CN106932168A - Walking robot test system and its method of work under water - Google Patents
Walking robot test system and its method of work under water Download PDFInfo
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- CN106932168A CN106932168A CN201710057609.6A CN201710057609A CN106932168A CN 106932168 A CN106932168 A CN 106932168A CN 201710057609 A CN201710057609 A CN 201710057609A CN 106932168 A CN106932168 A CN 106932168A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
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Abstract
The invention discloses a kind of walking robot test system and its method of work under water.The present invention includes that land controls test system in analysis system and water.Land control analysis system is placed in land, is made up of industrial control computer and terrestrial radio communication module.Test system is grouped into including tank, the walking robot under water with attitude and strength of one's legs feedback of the information, ocean current detection part, underwater wireless communication part, floating part and connection cable portion in water.Ocean current detection part is made up of preposition acoustic Doppler fluid velocity profile instrument and rearmounted acoustic Doppler fluid velocity profile instrument.Underwater wireless communication part is made up of three underwater wireless communication modules.Floating part is made up of the first spherical float device, the second spherical float device and the 3rd spherical float device.Connection cable part is made up of the first connection cable, the second connection cable and the 3rd connection cable.Simple structure of the present invention, cheap, easy realization, high precision can repeatedly carry out experiment.
Description
Technical field
The invention belongs to marine technology field, and in particular to a kind of walking robot test system and its work side under water
Method.
Background technology
Closely, ocean is richly stored with renewable resource, biological money ocean and the human relation for taking up an area sphere area 71%
Source and mineral resources, particularly under the present situation that current land resource is rapidly being reduced, the effect of ocean will be particularly important,
Its power that sustainable development can be provided for the mankind, therefore, ocean has turned into the important strategic objective in countries in the world, is also near
The focus of keen competition in the world of a little years.But, the mankind also know little about it to ocean, the groups of people for having 95% in whole ocean
Class is not yet touched, therefore, detection and understanding to ocean are being badly in need of completing of the tasks.
In terms of ocean is recognized, the step of the mankind does not all rest always, in recent decades, the mankind achieve it is plentiful and substantial into
Really, wherein the application of underwater robot explores ocean and serves huge impetus to human knowledge.Underwater robot is substantially
Can be divided into：Underwater manned submersible (HOV) and unmanned robot, most widely used in unmanned robot is unmanned autonomous
Robot (AUV) and Remote robot (ROV).However, AUV and ROV is indifferent for anti-ocean current interference, for having
The application of the environments such as subsea of ocean current, AUV and ROV is limited.Walking robot is supported on seabed and advances by a plurality of leg under water, and it can
To resist the interference of ocean current, walking robot has good adaptability to ocean current under water, and it is particularly well-suited to AUV and ROV institutes
The environments such as subsea with ocean current that can not effectively play a role.
Closed, it is necessary to continuously study its interaction between ocean current in walking robot development process under water
System, according to the hydrodynamic analysis of walking robot under water, is finally given optimal in terms of anti-current by methods such as structure optimizations
Or preferably contour structures.Generally sea examination process is complex and high cost, applies in general to examine more ripe oceanographic equipment
Checking, is not particularly suited for the studies above, and directly determines robot for the research of walking robot hydrodynamic characterisitic under water
In the ability to work of ocean current environment, therefore in the urgent need to setting up a kind of test of walking robot under water system in laboratory environment
System, to complete the research repeatedly to walking robot hydrodynamic characterisitic under water, to improve walking robot under water to greatest extent
Anti-current ability, so that for the ripe sea of faces of walking robot under water experiment card establishes solid foundation.
The content of the invention
It is an object of the invention to provide a kind of test system of walking robot under water for overcoming problem above and its work
Method, the present invention can in the lab simulate the Hydrodynamic Characteristic Analysis that ocean current environment completes walking robot under water.
The technical solution adopted for the present invention to solve the technical problems is as follows：
Walking robot test system, is made up of test system in land control analysis system and water under water.
Land control analysis system is placed in land, is made up of industrial control computer and terrestrial radio communication module.Land
Ground control analysis system industrial control computer mainly completes to be carried out to the control of test system in water and for its feedback information
Analyzing and processing；Terrestrial radio communication module is connected with industrial control computer, for being communicated with test system in water.
Test system includes tank, the walking robot under water with attitude and strength of one's legs feedback of the information, ocean current detection in water
Partly, underwater wireless communication part, floating part and connection cable part.Ocean current detection part is by preposition acoustic Doppler flow velocity
Section plotter and rearmounted acoustic Doppler fluid velocity profile instrument are constituted.Underwater wireless communication part by the first underwater wireless communication module,
Second underwater wireless communication module and the 3rd underwater wireless communication module are constituted.Floating part is by the first spherical float device,
Two spherical float devices and the 3rd spherical float device are constituted.Connection cable part is by the first connection cable, the second connection cable
Constituted with the 3rd connection cable.Preposition acoustic Doppler fluid velocity profile instrument is placed respectively along water (flow) direction in bottom of gullet, is had
The walking robot under water and rearmounted acoustic Doppler fluid velocity profile instrument of attitude and strength of one's legs feedback of the information；First spherical float is filled
Put, the second spherical float device and the 3rd spherical float device are put in tank and swim on the water surface of tank successively；First
It is spherical that underwater wireless communication module, the second underwater wireless communication module and the 3rd underwater wireless communication module are separately mounted to first
On flotation gear, the second spherical float device and the 3rd spherical float device；One end of first connection cable is more with preposition acoustics
General Le fluid velocity profile instrument connection, the other end is connected through the first spherical float device with the first underwater wireless communication module；Second
One end of connection cable is connected with rearmounted acoustic Doppler fluid velocity profile instrument, and the other end passes through the second spherical float device and second
Underwater wireless communication module is connected；One end of 3rd connection cable and the walking robot under water with attitude and strength of one's legs feedback of the information
People connects, and the other end is connected through the 3rd spherical float device with the 3rd underwater wireless communication module；First underwater wireless is communicated
Module, the second underwater wireless communication module and the 3rd underwater wireless communication module pass through wireless signal and terrestrial radio communication module
Communicated.
The method of work of walking robot test system is as follows under water：
The method of work of walking robot test system is divided into two kinds under water, and one kind is the quiet vertical hydrodynamic(al) of walking robot under water
Power is measured, and another kind is the hydrodynamic measurement of walking robot walking under water.
The quiet vertical hydrodynamic measurement process of walking robot is under water：After measurement starts, first, in industrial control computer
Set the quiet vertical parameter (including robot course angle, roll angle, the angle of pitch and robot) and water of walking robot under water
The water flow parameter of groove, industrial control computer is based on setup parameter and generates walking robot control instruction under water；Then, land
Upper wireless communication module is communicated wirelessly with the 3rd underwater wireless communication module, is passed control signal by the 3rd connection cable
Walking robot under water is passed, so as to control walking robot under water to keep the quiet vertical state of setting；In test process, preposition sound
Learn the ocean current data measured by Doppler's flow velocity section plotter and the first underwater wireless communication module passed to by the first connection cable,
Ocean current data measured by rearmounted acoustic Doppler fluid velocity profile instrument pass to the second underwater wireless and lead to by the second connection cable
News module, walking robot strength of one's legs and attitude data pass to the 3rd underwater wireless and communicate mould by the 3rd connection cable under water
Block, the first underwater wireless communication module, the second underwater wireless communication module and the 3rd underwater wireless communication module pass through nothing respectively
Line communication modes pass data to terrestrial radio communication module, so as to pass to industrial control computer；Industry Control is calculated
Machine obtains walking robot hydrodynamic characterisitic under water according to feedback data analysis, so far the once quiet vertical hydrodynamic(al) of walking robot under water
Power measurement process is completed, if retest then restarts constantly to circulate whole process.
Walking robot walking hydrodynamic measurement process is under water：After measurement starts, first, in industrial control computer
Walking parameter (including robot course angle, roll angle, the angle of pitch, robot ambulation speed, machine of setting walking robot under water
Device people is highly) and tank water flow parameter, industrial control computer be based on setup parameter generate walking robot control under water
System instruction；Then, terrestrial radio communication module is communicated wirelessly with the 3rd underwater wireless communication module, by the 3rd connection electricity
Control signal is passed to walking robot under water by cable, so as to control walking robot under water to keep the walking states of setting；Survey
During examination, the ocean current data measured by preposition acoustic Doppler fluid velocity profile instrument pass to the first water by the first connection cable
Lower wireless communication module, the ocean current data measured by rearmounted acoustic Doppler fluid velocity profile instrument are passed to by the second connection cable
Second underwater wireless communication module, walking robot human leg-driven and attitude data pass to the 3rd by the 3rd connection cable under water
Underwater wireless communication module, the communication of the first underwater wireless communication module, the second underwater wireless communication module and the 3rd underwater wireless
Module passes data to terrestrial radio communication module by wireless communication mode respectively, is calculated so as to pass to Industry Control
Machine；Industrial control computer obtains walking robot hydrodynamic characterisitic under water according to feedback data analysis, so far once walks under water
Row robot ambulation hydrodynamic measurement process is completed, if retest then needs first to control walking robot under water to return to initial bit
Put, then restart to circulate whole process again.
The beneficial effect that the present invention can reach：
(1) it is to be capable of achieving the implementing hydrodynamic analysis to walking robot under water in laboratory environment, system architecture is simple, price
Cheap, easy realization, high precision can repeatedly carry out experiment；
(2) measurement of the system using two methods realization to walking robot hydrodynamic characterisitic under water, one kind is using preposition
Water flow field information that acoustic Doppler fluid velocity profile instrument and rearmounted acoustic Doppler fluid velocity profile instrument are collected, analysis are walked under water
Row robot water dynamic characteristics, another kind is completed to walking robot under water using the strength of one's legs information of the feedback of walking robot under water
The measurement of hydrodynamic characterisitic, by the contrast verification and data fusion of both approaches, can effectively improve walking robot under water
The certainty of measurement of people's hydrodynamic characterisitic；
(3) using the way of realization that test system in land control analysis system and water is separate, analysis system and water are controlled
The transmission of measurement data and control signal is realized between middle test system using wireless communication mode, system is reduce further
Complexity, so as to improve the reliability of system；
(4) test system of the invention can not only complete the hydrodynamic characterisitic point of the quiet vertical state of walking robot under water
Analysis, can also complete the hydrodynamic measurement in walking robot walking process under water, so that systemic-function more horn of plenty, practical
Property is stronger.
Brief description of the drawings
Fig. 1 test system schematic diagrames of walking robot under water of the invention；
Fig. 2 flow charts of the test system of walking robot under water method of work 1 of the invention；
Fig. 3 flow charts of the test system of walking robot under water method of work 2 of the invention.
In figure：101. industrial control computers, 201. terrestrial radio communication modules, 301. tanks, 401. have attitude and
The walking robot under water of strength of one's legs feedback of the information, 501. preposition acoustic Doppler fluid velocity profile instrument, 502. rearmounted acoustic Dopplers
Fluid velocity profile instrument, 601. first underwater wireless communication modules, 602. second underwater wireless communication modules, 603. the 3rd underwater wireless
Communication module, 701. first spherical float devices, 702. second spherical float devices, 703. the 3rd spherical float devices, 801.
First connection cable, 802. second connection cables, 803. the 3rd connection cables
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, walking robot test system under water, test system group in analysis system and water is controlled by land
Into.
Land control analysis system is placed in land, by 201 groups of industrial control computer 101 and terrestrial radio communication module
Into.The industrial control computer 101 of land control analysis system is mainly used in completion to the control of test system in water and is directed to
Its feedback information is analyzed treatment；Terrestrial radio communication module 201 is connected with industrial control computer 101, for water in
Test system is communicated.
Test system includes tank 301, the walking robot under water 401 with attitude and strength of one's legs feedback of the information, sea in water
Stream detection part, underwater wireless communication part, floating part and connection cable part.How general ocean current detection part is by preposition acoustics
Strangle fluid velocity profile instrument 501 and rearmounted acoustic Doppler fluid velocity profile instrument 502 is constituted.Underwater wireless communication part by first under water without
Line communication module 601, the second underwater wireless communication module 602 and the 3rd underwater wireless communication module 603 are constituted.Floating part by
First spherical float device 701, the second spherical float device 702 and the 3rd spherical float device 703 are constituted.Connection cable part
It is made up of the first connection cable 801, the second connection cable 802 and the 3rd connection cable 803.In the bottom of tank 301 along current side
To being sequentially placed preposition acoustic Doppler fluid velocity profile instrument 501, the walking robot under water with attitude and strength of one's legs feedback of the information
401 and rearmounted acoustic Doppler fluid velocity profile instrument 502；First spherical float device 701, the second spherical float device 702 and
Three spherical float devices 703 are put in tank 301 and swim on the water surface of tank 301 successively；First underwater wireless communicates mould
Block 601, the second underwater wireless communication module 602 and the 3rd underwater wireless communication module 603 are separately mounted to the first spherical float
On device 701, the second spherical float device 702 and the 3rd spherical float device 703；One end of first connection cable 801 with it is preceding
Put acoustic Doppler fluid velocity profile instrument 501 to connect, the other end is communicated through the first spherical float device 701 and the first underwater wireless
Module 601 is connected；One end of second connection cable 802 is connected with rearmounted acoustic Doppler fluid velocity profile instrument 502, and the other end is passed through
Second spherical float device 702 is connected with the second underwater wireless communication module 602；One end of 3rd connection cable 803 with have
The walking robot under water 401 of attitude and strength of one's legs feedback of the information is connected, and the other end passes through the 3rd spherical float device 703 and the 3rd
Underwater wireless communication module 603 is connected；First underwater wireless communication module 601, the second underwater wireless communication module 602 and the 3rd
Underwater wireless communication module 603 is communicated by wireless signal with terrestrial radio communication module 201.
The method of work of walking robot test system is as follows under water：
The method of work of walking robot test system is divided into two kinds under water, and one kind is the quiet vertical hydrodynamic(al) of walking robot under water
Power is measured, and another kind is the hydrodynamic measurement of walking robot walking under water.
The quiet vertical hydrodynamic measurement process of walking robot is under water：As shown in Fig. 2 after measurement starts, first, being controlled in industry
Set in computer processed 101 walking robot 401 under water quiet vertical parameter (including robot course angle, roll angle, the angle of pitch and
Robot) and tank 301 water flow parameter, industrial control computer 101 be based on setup parameter generate walking under water
Robot control instruction；Then, terrestrial radio communication module 201 is communicated wirelessly with the 3rd underwater wireless communication module 603,
Control signal is passed to by walking robot 401 under water by the 3rd connection cable 803, so as to control walking robot under water
The 401 quiet vertical states for keeping setting；In test process, the ocean current data measured by preposition acoustic Doppler fluid velocity profile instrument 501
First underwater wireless communication module 601, rearmounted acoustic Doppler fluid velocity profile instrument 502 are passed to by the first connection cable 801
Measured ocean current data pass to the second underwater wireless communication module 602 by the second connection cable 802, under water walking robot
The strength of one's legs and attitude data of people 401 pass to the 3rd underwater wireless communication module 603, the first water by the 3rd connection cable 803
Lower wireless communication module 601, the second underwater wireless communication module 602 and the 3rd underwater wireless communication module 603 pass through nothing respectively
Line communication modes pass data to terrestrial radio communication module 201, so as to pass to industrial control computer 101；Industry control
Computer processed 101 obtains walking robot hydrodynamic characterisitic under water according to feedback data analysis, so far once walking robot under water
The quiet vertical hydrodynamic measurement process of people is completed, if retest then restarts constantly to circulate whole process.
Walking robot walking hydrodynamic measurement process is under water：As shown in figure 3, after measurement starts, first, being controlled in industry
Set in computer processed 101 walking robot 401 under water walking parameter (including robot course angle, roll angle, the angle of pitch,
Robot ambulation speed, robot) and tank 301 water flow parameter, industrial control computer 101 be based on setting join
Number generates walking robot control instruction under water；Then, the underwater wireless communication module of terrestrial radio communication module 201 and the 3rd
603 are communicated wirelessly, and control signal is passed into walking robot 401 under water by the 3rd connection cable 803, so as to control
Walking robot 401 keeps the walking states of setting under water；In test process, the preposition institute of acoustic Doppler fluid velocity profile instrument 501
The ocean current data for measuring transmit 801 to the first underwater wireless communication module 601, rearmounted acoustic Doppler by the first connection cable
Ocean current data measured by fluid velocity profile instrument 502 pass to the second underwater wireless communication module by the second connection cable 802
602, under water the strength of one's legs and attitude data of walking robot 401 by the 3rd connection cable 803 pass to the 3rd underwater wireless lead to
News module 603, the first underwater wireless communication module 601, the second underwater wireless communication module 602 and the 3rd underwater wireless communication mould
Block 603 passes data to terrestrial radio communication module 201 by wireless communication mode respectively, so as to pass to Industry Control meter
Calculation machine 101；Industrial control computer 101 obtains walking robot hydrodynamic characterisitic under water according to feedback data analysis, and so far one
The secondary walking hydrodynamic measurement of walking robot under water process is completed, if retest then needs first to control walking robot under water to return
To initial position, then restart to circulate whole process again.
Claims (3)
1. test system in walking robot test system under water, including land control analysis system and water；Wherein, land control
Analysis system is placed in land, is made up of industrial control computer and terrestrial radio communication module；Test system includes water in water
Groove, the walking robot under water with attitude and strength of one's legs feedback of the information, ocean current detection part, underwater wireless communication part, floating
Part and connection cable portion are grouped into；It is characterized in that：
Ocean current detection part is made up of preposition acoustic Doppler fluid velocity profile instrument and rearmounted acoustic Doppler fluid velocity profile instrument；Under water
Communicating portion is by the first underwater wireless communication module, the second underwater wireless communication module and the 3rd underwater wireless communication module
Composition；Floating part is made up of the first spherical float device, the second spherical float device and the 3rd spherical float device；Connection electricity
Cable part is made up of the first connection cable, the second connection cable and the 3rd connection cable；Distinguish along water (flow) direction in bottom of gullet
Place preposition acoustic Doppler fluid velocity profile instrument, walking robot under water and rearmounted acoustics with attitude and strength of one's legs feedback of the information
Doppler's flow velocity section plotter；First spherical float device, the second spherical float device and the 3rd spherical float device are put in successively
In tank and swim on the water surface of tank；First underwater wireless communication module, the second underwater wireless communication module and the 3rd water
Lower wireless communication module is separately mounted to the first spherical float device, the second spherical float device and the 3rd spherical float device
On；One end of first connection cable is connected with preposition acoustic Doppler fluid velocity profile instrument, and the other end is filled through the first spherical float
Put and be connected with the first underwater wireless communication module；One end of second connection cable connects with rearmounted acoustic Doppler fluid velocity profile instrument
Connect, the other end is connected through the second spherical float device with the second underwater wireless communication module；One end of 3rd connection cable with
The connection of walking robot under water with attitude and strength of one's legs feedback of the information, the other end passes through the 3rd spherical float device and the 3rd water
Lower wireless communication module connection；First underwater wireless communication module, the second underwater wireless communication module and the 3rd underwater wireless lead to
News module is communicated by wireless signal with terrestrial radio communication module.
2. the method for work of the test system of walking robot under water according to claim 1, it is characterised in that the test system
The method of work of system includes two kinds：One kind is the quiet vertical hydrodynamic measurement of walking robot under water, and another kind is walking robot under water
People's walking hydrodynamic measurement；It is characterized in that the quiet vertical hydrodynamic measurement process of walking robot is under water：
After measurement starts, first, the quiet vertical parameter and the water of tank of walking robot under water are set in industrial control computer
Stream flow parameter, described quiet vertical parameter includes robot course angle, roll angle, the angle of pitch and robot；Industry Control
Computer is based on setup parameter and generates walking robot control instruction under water；Then, terrestrial radio communication module and the 3rd is under water
Wireless communication module is communicated wirelessly, and control signal is passed into walking robot under water by the 3rd connection cable, so that
Walking robot keeps the quiet vertical state for setting under water for control；In test process, preposition acoustic Doppler fluid velocity profile instrument is surveyed
The ocean current data for obtaining pass to the first underwater wireless communication module, rearmounted acoustic Doppler fluid velocity profile by the first connection cable
Ocean current data measured by instrument pass to the second underwater wireless communication module by the second connection cable, under water walking robot pin
Power and attitude data pass to the 3rd underwater wireless communication module by the 3rd connection cable, the first underwater wireless communication module,
Second underwater wireless communication module and the 3rd underwater wireless communication module pass data to land by wireless communication mode respectively
Upper wireless communication module, so as to pass to industrial control computer；Industrial control computer obtains water according to feedback data analysis
Lower walking robot hydrodynamic characterisitic, so far once the quiet vertical hydrodynamic measurement process of walking robot is completed under water, if repeating
Test then restarts constantly to circulate whole process.
3. the method for work of the test system of walking robot under water according to claim 2, it is characterised in that walking under water
Robot ambulation hydrodynamic measurement process is：
After measurement starts, first, the quiet vertical parameter and the water of tank of walking robot under water are set in industrial control computer
Stream flow parameter, described quiet vertical parameter includes robot course angle, roll angle, the angle of pitch and robot；Industry Control
Computer is based on setup parameter and generates walking robot control instruction under water；Then, terrestrial radio communication module and the 3rd is under water
Wireless communication module is communicated wirelessly, and control signal is passed into walking robot under water by the 3rd connection cable, so that
Walking robot keeps the walking states for setting under water for control；In test process, preposition acoustic Doppler fluid velocity profile instrument is surveyed
The ocean current data for obtaining pass to the first underwater wireless communication module, rearmounted acoustic Doppler fluid velocity profile by the first connection cable
Ocean current data measured by instrument pass to the second underwater wireless communication module by the second connection cable, under water walking robot
Strength of one's legs and attitude data pass to the 3rd underwater wireless communication module, the first underwater wireless communication mould by the 3rd connection cable
Block, the second underwater wireless communication module and the 3rd underwater wireless communication module are passed data to by wireless communication mode respectively
Terrestrial radio communication module, so as to pass to industrial control computer；Industrial control computer is obtained according to feedback data analysis
Walking robot hydrodynamic characterisitic under water, so far once walking robot walking hydrodynamic measurement process is completed under water, if weight
Repetition measurement examination then needs first to control walking robot under water to return to initial position, then restarts to circulate whole process again.
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| CN115542779A (en) * | 2022-12-01 | 2022-12-30 | 深之蓝海洋科技股份有限公司 | Method and device for testing anti-flow performance of underwater robot based on simulation platform |
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| CN115542779B (en) * | 2022-12-01 | 2023-06-20 | 深之蓝海洋科技股份有限公司 | Method and device for testing anti-current performance of underwater robot based on simulation platform |
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