Physical simulation platform for underwater robot function test

Abstract

The utility model discloses a physical simulation platform for underwater robot function test, which belongs to the technical field of underwater detection equipment and is characterized by comprising a substrate, a master control module, a voltage-stabilized source, a communication module, a posture adjusting unit, a buoyancy unit, an oil tank, an underwater detection unit, a power unit and a display module. The base plate forms a platform, and the main control module, the voltage-stabilized source, the communication module, the posture adjusting unit, the buoyancy unit, the oil tank, the underwater detection unit, the power unit and the display module are fixedly installed on the base plate in a detachable mode. The physical simulation platform for the function test of the underwater robot realizes flexible and convenient operation through tiled layout, supports batch test, greatly improves the test efficiency, has the advantages of real-time data acquisition, modular design, reduction of labor cost, enhancement of safety, convenience in fault diagnosis and the like, and is suitable for popularization and application. And research and development and application of an underwater robot technology are greatly promoted.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater detection equipment, and in particular relates to a physical simulation platform for function testing of underwater robots. Background Art

[0002] An underwater vehicle is a device specifically designed for autonomous or remotely controlled navigation in water, and is widely used in fields such as ocean exploration, environmental monitoring, and military reconnaissance. Its structure usually includes core components such as a pressure hull, a propulsion system, a control system, and sensors, enabling it to move flexibly at different depths and in complex waters. Depending on mission requirements, underwater vehicles can be equipped with various equipment, such as sonar, cameras, and environmental sensors, for seabed topography mapping, data collection, or target search. The design of the vehicle focuses on fluid dynamics to reduce underwater resistance and increase endurance. In special applications, bionic technology, foldable structures, or adaptive propulsion devices may also be integrated to improve its maneuverability and work efficiency.

[0003] When performing their missions, underwater vehicles rely on the proper functioning of a variety of electronic components, including processors, power modules, communication equipment, and sensors in the control system. Together, these components ensure the vehicle's navigation, data acquisition, and real-time feedback capabilities. Therefore, before launching a vehicle, all key electronic components must be thoroughly inspected and calibrated to ensure their performance meets expected requirements and prevent equipment failure due to extreme conditions such as high pressure, high humidity, and low temperatures in the underwater environment. Common inspections include circuit integrity checks, signal transmission tests, and component pressure and water resistance verification. These steps not only help improve the vehicle's operational reliability but also extend its service life, ensuring its safe and stable operation in complex underwater environments.

[0004] Current testing methods for underwater vehicle electronic components have significant shortcomings. In particular, if a component is found to be malfunctioning during testing, it must be removed from the assembled vehicle, replaced, and retested. This process presents multiple problems. First, component removal and replacement is time-consuming, especially when the component is located in a complex location or requires disassembly of multiple components to access the target component. This significantly prolongs the entire testing and maintenance process. Second, frequent assembly and disassembly operations not only increase the workload but also can cause physical damage to the vehicle's structure and other components, potentially compromising the vehicle's sealing and reliability. Furthermore, replacing and testing a component after it fails requires restarting the entire testing process, further extending the testing cycle and increasing labor and material costs. If multiple components fail during testing, the process of identifying and replacing them one by one becomes cumbersome and inefficient, potentially leading to schedule delays and increasing project complexity and unpredictability. Overall, this testing model reduces efficiency and poses potential risks to the vehicle's integrity and subsequent performance. Utility Model Content

[0005] In response to the problems existing in the existing technology, the utility model provides a physical simulation platform for underwater robot functional testing, which aims to solve the problems of long testing cycles, time-consuming and labor-intensive operations, easy damage to the vehicle structure and increased costs caused by the need to remove, replace and retest failed components during the current testing process of underwater vehicle electronic components.

[0006] The present utility model is implemented as follows: a physical simulation platform for functional testing of an underwater robot, characterized in that it includes a baseboard, a main control module, a voltage-regulated power supply, a communication module, a posture adjustment unit, a buoyancy unit, a fuel tank, an underwater detection unit, a power unit and a display module; the baseboard forms a platform, and the main control module, voltage-regulated power supply, communication module, posture adjustment unit, buoyancy unit, fuel tank, underwater detection unit, power unit and display module are fixedly mounted on the baseboard in a detachable manner.

[0007] In the above technical solution, preferably, N parallel T-slots are provided on the substrate, and the main control module, voltage-stabilized power supply, communication module, attitude adjustment unit, buoyancy unit, fuel tank, underwater detection unit, power unit and display module are installed on the substrate by bolts combined with the T-slots.

[0008] In the above technical solution, preferably, the voltage-stabilized power supply is connected to the main control module and supplies power to the main control module.

[0009] In the above technical solution, preferably, the posture adjustment unit includes a retaining ring, a torsion bar, a mass block, a lead screw, a threaded sleeve, a deflection drive motor, and an axial drive motor; the torsion bar is installed between the two retaining rings, the torsion bar rotates around its own axis, the mass block is installed on the torsion bar and forms an axial linear motion pair, the deflection drive motor is connected to the torsion bar and drives the torsion bar to rotate, and the axial drive motor drives the mass block to move along the torsion bar through a telescopic assembly composed of a lead screw and a threaded sleeve. In the posture adjustment unit, the battery is replaced with an aluminum alloy mass block, eliminating the potential safety hazards caused by the use of batteries and ensuring that the testing process is more environmentally friendly and safe. This improvement not only improves the safety of operation, but also reduces the potential impact on the environment, and meets modern green testing standards.

[0010] In the above technical solution, preferably, the buoyancy unit includes a gear pump, a solenoid valve, an oil pipeline, a bladder and an oil tank, and the gear pump, the solenoid valve and the oil pipeline constitute an oil delivery assembly connected between the bladder and the oil tank.

[0011] In the above technical solution, preferably, the substrate includes a bracket and a table plate, the table plate is installed on the bracket and forms the platform, and the table plate is composed of N parallel aluminum alloy profiles.

[0012] This physical simulation platform for underwater robot functional testing has many significant advantages and effects.

[0013] First of all, each test unit is laid out flat on the substrate and is no longer restricted by spatial constraints, making the entire test operation more flexible and efficient. This flat design avoids the space limitations caused by the stacking or compact arrangement of components in traditional test platforms, thereby providing testers with a wider operating space. Whether it is installation, debugging, or replacing components, operators can easily access each unit, avoiding complicated disassembly and assembly steps, especially when a component fails, it can be quickly located and replaced. This simple operation method not only shortens the time for repair and maintenance, but also reduces the potential damage to the equipment or platform structure caused by frequent disassembly and assembly, and improves the stability and reliability of the overall test. In addition, the increase in spatial freedom also means that the test platform has greater flexibility in layout and configuration, and can adapt to test needs of different types and scales, effectively improving the scalability of the system.

[0014] Secondly, the platform can support simultaneous batch testing of multiple test units, greatly improving work efficiency. Traditional testing methods usually test each component individually, but the physical simulation platform uses a tiled layout to allow multiple components or system modules to be tested simultaneously on the same platform, thereby significantly shortening the test cycle. This batch testing method is particularly suitable for large-scale functional testing needs. It can comprehensively evaluate the performance of multiple components in a short period of time, saving testing resources and time costs. At the same time, the results of batch testing are more consistent and comparable, which helps to discover and solve potential systemic problems, thereby improving the testing quality and efficiency of the entire underwater robot. This design makes the platform highly scalable and adaptable, suitable for a variety of application scenarios.

[0015] In addition to the aforementioned advantages and effects, the physical simulation platform for underwater robot functional testing offers several key advantages: It integrates an advanced data acquisition system to record the performance data of each test unit in real time during testing. This real-time monitoring not only provides a detailed basis for subsequent data analysis but also enables timely identification of issues and adjustments during testing, thereby improving test effectiveness and accuracy. The platform's modular design allows for flexible combination and configuration of test units based on specific needs. This design not only facilitates testers to customize the platform for different testing purposes but also improves its maintainability, facilitating the replacement and upgrade of individual modules, thereby extending the platform's overall service life. By optimizing the testing process and enabling batch testing, the platform significantly reduces manpower requirements. Traditional testing methods typically require multiple testers to collaborate on various tasks. The efficiency of the physical simulation platform allows one or a small number of testers to complete large-scale testing, improving work efficiency and reducing labor costs. Safety was carefully considered in the platform's design, with pressure-resistant materials and protective measures ensuring personnel safety during testing. Furthermore, the use of aluminum alloy masses instead of batteries eliminates potential risks such as battery leakage or explosion, ensuring a safer and more reliable testing process. Because each test unit is independently arranged on the baseboard, testers can easily identify the location of faulty components and quickly perform fault diagnosis. This intuitive layout reduces the complexity of troubleshooting, shortens maintenance time, and improves system availability. The platform's flexibility and efficiency facilitate the development of new technologies and products. R&D teams can quickly verify new design ideas and technical solutions on the platform, accelerating product iteration and optimization processes and enhancing innovation capabilities. These advantages and effects make this physical simulation platform an ideal choice for underwater robot functional testing, significantly improving test efficiency, reducing costs, enhancing safety, and promoting technological advancement and development.

[0016] Therefore, this simulation platform not only improves test efficiency and flexibility, but also enhances overall safety and environmental protection by simplifying components, replacement methods, and optimizing the design of attitude adjustment units. It is suitable for promotion and application in functional testing of various underwater robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural diagram of the utility model;

[0018] Figure 2 This is a structural diagram of the main control module in the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the voltage-stabilized power supply in the utility model;

[0020] Figure 4 It is a structural diagram of the communication module in the utility model;

[0021] Figure 5 It is a structural diagram of the posture adjustment unit in the utility model;

[0022] Figure 6 It is a structural diagram of the buoyancy unit in the utility model;

[0023] Figure 7 This is a schematic structural diagram of the pressure tank in the utility model;

[0024] Figure 8 It is a structural diagram of the lower detection unit in the utility model;

[0025] Figure 9 It is a structural diagram of the water power unit in the utility model;

[0026] Figure 10 It is a structural diagram of the display module in the utility model. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] In order to solve the problems of long test cycles, time-consuming and labor-intensive operations, easy damage to the vehicle structure, and increased costs caused by the need to remove and replace failed components and then retest them during the current underwater vehicle electronic component testing process, the present invention provides a physical simulation platform for underwater robot functional testing. The physical simulation platform for underwater robot functional testing achieves flexible and convenient operation through a tiled layout, supports batch testing, and greatly improves test efficiency. At the same time, it has many advantages such as real-time data acquisition, modular design, reduced labor costs, enhanced safety, and convenient fault diagnosis, which greatly promotes the research and development and application of underwater robot technology. In order to further illustrate the structure of the present invention, the detailed description is as follows in conjunction with the accompanying drawings:

[0029] See also Figure 1 and Figure 2 , a physical simulation platform for underwater robot functional testing, see Figure 1-10 , including a base plate 1, a main control module 2, a voltage-stabilized power supply 3, a communication module 4, a posture adjustment unit 5, a buoyancy unit 6, a fuel tank 7, an underwater detection unit 8, a power unit 9 and a display module 10.

[0030] The base plate forms a platform. In this embodiment, the base plate is provided with N parallel T-slots. The main control module, voltage-regulated power supply, communication module, attitude adjustment unit, buoyancy unit, fuel tank, underwater detection unit, power unit, and display module are mounted to the base plate via bolts that engage the T-slots. Specifically, the base plate comprises a bracket and a platform. The platform is mounted on the bracket and forms a platform. The platform is composed of N parallel aluminum alloy profiles.

[0031] The main control module, the voltage-stabilized power supply, the communication module, the attitude adjustment unit, the buoyancy unit, the fuel tank, the underwater detection unit, the power unit and the display module are fixedly mounted on the base plate in a detachable manner.

[0032] The main control module is used to supply power to each test unit and issue instructions. The main control module is fixed on the base plate through the main control fixing frame 21.

[0033] The voltage-stabilized power supply is connected to the main control module and supplies power to the main control module.

[0034] The communication module is used to send and receive information and is fixed on the base plate via the communication module fixing frame 4-1.

[0035] The posture adjustment unit includes a retaining ring 51, a torsion bar 52, a mass 53, a lead screw 54, a threaded sleeve 55, a yaw drive motor 56, and an axial drive motor 57. The torsion bar is mounted between the two retaining rings and rotates about its own axis. The mass is mounted on the torsion bar to form an axial linear motion pair. The yaw drive motor is connected to the torsion bar and drives its rotation. The axial drive motor drives the mass along the torsion bar through a telescoping assembly consisting of a lead screw and threaded sleeve.

[0036] Specifically, the posture adjustment unit adjusts the posture of the underwater robot by controlling the movement of the mass block in the horizontal and circumferential directions. The posture adjustment unit is fixed to the base plate through the posture adjustment unit fixing frame. The mass block is made of aluminum alloy and is used to simulate a real battery. The axial drive motor drives the lead screw to rotate, and the end of the threaded sleeve is fixed to the torsion bar. The other end of the threaded sleeve is combined with the lead screw through a thread to form a telescopic rod. The overall extension and shortening are achieved by the rotating lead screw, and the rotating lead screw drives the mass block to move in the horizontal direction. The deflection drive motor drives the torsion bar to rotate by driving the gear to rotate, and the torsion bar and the mass block transmit torque on the circumference to achieve the circumferential movement of the mass block. The retaining ring includes a front retaining ring and a rear retaining ring, which are made of aluminum alloy and are used to arrange the circular motion motor and gear.

[0037] The buoyancy unit includes a gear pump 61, a solenoid valve 62, an oil delivery pipe 63, a bladder 64, and a fuel tank. The gear pump, solenoid valve, and oil delivery pipe form an oil delivery assembly connected between the bladder and the fuel tank. The buoyancy unit is a functional unit that adjusts the underwater vehicle's buoyancy by draining and returning oil. The oil delivery assembly is a component assembly used to connect the bladder and the fuel tank, enabling and controlling oil transfer between them. In this embodiment, the oil delivery assembly also includes a plunger pump 65. The gear pump is used to pump hydraulic oil from the fuel tank. The gear pump is secured to the baseplate via a gear pump mounting bracket. The solenoid valve controls the return flow of hydraulic oil from the bladder back into the fuel tank. The solenoid valve is secured to the baseplate via a solenoid valve mounting bracket. The plunger pump pressurizes the hydraulic oil pumped by the gear pump and pumps it into the bladder. The plunger pump is secured to the baseplate via a high-level pump support bracket. The bladder changes its volume by pumping in and out hydraulic oil, thereby varying its buoyancy. The bladder valve block 66 is used to seal the connection between the bladder and the pipeline leading from the plunger pump. The bladder valve block is fixed to the base plate by the valve block clamping seat. The pressure tank 67 is made of high-transparency PMMA material and is used to hold the oil tank and provide a negative pressure environment for the oil tank. The pressure tank fixing bracket is used to support and protect the pressure tank. The oil tank is made of high-transparency PMMA material and is used to hold hydraulic oil. The negative pressure environment required for the buoyancy unit oil return test is provided by a vacuum tank made of high-transparency PMMA material, which is low-cost and highly visible. The specific connection method of the oil transfer assembly is not limited here.

[0038] The underwater detection unit is used to collect underwater information and is fixed on the base plate 2 via an underwater detection unit fixing frame.

[0039] The power unit is used to provide power for the underwater vehicle and is fixed on the base plate 2 through a power unit fixing frame.

[0040] The display module is used to display the voltage and current changes of each unit under test during operation. A box is set outside the display module. The box is made of stainless steel and is used to protect and fix the display module.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A physical simulation platform for underwater robot functional testing, characterized by: It includes a baseboard, a main control module, a voltage-regulated power supply, a communication module, a posture adjustment unit, a buoyancy unit, a fuel tank, an underwater detection unit, a power unit and a display module; the baseboard forms a platform, and the main control module, voltage-regulated power supply, communication module, posture adjustment unit, buoyancy unit, fuel tank, underwater detection unit, power unit and display module are fixedly mounted on the baseboard in a detachable manner.

2. The physical simulation platform for underwater robot function testing according to claim 1, characterized in that: The base plate is provided with N parallel T-shaped slots, and the main control module, voltage-stabilized power supply, communication module, attitude adjustment unit, buoyancy unit, fuel tank, underwater detection unit, power unit and display module are installed on the base plate by bolts combined with the T-shaped slots.

3. The physical simulation platform for underwater robot function testing according to claim 1, characterized in that: The voltage-stabilized power supply is connected to the main control module and supplies power to the main control module.

4. The physical simulation platform for underwater robot function testing according to claim 1, characterized in that: The posture adjustment unit includes a retaining ring, a torsion bar, a mass block, a lead screw, a threaded sleeve, a deflection drive motor, and an axial drive motor; the torsion bar is installed between the two retaining rings, the torsion bar rotates around its own axis, the mass block is installed on the torsion bar and forms an axial linear motion pair, the deflection drive motor is connected to the torsion bar and drives the torsion bar to rotate, and the axial drive motor drives the mass block to move along the torsion bar through a telescopic assembly composed of a lead screw and a threaded sleeve.

5. The physical simulation platform for underwater robot function testing according to claim 1, characterized in that: The buoyancy unit comprises a gear pump, a solenoid valve, an oil delivery pipe, a bladder and an oil tank. The gear pump, the solenoid valve and the oil delivery pipe constitute an oil delivery assembly connected between the bladder and the oil tank.

6. The physical simulation platform for underwater robot function testing according to claim 2, characterized in that: The base plate includes a bracket and a table plate. The table plate is installed on the bracket to form the platform. The table plate is composed of N parallel aluminum alloy profiles.

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