CN106932168B - Underwater walking robot test system and working method thereof - Google Patents
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Abstract
The invention discloses an underwater walking robot testing system and a working method thereof. The invention comprises a land control analysis system and an underwater test system. The land control analysis system is arranged on land and consists of an industrial control computer and a land wireless communication module. The underwater test system comprises a water tank, an underwater walking robot with posture and foot force information feedback, an ocean current detection part, an underwater wireless communication part, a floating part and a connecting cable part. The ocean current detection part consists of a front acoustic Doppler current profiler and a rear acoustic Doppler current profiler. The underwater wireless communication part consists of three underwater wireless communication modules. The floating part consists of a first spherical floating device, a second spherical floating device and a third spherical floating device. The connection cable part is composed of a first connection cable, a second connection cable and a third connection cable. The invention has simple structure, low price, easy realization and high precision, and can repeatedly carry out tests.
Description
Technical Field
The invention belongs to the technical field of oceans, and particularly relates to an underwater walking robot testing system and a working method thereof.
Background
The sea occupying 71 percent of the spherical area is closely related to human beings, the sea contains abundant renewable resources, biological resources and mineral resources, particularly under the current situation that land resources are rapidly reduced at present, the function of the sea is particularly important, and the sea can provide sustainable development power for the human beings, so the sea becomes an important strategic target of all countries in the world and is also the focus of intense international competition in recent years. However, the sea is still poorly understood by humans, and 95% of the entire sea is not yet touched by humans, and thus, the detection and understanding of the sea is an urgent task.
In the aspect of understanding the ocean, the steps of the human are not stopped all the time, and in recent decades, the human obtains great results, wherein the application of the underwater robot plays a great role in promoting the human understanding and exploring the ocean. Underwater robots can be broadly classified into: underwater manned submersible (HOV) and unmanned aerial vehicle (drone), the most widely used of which are unmanned autonomous robot (AUV) and remote-controlled Robot (ROV). However, AUVs and ROVs are not strong against ocean current disturbances and their use is limited for subsea environments with ocean currents. The underwater walking robot is supported by a plurality of legs to advance on the seabed, can resist the interference of ocean currents, has good adaptability to the ocean currents, and is particularly suitable for the seabed environment with the ocean currents, in which AUV and ROV cannot effectively play a role.
In the development process of the underwater walking robot, the interaction relation between the underwater walking robot and ocean currents needs to be repeatedly and continuously researched, and according to the analysis of the hydrodynamic force of the underwater walking robot, the optimal or better appearance structure in the anti-current aspect is finally obtained through methods such as structure optimization and the like. Generally, the sea test process is complex and high in cost, and is generally suitable for inspection and verification of mature marine equipment, but not suitable for the above research, and the research on the hydrodynamic characteristics of the underwater walking robot directly determines the working capacity of the robot in the ocean current environment, so that an underwater walking robot test system is urgently needed to be established in a laboratory environment to complete repeated research on the hydrodynamic characteristics of the underwater walking robot, so that the flow resistance of the underwater walking robot is improved to the maximum extent, and a solid foundation is laid for sea test verification of the mature underwater walking robot.
Disclosure of Invention
The invention aims to provide a test system of an underwater walking robot and a working method thereof, which can overcome the problems and can simulate the ocean current environment in a laboratory to complete the hydrodynamic characteristic analysis of the underwater walking robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the underwater walking robot testing system consists of a land control analysis system and an underwater testing system.
The land control analysis system is arranged on land and consists of an industrial control computer and a land wireless communication module. The land control analysis system industrial control computer mainly completes the control of the underwater test system and the analysis and processing of the feedback information of the underwater test system; the land wireless communication module is connected with the industrial control computer and is used for communicating with the underwater test system.
The underwater test system comprises a water tank, an underwater walking robot with posture and foot force information feedback, an ocean current detection part, an underwater wireless communication part, a floating part and a connecting cable part. The ocean current detection part consists of a front acoustic Doppler current profiler and a rear acoustic Doppler current profiler. The underwater wireless communication part consists of a first underwater wireless communication module, a second underwater wireless communication module and a third underwater wireless communication module. The floating part consists of a first spherical floating device, a second spherical floating device and a third spherical floating device. The connection cable part is composed of a first connection cable, a second connection cable and a third connection cable. Respectively placing a front acoustic Doppler current profiler, an underwater walking robot with posture and foot force information feedback and a rear acoustic Doppler current profiler at the bottom of the water tank along the water flow direction; the first spherical floating device, the second spherical floating device and the third spherical floating device are sequentially placed in the water tank and float on the water surface of the water tank; the first underwater wireless communication module, the second underwater wireless communication module and the third underwater wireless communication module are respectively arranged on the first spherical floating device, the second spherical floating device and the third spherical floating device; one end of a first connecting cable is connected with the front acoustic Doppler current profiler, and the other end of the first connecting cable passes through the first spherical floating device and is connected with the first underwater wireless communication module; one end of a second connecting cable is connected with the rear acoustic Doppler current profiler, and the other end of the second connecting cable passes through a second spherical floating device and is connected with a second underwater wireless communication module; one end of a third connecting cable is connected with the underwater walking robot with posture and foot force information feedback, and the other end of the third connecting cable penetrates through a third spherical floating device to be connected with a third underwater wireless communication module; the first underwater wireless communication module, the second underwater wireless communication module and the third underwater wireless communication module are communicated with the land wireless communication module through wireless signals.
The working method of the underwater walking robot testing system comprises the following steps:
the working method of the underwater walking robot testing system is divided into two types, one is static and vertical water power measurement of the underwater walking robot, and the other is walking water power measurement of the underwater walking robot.
The static and vertical water power measurement process of the underwater walking robot comprises the following steps: after the measurement is started, firstly, setting static parameters (including a robot course angle, a roll angle, a pitch angle and a robot height) of the underwater walking robot and water flow parameters of a water tank in an industrial control computer, and generating a control instruction of the underwater walking robot by the industrial control computer based on the set parameters; then, the land wireless communication module and the third underwater wireless communication module carry out wireless communication, and a control signal is transmitted to the underwater walking robot through a third connecting cable, so that the underwater walking robot is controlled to keep a set standing state; in the test process, ocean current data measured by a front acoustic Doppler current profiler is transmitted to a first underwater wireless communication module through a first connecting cable, ocean current data measured by a rear acoustic Doppler current profiler is transmitted to a second underwater wireless communication module through a second connecting cable, foot power and attitude data of the underwater walking robot are transmitted to a third underwater wireless communication module through a third connecting cable, and the first underwater wireless communication module, the second underwater wireless communication module and the third underwater wireless communication module transmit the data to a land wireless communication module in a wireless communication mode respectively so as to transmit the data to an industrial control computer; and the industrial control computer analyzes the feedback data to obtain the hydrodynamic characteristics of the underwater walking robot, and the measurement process of the static and vertical hydrodynamic of the underwater walking robot is completed at the moment, if the test is repeated, the whole process is started to be circulated continuously.
The underwater walking robot walking water power measuring process comprises the following steps: after the measurement is started, firstly, the walking parameters (including the course angle, the roll angle and the pitch angle of the robot, the walking speed of the robot and the height of the robot) of the underwater walking robot and the water flow parameters of the water tank are set in an industrial control computer, and the industrial control computer generates a control instruction of the underwater walking robot based on the set parameters; then, the land wireless communication module and the third underwater wireless communication module carry out wireless communication, and a control signal is transmitted to the underwater walking robot through a third connecting cable, so that the underwater walking robot is controlled to keep a set walking state; in the test process, ocean current data measured by a front acoustic Doppler current profiler is transmitted to a first underwater wireless communication module through a first connecting cable, ocean current data measured by a rear acoustic Doppler current profiler is transmitted to a second underwater wireless communication module through a second connecting cable, foot force and attitude data of the underwater walking robot are transmitted to a third underwater wireless communication module through a third connecting cable, and the first underwater wireless communication module, the second underwater wireless communication module and the third underwater wireless communication module transmit the data to a land wireless communication module in a wireless communication mode respectively so as to transmit the data to an industrial control computer; and the industrial control computer analyzes the feedback data to obtain the hydrodynamic characteristics of the underwater walking robot, so that the hydrodynamic measurement process of the underwater walking robot is completed once, if the test is repeated, the underwater walking robot is controlled to return to the initial position, and then the whole process is started to circulate again.
The invention can achieve the following beneficial effects:
(1) the hydrodynamic analysis of the underwater walking robot can be realized in a laboratory environment, the system has simple structure, low price, easy realization and high precision, and the test can be repeatedly carried out;
(2) the system adopts two methods to realize the measurement of the hydrodynamic characteristics of the underwater walking robot, one method adopts the water flow field information collected by the front acoustic Doppler current profiler and the rear acoustic Doppler current profiler to analyze the hydrodynamic characteristics of the underwater walking robot, and the other method adopts the foot force information fed back by the underwater walking robot to finish the measurement of the hydrodynamic characteristics of the underwater walking robot;
(3) the method adopts a separate implementation form of a land control analysis system and an underwater test system, and adopts a wireless communication mode between the control analysis system and the underwater test system to realize the transmission of measurement data and control signals, thereby further reducing the complexity of the system and improving the reliability of the system;
(4) the test system of the invention not only can complete the hydrodynamic characteristic analysis of the standing state of the underwater walking robot, but also can complete the hydrodynamic measurement in the walking process of the underwater walking robot, thereby ensuring that the system has more abundant functions and stronger practicability.
Drawings
FIG. 1 is a schematic view of an underwater walking robot testing system of the present invention;
FIG. 2 is a flow chart of a working method 1 of the underwater walking robot testing system of the present invention;
FIG. 3 is a flow chart of a working method 2 of the underwater walking robot testing system of the present invention.
In the figure: 101. an industrial control computer, 201, a land wireless communication module, 301, a water tank, 401, an underwater walking robot with attitude and foot force information feedback, 501, a front acoustic Doppler current profiler, 502, a rear acoustic Doppler current profiler, 601, a first underwater wireless communication module, 602, a second underwater wireless communication module, 603, a third underwater wireless communication module, 701, a first spherical floating device, 702, a second spherical floating device, 703, a third spherical floating device, 801, a first connecting cable, 802, a second connecting cable, 803, and a third connecting cable
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in FIG. 1, the underwater walking robot testing system is composed of a land control analysis system and an underwater testing system.
The land control analysis system is arranged on land and consists of an industrial control computer 101 and a land wireless communication module 201. The industrial control computer 101 of the land control analysis system is mainly used for controlling the underwater test system and analyzing and processing feedback information of the underwater test system; the land wireless communication module 201 is connected with the industrial control computer 101 and is used for communicating with the underwater test system.
The underwater test system comprises a water tank 301, an underwater walking robot 401 with attitude and foot force information feedback, an ocean current detection part, an underwater wireless communication part, a floating part and a connecting cable part. The ocean current detection part consists of a front acoustic Doppler current profiler 501 and a rear acoustic Doppler current profiler 502. The underwater wireless communication part consists of a first underwater wireless communication module 601, a second underwater wireless communication module 602 and a third underwater wireless communication module 603. The floating portion is composed of a first spherical floating device 701, a second spherical floating device 702, and a third spherical floating device 703. The connection cable section is composed of a first connection cable 801, a second connection cable 802, and a third connection cable 803. A front acoustic Doppler current profiler 501, an underwater walking robot 401 with posture and foot force information feedback and a rear acoustic Doppler current profiler 502 are sequentially arranged at the bottom of the water tank 301 along the water flow direction; the first spherical floating device 701, the second spherical floating device 702 and the third spherical floating device 703 are sequentially placed in the water tank 301 and float on the water surface of the water tank 301; the first underwater wireless communication module 601, the second underwater wireless communication module 602 and the third underwater wireless communication module 603 are respectively installed on the first spherical floating device 701, the second spherical floating device 702 and the third spherical floating device 703; one end of a first connecting cable 801 is connected with the front acoustic Doppler flow profiler 501, and the other end of the first connecting cable passes through the first spherical floatation device 701 and is connected with the first underwater wireless communication module 601; one end of a second connecting cable 802 is connected with the rear acoustic Doppler flow profiler 502, and the other end of the second connecting cable passes through a second spherical floatation device 702 and is connected with a second underwater wireless communication module 602; one end of a third connecting cable 803 is connected with the underwater walking robot 401 with posture and foot force information feedback, and the other end of the third connecting cable passes through a third spherical floating device 703 to be connected with a third underwater wireless communication module 603; the first underwater wireless communication module 601, the second underwater wireless communication module 602 and the third underwater wireless communication module 603 communicate with the land wireless communication module 201 through wireless signals.
The working method of the underwater walking robot testing system comprises the following steps:
the working method of the underwater walking robot testing system is divided into two types, one is static and vertical water power measurement of the underwater walking robot, and the other is walking water power measurement of the underwater walking robot.
The static and vertical water power measurement process of the underwater walking robot comprises the following steps: as shown in fig. 2, after the start of the measurement, first, the standing parameters (including the robot heading angle, roll angle, pitch angle, and robot height) of the underwater walking robot 401 and the water flow rate parameter of the water tank 301 are set in the industrial control computer 101, and the industrial control computer 101 generates an underwater walking robot control command based on the set parameters; then, the wireless communication module 201 wirelessly communicates with the third underwater wireless communication module 603, and transmits a control signal to the underwater walking robot 401 through the third connection cable 803, thereby controlling the underwater walking robot 401 to maintain a set standing state; during the test, the ocean current data measured by the front acoustic Doppler current profiler 501 is transmitted to the first underwater wireless communication module 601 through the first connecting cable 801, the ocean current data measured by the rear acoustic Doppler current profiler 502 is transmitted to the second underwater wireless communication module 602 through the second connecting cable 802, the foot strength and attitude data of the underwater walking robot 401 are transmitted to the third underwater wireless communication module 603 through the third connecting cable 803, and the first underwater wireless communication module 601, the second underwater wireless communication module 602 and the third underwater wireless communication module 603 respectively transmit the data to the land wireless communication module 201 in a wireless communication mode, so as to transmit the data to the industrial control computer 101; the industrial control computer 101 analyzes the feedback data to obtain hydrodynamic characteristics of the underwater walking robot, and the measurement process of the static and vertical hydrodynamic of the underwater walking robot is completed at this time, and if the test is repeated, the whole process is started to be circulated again.
The underwater walking robot walking water power measuring process comprises the following steps: as shown in fig. 3, after the start of the measurement, first, the walking parameters (including the robot heading angle, roll angle, pitch angle, robot walking speed, and robot height) of the underwater walking robot 401 and the water flow rate parameter of the water tank 301 are set in the industrial control computer 101, and the industrial control computer 101 generates an underwater walking robot control command based on the set parameters; then, the terrestrial wireless communication module 201 wirelessly communicates with the third underwater wireless communication module 603, and transmits a control signal to the underwater walking robot 401 through the third connection cable 803, thereby controlling the underwater walking robot 401 to maintain a set walking state; during the test, the ocean current data measured by the front acoustic Doppler current profiler 501 is transmitted 801 to the first underwater wireless communication module 601 through the first connecting cable, the ocean current data measured by the rear acoustic Doppler current profiler 502 is transmitted to the second underwater wireless communication module 602 through the second connecting cable 802, the foot strength and posture data of the underwater walking robot 401 are transmitted to the third underwater wireless communication module 603 through the third connecting cable 803, and the first underwater wireless communication module 601, the second underwater wireless communication module 602 and the third underwater wireless communication module 603 respectively transmit the data to the land wireless communication module 201 in a wireless communication mode, so that the data are transmitted to the industrial control computer 101; the industrial control computer 101 analyzes the feedback data to obtain hydrodynamic characteristics of the underwater walking robot, and the process of measuring the hydrodynamic characteristics of the underwater walking robot is completed once, for example, if the test is repeated, the underwater walking robot needs to be controlled to return to the initial position, and then the whole process is started again.
Claims (1)
1. The underwater walking robot test system comprises a land control analysis system and an underwater test system; wherein, the land control analysis system is arranged on land and consists of an industrial control computer and a land wireless communication module; the underwater test system comprises a water tank, an underwater walking robot with posture and foot force information feedback, an ocean current detection part, an underwater wireless communication part, a floating part and a connecting cable part; the method is characterized in that:
the ocean current detection part consists of a front acoustic Doppler current profiler and a rear acoustic Doppler current profiler; the underwater wireless communication part consists of a first underwater wireless communication module, a second underwater wireless communication module and a third underwater wireless communication module; the floating part consists of a first spherical floating device, a second spherical floating device and a third spherical floating device; the connecting cable part consists of a first connecting cable, a second connecting cable and a third connecting cable; respectively placing a front acoustic Doppler current profiler, an underwater walking robot with posture and foot force information feedback and a rear acoustic Doppler current profiler at the bottom of the water tank along the water flow direction; the first spherical floating device, the second spherical floating device and the third spherical floating device are sequentially placed in the water tank and float on the water surface of the water tank; the first underwater wireless communication module, the second underwater wireless communication module and the third underwater wireless communication module are respectively arranged on the first spherical floating device, the second spherical floating device and the third spherical floating device; one end of a first connecting cable is connected with the front acoustic Doppler current profiler, and the other end of the first connecting cable passes through the first spherical floating device and is connected with the first underwater wireless communication module; one end of a second connecting cable is connected with the rear acoustic Doppler current profiler, and the other end of the second connecting cable passes through a second spherical floating device and is connected with a second underwater wireless communication module; one end of a third connecting cable is connected with the underwater walking robot with posture and foot force information feedback, and the other end of the third connecting cable penetrates through a third spherical floating device to be connected with a third underwater wireless communication module; the first underwater wireless communication module, the second underwater wireless communication module and the third underwater wireless communication module are communicated with the land wireless communication module through wireless signals;
the specific implementation process is as follows:
the working method of the test system comprises two steps: one is static and vertical water power measurement of the underwater walking robot, and the other is walking water power measurement of the underwater walking robot; the method is characterized in that the static and vertical water power measurement process of the underwater walking robot is as follows:
after the measurement is started, firstly, setting static parameters of the underwater walking robot and water flow parameters of a water tank in an industrial control computer, wherein the static parameters comprise a robot course angle, a roll angle, a pitch angle and a robot height; the industrial control computer generates a control instruction of the underwater walking robot based on the set parameters; then, the land wireless communication module and the third underwater wireless communication module carry out wireless communication, and a control signal is transmitted to the underwater walking robot through a third connecting cable, so that the underwater walking robot is controlled to keep a set standing state; in the test process, ocean current data measured by a front acoustic Doppler current profiler is transmitted to a first underwater wireless communication module through a first connecting cable, ocean current data measured by a rear acoustic Doppler current profiler is transmitted to a second underwater wireless communication module through a second connecting cable, foot power and attitude data of the underwater walking robot are transmitted to a third underwater wireless communication module through a third connecting cable, and the first underwater wireless communication module, the second underwater wireless communication module and the third underwater wireless communication module transmit the data to a land wireless communication module in a wireless communication mode respectively so as to transmit the data to an industrial control computer; the industrial control computer analyzes and obtains hydrodynamic characteristics of the underwater walking robot according to the feedback data, the static and vertical hydrodynamic measurement process of the underwater walking robot is completed at the last time, and if the test is repeated, the whole process is started to be circulated continuously;
the walking water power measuring process of the underwater walking robot comprises the following steps:
after the measurement is started, firstly, setting static parameters of the underwater walking robot and water flow parameters of a water tank in an industrial control computer, wherein the static parameters comprise a robot course angle, a roll angle, a pitch angle and a robot height; the industrial control computer generates a control instruction of the underwater walking robot based on the set parameters; then, the land wireless communication module and the third underwater wireless communication module carry out wireless communication, and a control signal is transmitted to the underwater walking robot through a third connecting cable, so that the underwater walking robot is controlled to keep a set walking state; in the test process, ocean current data measured by a front acoustic Doppler current profiler is transmitted to a first underwater wireless communication module through a first connecting cable, ocean current data measured by a rear acoustic Doppler current profiler is transmitted to a second underwater wireless communication module through a second connecting cable, foot force and attitude data of the underwater walking robot are transmitted to a third underwater wireless communication module through a third connecting cable, and the first underwater wireless communication module, the second underwater wireless communication module and the third underwater wireless communication module transmit the data to a land wireless communication module in a wireless communication mode respectively so as to transmit the data to an industrial control computer; and the industrial control computer analyzes the feedback data to obtain the hydrodynamic characteristics of the underwater walking robot, so that the hydrodynamic measurement process of the underwater walking robot is completed once, if the test is repeated, the underwater walking robot is controlled to return to the initial position, and then the whole process is started to circulate again.
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| JPH08166319A (en) * | 1994-12-15 | 1996-06-25 | Mitsui Eng & Shipbuild Co Ltd | Response-characteristic measuring apparatus of underwater towing body |
| CN103942383A (en) * | 2014-04-17 | 2014-07-23 | 哈尔滨工程大学 | Dynamics and kinematics estimation method for deep sea operation type ROV |
| CN104199459A (en) * | 2014-08-20 | 2014-12-10 | 浙江大学 | Underwater robot control system based on mobile phone Bluetooth technology |
| CN104615141A (en) * | 2013-11-04 | 2015-05-13 | 中国科学院沈阳自动化研究所 | Control system of small autonomous underwater vehicle |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08166319A (en) * | 1994-12-15 | 1996-06-25 | Mitsui Eng & Shipbuild Co Ltd | Response-characteristic measuring apparatus of underwater towing body |
| CN104615141A (en) * | 2013-11-04 | 2015-05-13 | 中国科学院沈阳自动化研究所 | Control system of small autonomous underwater vehicle |
| CN103942383A (en) * | 2014-04-17 | 2014-07-23 | 哈尔滨工程大学 | Dynamics and kinematics estimation method for deep sea operation type ROV |
| CN104199459A (en) * | 2014-08-20 | 2014-12-10 | 浙江大学 | Underwater robot control system based on mobile phone Bluetooth technology |
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