preset reference value and being temperature compensated according to a difference between a current water temperature and a reference temperature and a resistance temperature rise correction coefficient.

[0085] In a possible implementation, the processing module 302 is configured to calculate a change rate of the total cable resistance value by dividing a difference between total cable resistance values in two adjacent sampling periods by the sampling period.

[0086] The output module 303 is configured to perform a cable redundant release operation to control the cable winch to release the redundant cable length when the change rate exceeds a preset change rate threshold.

[0087] In a possible implementation, the processing module 302 is configured to determine the current required release length of the redundant cable according to the relative water flow velocity and the change rate in a control period, and the redundant cable length is composed of a velocity release term and a disturbance compensation term.

[0088] The output module 303 is configured to dynamically buffer and adjust the cable total resistance value based on the cable elastic potential energy term.

[0089] It should be noted that the device provided in the above embodiment is only used as an example to divide the above functional modules to achieve its functions. In actual applications, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be described here.

[0090] Embodiment 3: The embodiment also discloses an electronic device, referring to Figure 4 The electronic device can include at least one processor 401, at least one communication bus 402, a user interface 403, a network interface 404, and at least one memory 405.

[0091] The communication bus 402 is used to realize the connection and communication between the components.

[0092] The user interface 403 can include a display screen (Display) and a camera (Camera). Optionally, the user interface 403 can further include a standard wired interface and a wireless interface.

[0093] The network interface 404 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0094] The processor 401 can include one or more processing cores. The processor 401 connects various parts within the server through various interfaces and lines, performs various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 405, and calling data stored in the memory 405. Alternatively, the processor 401 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 401 can integrate a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs. The GPU is responsible for rendering and drawing the content needed to be displayed on the display screen. The modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 401, but be realized by a separate chip.

[0095] The memory 405 can include a random access memory (RAM) and a read-only memory (ROM). Alternatively, the memory includes a non-transitory computer-readable storage medium. The memory 405 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 405 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 405 can also be at least one storage device located away from the aforementioned processor 401. As a computer storage medium, the memory 405 can include an operating system, a network communication module, a user interface 403 module, and an application program of a power supply control method of an underwater robot in a hydraulic tunnel.

[0096] In Figure 4The electronic device shown, the user interface 403 is mainly used for providing the interface for the user to input, obtaining the data input by the user. The processor 401 can be used to call the application program stored in the memory 405 and storing the power supply control method of the underwater robot in the water tunnel, when executed by one or more processors 401, the electronic device executes the method of one or more of the above embodiments.

[0097] It should be noted that for the foregoing method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other order or at the same time. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0098] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0099] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of units is only a logical function division. There can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some services interfaces, devices or units, and can be electrical or other forms.

[0100] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0101] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0102] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory 405 and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method of each embodiment of the present application. The aforementioned memory 405 includes: a U disk, a mobile hard disk, a magnetic or optical disk, and various media that can store program codes.

[0103] Embodiment 4: The present application also discloses a computer readable storage medium, which stores instructions. When executed by one or more processors 401, the electronic device performs one or more methods as described in the above embodiments.

[0104] The above embodiments are only preferred technical solutions of the present application, and should not be regarded as limitations of the present application. The protection scope of the present application should be the technical solutions recited in the claims, including equivalent replacement solutions of the technical features recited in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present application.

Claims

1. A power supply control method for an underwater robot in a hydraulic tunnel, characterized by, The method comprises: Step 1, obtaining the cable release length, cable surface area, water density and relative water flow speed of the underwater robot, and calculating the total cable resistance value; Step 2, performing nonlinear exponential gain compensation based on the total cable resistance value to obtain a dynamic pressure compensation voltage value; Step 3, performing voltage correction operation on the working current corresponding to the total cable resistance value and the total cable resistance to obtain a voltage correction value; Step 4, accumulating the dynamic pressure compensation voltage value and the voltage correction value to obtain a target voltage output value, and supplying power to the underwater robot according to the target voltage output value.

2. The power supply control method for the underwater robot in the hydraulic tunnel according to claim 1, characterized in that, The step 1 specifically comprises: Step 1.1, calculating the dynamic pressure resistance, viscous resistance and cable elastic potential energy item according to the cable release length, cable surface area, water density and relative water flow speed; Step 1.2, combining and calculating the dynamic pressure resistance, viscous resistance and cable elastic potential energy item to obtain the total cable resistance value.

3. The power supply control method for the underwater robot in the hydraulic tunnel according to claim 2, characterized in that, The step 1.1 specifically comprises: The water density is multiplied by the square of the relative water flow speed and the cable surface area, and the proportion is adjusted by combining the resistance coefficient to calculate the dynamic pressure resistance; The water body viscous coefficient is multiplied by the cable release length, and a nonlinear correction factor of hydraulic diameter is introduced to calculate the fluid shear friction resistance of the cable under the condition of transition Reynolds number to obtain the viscous resistance; The redundant cable length of the cable release length is multiplied by the cable elastic stiffness coefficient to obtain the cable elastic potential energy item.

4. The power supply control method for the underwater robot in the hydraulic tunnel according to claim 2, characterized in that, The step 1 further comprises: Step 1.3, calculating the difference between the total cable resistance values in two adjacent sampling periods and dividing by the sampling period to obtain the change rate of the total cable resistance value; Step 1.4, when the change rate exceeds the preset change rate threshold, performing cable redundant release operation to control the cable winch to release the redundant cable length.

5. The power supply control method for a water tunnel underwater robot according to claim 4, characterized in that, The step 1 further comprises: Step 1.5, determining the current required redundant cable length to be released according to the relative water flow speed and the change rate in the control period, and the redundant cable length is composed of a speed release item and a disturbance compensation item; Step 1.6, calculating the dynamic buffer adjustment of the cable elastic potential energy item to the total cable resistance value based on the redundant cable length.

6. The power supply control method for a water tunnel underwater robot according to claim 1, characterized in that, The step 2 specifically comprises: The total cable resistance value is compared with the reference resistance value to obtain a normalized result; An exponential nonlinear gain function is applied to the normalized result to generate a dynamic pressure compensation voltage value.

7. The power supply control method of underwater robot in hydraulic tunnel according to claim 1, characterized in that, The step 3 specifically comprises: The working current corresponding to the current working condition is determined according to the total cable resistance value; The working current is multiplied by the total cable resistance to obtain a voltage correction value, and the total cable resistance is obtained by dynamically expanding the calculation of the unit length resistance, the unit length resistance is a preset reference value, and the temperature compensation is performed according to the difference between the current water temperature and the reference temperature and the resistance temperature rise correction coefficient.

8. A power supply control device for an underwater robot in a water tunnel, characterized by, The device is used for executing the power supply control method of the underwater robot in the hydraulic tunnel, and the device comprises an acquisition module (301), a processing module (302) and an output module (303), wherein: The acquisition module (301) is used for acquiring the cable release length, the cable surface area, the water density and the relative water flow speed of the underwater robot, and calculating the total cable resistance value; The processing module (302) is used for performing nonlinear exponential gain compensation based on the total cable resistance value to obtain a dynamic pressure compensation voltage value; The processing module (302) is used for performing voltage correction operation on the total cable resistance according to the working current corresponding to the total cable resistance value to obtain a voltage correction value; The output module (303) is used for accumulating the dynamic pressure compensation voltage value and the voltage correction value to obtain a target voltage output value, and supplying power to the underwater robot according to the target voltage output value.

9. An electronic device, comprising: The electronic device comprises a processor (401), a communication bus (402), a user interface (403), a network interface (404) and a memory (405), the memory (405) is used for storing instructions, the user interface (403) and the network interface (404) are used for communicating with other devices, the communication bus (402) is used for realizing the connection and communication between components in the electronic device, and the processor (401) is used for executing the instructions stored in the memory (405) to enable the electronic device to execute the power supply control method of the underwater robot in the hydraulic tunnel.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions, when the instructions are executed, a power supply control method of an underwater robot in a hydraulic tunnel is executed.

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