CN117465641A - Three-propeller underwater robot based on vector nozzle control - Google Patents
Three-propeller underwater robot based on vector nozzle control Download PDFInfo
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- CN117465641A CN117465641A CN202311683088.7A CN202311683088A CN117465641A CN 117465641 A CN117465641 A CN 117465641A CN 202311683088 A CN202311683088 A CN 202311683088A CN 117465641 A CN117465641 A CN 117465641A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
- B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
- B63H2005/1258—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis with electric power transmission to propellers, i.e. with integrated electric propeller motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a three-propeller underwater robot based on vector nozzle control, which comprises a robot body: the robot body comprises a control cabin, a first double-rotor propeller, a second double-rotor propeller, a ternary vector nozzle, a battery cabin, a vector rudder, a steering engine control cabin and a camera; the battery compartment comprises a battery compartment body and a battery module arranged in the battery compartment body, and the control compartment comprises a control compartment body and a control module arranged in the control compartment body; the left side and the right side of the control cabin are provided with a first double-rotor propeller and a second double-rotor propeller; the steering engine control cabin comprises a steering engine cabin body and a steering engine battery cabin body, wherein the front end of the steering engine battery cabin body arranged in the steering engine cabin body is provided with a camera for acquiring underwater environment information; the rear end of the battery compartment body is provided with a ternary vector nozzle, and the rear end of the ternary vector nozzle is provided with a control compartment; the rear end of the control cabin is provided with a steering engine control cabin; the rear end of the steering engine control cabin is provided with a vector rudder; one end of the vector rudder is connected with the vector rudder; the other end of the vector rudder is connected with the control module.
Description
Technical Field
The invention belongs to the field of automatic products, and relates to a three-propeller underwater robot based on vector nozzle control.
Background
Existing observation-level underwater robots (ROVs, i.e., remotely controlled underwater robots) exhibit a variety of shapes in design. The open frame design is commonly adopted for medium and large ROVs, and the appearance is helpful for improving the stability of the robot in water. This stability is determined by the spacing of the center of gravity and the center of buoyancy, also known as the centre of gravity. The center of gravity of an object is the point of integration of all weights, and the center of buoyancy of the object is the point of combined force action of all buoyancy. The floating center is generally positioned above the center of gravity, and if the floating center is positioned below, the object rotates in water to automatically correct the posture. When the external flow rate or thrust changes, the ROV can incline on the X axis, and the robot is restored to the vertical state by using restoring moment generated by gravity moment and buoyancy moment. ROVs with centers of gravity and floating centers at the same point appear on the market at present, and the operation flexibility of the robot is obviously improved under the condition of sacrificing the self-stability adjusting capability of the machine. According to the new trend, the performance is reasonably selected and removed, and the low-stability observation-level underwater robot is designed.
Existing observation-level underwater robots are mainly divided into medium-sized ROVs and small-sized ROVs. Although the medium-sized ROV device has good carrying performance, the problems of large volume, large weight and poor portability generally exist, so that the medium-sized ROV device is wasted in task applications such as conventional observation tasks and marine object pickup, and a large amount of task devices cannot be carried due to small self-body weight when light-duty tasks are executed. The existing small ROV is compact in structure and convenient to carry, but can only meet the underwater observation requirement, and the matched task modules are fewer, and meanwhile, because the volume is too small, the small ROV can be optimized for a single task, and the multi-task execution force is poor.
Aiming at the problems, the invention adopts the task equipment module design on the basis of keeping the advantages of small volume and good portability of the small ROV, and has the advantages of good carrying performance of medium ROV equipment and the like. Through the modularized design of task equipment, the robot can be quickly replaced and configured according to different task demands, and the adaptability and the flexibility of the robot are improved. Meanwhile, the advantages of small volume, good portability and the like of the small ROV are maintained, so that the robot is more portable and easy to operate, and is suitable for more application scenes. .
The existing observation-level underwater robots are different in shape, but have the following defects
(1) The general volume is larger, and the resistance to the appearance is large
(2) The operation is rigid and inflexible
(3) High cost and low cost performance
Disclosure of Invention
In order to solve the problems, the invention adopts the following technical scheme: a three-propeller underwater robot based on vector nozzle control comprises a robot body:
the robot body comprises a control cabin, a first double-rotor propeller, a second double-rotor propeller, a ternary vector nozzle, a battery cabin, a vector rudder, a steering engine control cabin and a camera;
the battery compartment comprises a battery compartment body and a battery module arranged in the battery compartment body and is used for providing power for the control compartment, the first double-rotor propeller, the second double-rotor propeller, the ternary vector nozzle, the vector rudder, the steering engine control compartment and the camera;
the control cabin comprises a control cabin body and a control module arranged in the control cabin body;
the left side and the right side of the control cabin are respectively provided with a first double-rotor propeller and a second double-rotor propeller, and the first double-rotor propeller and the second double-rotor propeller are used for providing forward power for the robot;
the steering engine control cabin comprises a steering engine cabin body and a steering engine arranged in the steering engine cabin body and is used for adjusting the direction of the robot body;
the front end of the battery compartment body is provided with a camera which is arranged in the underwater robot compartment body and is used for collecting images of the underwater environment;
the rear end of the battery compartment body is provided with a ternary vector nozzle for fine adjustment of the direction of the robot body;
the robot body is seen from front to back, and comprises a camera, a battery compartment, a ternary vector nozzle, a control compartment, a steering engine control compartment and a vector rudder;
one end of the vector rudder is connected with the guide vane, and the other end of the vector rudder is connected with the control module and receives the instruction of the control module to act;
the control module is also connected with the camera, the ternary vector nozzle, the first double-rotor propeller and the second double-rotor propeller. The control module comprehensively acquires route information based on the underwater environment picture provided by the camera, and controls the ternary vector nozzle, the first double-rotor propeller, the second double-rotor propeller and the rudder cabin, so that the operation of the robot body is ensured.
Further: the device also comprises a first shell, a second shell and a third shell;
the first shell is arranged on the upper side of the robot body;
the second shell is arranged on the lower side of the robot body;
the third shell is arranged at the front end of the robot body;
the first shell, the second shell and the third shell are assembled in a fixed connection mode, so that the robot body is fixed.
Further: the first double-rotor propeller and the second double-rotor propeller have the same structure;
the brushless motor comprises a first rotor, a second rotor and a stator;
the first rotor, the second rotor and the stator are coupled together by 2 rotating magnetic fields, three-phase symmetrical currents are introduced into three-phase symmetrical windings on the inner side and the outer side of the stator to generate rotating magnetic fields, stator magnetic flux is divided into two parts, and the two parts respectively penetrate through an inner air gap and an outer air gap to be linked with the 2 rotors, and at the moment, respective electromagnetic torque is generated on the rotor side; the magnetic fluxes of the 2 rotating magnetic fields pass through the stator iron core and are respectively linked with the inner and outer windings of the stator, and the inner and outer windings of the stator are connected in series.
Further: the first searchlight and the second searchlight are arranged on two sides of the camera and are arranged at the front end of the battery compartment.
Further: the steering engine comprises a two-degree-of-freedom mechanical arm, wherein the two-degree-of-freedom mechanical arm is connected with the steering engine.
Further: the vector rudder comprises a plurality of guide vanes, the water flow is pushed to flow through the guide vanes, and the guide vanes can control the deflection angle of the steering engine through the internal steering engine to finely adjust the water flow direction.
Further: the ternary vector nozzle comprises a first propeller and a second propeller, and the first propeller and the second propeller are arranged in a lower lamination mode.
The three-propeller underwater robot based on vector nozzle control provided by the invention has the following advantages: the underwater robot is provided with the double-rotor propeller, overcomes self-torsion in a counter-rotating manner, is favorable for controlling the underwater robot, and also adopts a ternary vector nozzle, so that the controllable degree of freedom of the underwater robot is increased, the control accuracy is improved, and the underwater robot has the advantages of high flexibility, low stability, high maneuverability and the like.
The double-rotor propeller is adopted, the thrust is large, and the self anti-torsion is overcome by a counter-rotating mode, so that the underwater robot is operated.
And a ternary vector nozzle is adopted, so that the controllable degree of freedom of the underwater robot is increased, and the control accuracy is improved.
The modularized 3D printing segmentation design is adopted, so that the maintenance is convenient, and the use cost is reduced.
The two control modes of cable and no cable can be adopted, so that the use flexibility is improved.
The underwater robot and the matched equipment thereof can be carried by one person, can be operated by one person, have low cost, and are suitable for executing non-operation-level tasks which are biased to observation, sampling, underwater mapping and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is an exploded view of the robot;
FIG. 2 is a schematic view of a ducted propeller;
FIG. 3 is a double rotor motor equivalent circuit;
FIG. 4 is a partial schematic view of a dual rotor propeller;
FIG. 5 is a schematic view of a rudder mounting position;
FIG. 6 is a schematic view of a rudder;
FIG. 7 is a schematic view of a battery compartment;
FIG. 8 is a control pod schematic;
FIG. 9 is a schematic diagram of a two degree-of-freedom robotic arm;
FIG. 10 is a flow line design of an underwater robot;
FIG. 11 is a flow chart of SolidWorks simulation for an underwater robot;
fig. 12 is a view of a motion coordinate system of the underwater robot.
Reference numerals: 1. the steering engine comprises a double-rotor propeller 2, a conduit type propeller 3, a vector rudder 4, a searchlight 5, a control cabin 6, a waterproof steering engine 7, a circuit plugging device 8, a battery cabin 9, an output rod 10, a waterproof bearing 11, a waterproof shell 12 and a common steering engine.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other, and the present invention will be described in detail below with reference to the drawings and the embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
FIG. 1 is an exploded view of the robot;
a three-propeller underwater robot based on vector nozzle control comprises a robot body:
the robot body comprises a control cabin 5, a first double-rotor propeller 1, a second double-rotor propeller 1, a ternary vector nozzle, a battery cabin 8, a vector rudder 3, a steering engine control cabin 5 and a camera;
the battery compartment 8 comprises a battery compartment 8 body and a battery module arranged in the battery compartment 8 body, and is used for providing power for the control compartment 5, the first double-rotor propeller 1, the second double-rotor propeller 1, the ternary vector nozzle, the vector rudder 3, the steering engine control compartment 5 and the camera;
the control cabin 5 comprises a control cabin 5 body and a control module arranged in the control cabin 5 body;
the left side and the right side of the control cabin 5 are respectively provided with a first double-rotor propeller 1 and a second double-rotor propeller 1, and the first double-rotor propeller 1 and the second double-rotor propeller 1 are used for providing the forward power of the robot;
the steering engine control cabin 5 comprises a steering engine cabin body and a steering engine arranged in the steering engine cabin body and is used for adjusting the direction of the robot body;
the front end of the battery compartment 8 body is provided with a camera which is arranged in the underwater robot compartment body and is used for collecting images of the underwater environment;
the rear end of the battery compartment 8 body is provided with a ternary vector nozzle for fine adjustment of the direction of the robot body;
the robot body is seen from front to back, and is firstly provided with a camera and a battery compartment 8, then provided with a ternary vector nozzle, and then provided with a control compartment 5, a steering engine control compartment 5 and a vector rudder 3;
one end of the vector rudder 3 is connected with the guide vane, and the other end of the vector rudder is connected with the control module and receives the instruction of the control module to act;
the control module is also connected with the camera, the ternary vector nozzle, the first double-rotor propeller 1 and the second double-rotor propeller 1. The control module comprehensively acquires route information based on the underwater environment picture provided by the camera, and controls the ternary vector nozzle, the first double-rotor propeller 1, the second double-rotor propeller 1 and the rudder cabin, so that the operation of the robot body is ensured.
The control cabin 5, the first double-rotor propeller 1, the second double-rotor propeller 1, the ternary vector nozzle, the battery cabin 8, the vector rudder 3, the steering engine control cabin 5 and the camera are connected through the circuit plugging device 7;
the robot further includes a first housing, a second housing, and a third housing;
the first shell is arranged on the upper side of the robot body;
the second shell is arranged on the lower side of the robot body;
the third shell is arranged at the front end of the robot body;
the first shell, the second shell and the third shell are fixedly connected, so that the robot body is fixed, and a physical basis is provided for normal operation of the machine;
further, the robot also comprises a first searchlight 4 and a second searchlight 4 which are arranged at the two sides of the camera and at the front end of the battery compartment 8 body, so as to play a role in illumination;
the vector rudder 3 comprises a plurality of guide vanes, 2 guide vanes are adopted in the implementation mode, when the rear propeller propels, rear propulsion water flow is generated and flows through the guide vanes, the guide vanes can control the deflection angle of the guide vanes through an internal steering engine, and the direction of the water flow is finely adjusted, so that efficient propulsion is achieved.
FIG. 2 is a schematic view of a ducted propeller;
further, the first double-rotor propeller 1 and the second double-rotor propeller 1 have the same structure; the first double-rotor propeller 1 adopts a duct type propeller 2 system;
the duct type propeller 2 system comprises a propeller and a duct, wherein the propeller is arranged in the duct, and a non-smooth part is arranged on the inner wall of the duct; the non-smooth portion is disposed between the lower edge of the propeller and the outlet diffusing port of the duct, so that axial movement of the tip vortex is blocked by the non-smooth portion, and the strength of the tip vortex is reduced. On the windward side of the non-smooth part, the speed of the tip vortex is restrained, the flow speed is reduced, the main flow of the tip vortex at the leeward side of the non-smooth part is attached to the inner wall of the guide pipe again, the vortex effect is blocked, the reattached gas has higher energy near the wall area, the separation of the air flow caused by the reverse pressure gradient of the outlet diffusion opening section of the guide pipe is overcome, the separation of the water flow at the outlet diffusion opening of the guide pipe is basically and completely restrained, the water flow flows along the wall surface, the flow channel is gradually enlarged, the slip flow area is effectively increased, the fluid property of the system is improved, the thrust is improved, and the 3D printing-based guide pipe propeller type propeller can effectively reduce the damage risk of the blades, avoid collision with the foreign matters, perform multi-wheel iteration aiming at the number of blades and the propeller type, and has the effect of reducing the vibration of the propeller, and obviously improve the propulsion efficiency of the propeller on the premise of ensuring the provision of the thrust. Finally, 76 mm diameter three-blade propellers with balanced performance in all aspects are selected.
In order to achieve higher navigational speed of the underwater robot in water, the counter-rotating brushless motor is applied to a counter-rotating propeller propulsion system, nearly twice thrust is achieved under unit water facing area, the structure of the propulsion system can be simplified, the size is reduced, the weight and the cost are reduced, and no electric brush slip ring is arranged, so that the running is safer and more reliable.
The inner and outer rotors and the stator of the double-rotor motor are coupled together by 2 rotating magnetic fields, which is very different from the conventional motor. And three-phase symmetrical current is introduced into three-phase symmetrical windings at the inner side and the outer side of the stator to generate a rotating magnetic field. The stator flux is divided into two parts, and the two parts respectively cross the inner and outer air gaps to be linked with 2 rotors, and at the moment, respective electromagnetic torque can be generated on the rotor side. The magnetic fluxes of the 2 rotating magnetic fields pass through the stator iron core and are respectively in linkage with the inner and outer windings of the stator, and the inner and outer windings of the stator are connected in series, so that the motor can be simply regarded as the series connection of 2 motors.
In addition, the double-rotor propeller 1 can overcome self-torsion in a rotor contra-rotation mode, so that the operation quality of the underwater robot is improved, and the operation difficulty is reduced.
The dual rotor propeller 1 has a bright point in that it combines a brushless motor with a counter-rotating propeller. The application of the brushless motor eliminates the brush slip ring in the traditional motor, and improves the running safety and reliability. In addition, the volume and weight of the brushless motor are relatively small, which is beneficial to reducing the volume and weight of the propulsion system and reducing the cost. By placing two contra-rotating propellers in opposite positions, the contra-rotating propeller propulsion system can generate opposite thrust at the same time, thereby realizing more efficient propulsion.
One advantage of the twin rotor propeller 1 is that it performs better in terms of vertical take-off and landing and hover. This enables accurate handling and positioning of the underwater robot. In addition, since dual rotor systems are generally simpler, maintenance and operation are relatively easy.
The dynamic thrust is improved to some extent, and is equivalent to the thrust generated by the propeller relative to the speed of water flow, the device accelerates the speed of water flow relative to the speed of surrounding water flow, actual thrust is generated, when the propeller runs, the faster the speed is, the dynamic thrust can be weakened, and the speed of water flow is greatly improved, so that the dynamic thrust can have a better effect.
The twin rotor propeller 1 typically comprises two rotating propellers which may be connected by an axis to the core part of the engine. The two rotors are stacked one above the other.
According to the double-rotor propeller 1, on the premise of not increasing the cross section size, the performance and the thrust of the propeller in a high-speed state are obviously enhanced by improving the water flow speed. In order to overcome the reverse torque force generated by the propeller and avoid yaw of the machine, the technical strategy of reversing the rotation direction of the propeller is adopted, so that the sailing stability is ensured, and the propulsion efficiency of the propeller is further improved. When two birotor motors are connected with each other, the electric energy efficiency can be lost by about 25%, but under the high-speed running condition, the configuration can greatly improve the performance of the propeller, so that the propulsion strength of the propeller is improved by more than twice of that of the propeller.
This application modularized design, every module can all be through 3D printing technique manufacturing, and this not only greatly reduced manufacturing cost, can carry out the change and the restoration of module moreover fast, improved the availability factor of robot. Is convenient to maintain and reduces the use cost.
The cable is as follows:
launch and cable connection: at this stage, the robot is typically connected to the operator station by a cable, which provides power and communications.
Running tasks: the robot is controlled in real time under water by a remote operator, and through cables it can communicate with ground stations, send data, receive instructions, and report task progress in real time.
Data transmission: the data collected by the robot may be transmitted back to the ground station via cables, including sensor readings, images, video, etc.
No cable:
task planning: the robot accepts the mission plan, typically including target location, depth, etc., before the mission begins.
Launch: the robot is launched and is not connected with the ground station through a physical cable.
Autonomous motion: the robot moves autonomously through a built-in navigation and control system to execute tasks. It typically uses inertial navigation systems, sonar, laser ranging, etc. sensors for positioning and navigation.
Data storage and transmission: the data collected by the AUV are stored internally, and the data is returned to the ground station for extraction after the robot completes the task.
FIG. 3 is a double rotor motor equivalent circuit;
the stator winding of the opposite-rotating double-rotor permanent magnet synchronous motor can be equivalently formed by connecting the stator windings of the inner permanent magnet motor and the outer permanent magnet motor in series, and i is arranged at the moment d1 ＝i d2 ＝i d ,i q1 ＝i q2 ＝i q . Thus, the voltage equation for the stator windings is equivalent in the dp axis coordinate systemThe method comprises the following steps:
wherein: u (u) d1 ,u q1 ,Ψ d1 ,Ψ q1 ,i d1 ,i q1 Dp axis components of the external stator voltage and flux linkage current, respectively;
R s1 ,R s2 is the resistance of the outer stator winding. The external and internal electromagnetic torque expression of the motor is as follows:
T e1 ＝1.5n p1 (Ψ d1 i q1 -Ψ q1 i d1 )
T e2 ＝1.5n p2 (Ψ d2 i q2 -Ψ q2 i d2 )
wherein: omega r1 ,ω r2 The electric angular velocity of the outer rotor and the inner rotor; n is n p1 ,n p2 The number of the magnetic pole pairs of the motor; t (T) L1 ,T L2 Respectively the load torque on the rotor shaft; b (B) m1 ,B m2 Is 2 rotor rotational resistance coefficients. The electromagnetic torque can be expressed as:
T e ＝T e1 +T e2 ＝1.5[(Ψ d1 +Ψ d2 )i q -Ψ q1 +Ψ q2 )i d ]＝1.5(Ψ d i q -Ψ q i d )＝1.5[Ψ mf i q +(L d -L q )i d i q ]
in addition, the double-rotor propeller 1 can overcome self-torsion in a rotor contra-rotation mode, so that the operation quality of the underwater robot is improved, and the operation difficulty is reduced;
fig. 4 is a partial schematic view of a twin rotor propeller 1;
FIG. 5 is a schematic view of a rudder mounting position; the vector rudder comprises an output rod 9, a waterproof bearing 10, a waterproof shell 11 and a common steering engine 12; the common steering engine 12 is arranged inside the waterproof shell 11; the output rod 9 is connected with a waterproof bearing 10, and the waterproof bearing 10 is connected with a common steering engine 12;
FIG. 6 is a schematic view of a rudder;
further, the ternary vector nozzle comprises a first propeller and a second propeller, and the first propeller and the second propeller are connected in a tail-tail mode.
The designed underwater robot uses steering engine driving on equipment such as a vector rudder 3, a two-degree-of-freedom mechanical arm and the like, most of the waterproof steering engines 6 on the market are too heavy and expensive, and the waterproof steering engines 6 are mounted on the small underwater robot, so that the small waterproof steering engines 6 based on common small steering engine reconstruction are not economical, but also are too huge to influence the overall design. The waterproof steering engine 6 is different from the expensive aluminum alloy shell waterproof steering engine 6 in the market, and is formed by modifying a common steering engine 12. The portable shell formed by high polymer resin laser curing is adopted, the common steering engine 12 is wrapped by the two shells, gaps are reserved between the portable shell and the internal steering engine, lubricating grease is filled into the portable shell to form an oil seal effect, the position of a steering engine output shaft is connected with a rocker arm made of the same material, the rocker arm is bonded with the inner diameter of the waterproof bearing 10 by epoxy resin to form simple dynamic seal, the waterproof bearing 10 is placed on a flange table formed by the shells, the simple small waterproof steering engine 6 is manufactured, the oil layer can be slowly consumed, normal underwater operation can be met, the principle is similar to that of a plurality of large waterproof steering engines 6 on the market, and the steering engine at present passes through a 24-hour two-meter water depth test. The steering rudder 3 is arranged behind the propeller nacelle, and four steering vanes are respectively controlled by four autonomous waterproof steering engines 6 to change the jet flow direction. The steering wheel and the steering vane one-to-one design can reduce the operation burden of the steering wheel, and prolong the service life of the steering wheel. Two propellers provided with the vector rudders 3 can enable the underwater robot to finish forward rolling, side rolling and other actions expected and unavailable by the conventional three-propulsion underwater robot, and the underwater robot under the non-conventional three-propulsion layout can finish all freedom degree actions except side movement of the conventional eight-propulsion underwater robot by using only three propellers.
FIG. 7 is a schematic view of a battery compartment;
FIG. 8 is a control pod schematic;
the battery compartment 8 body and the control compartment 5 body are both formed by waterproof boxes, and the battery compartment 8 body and the control compartment 5 body can be square;
the supports of the battery compartment 8 and the control compartment 5 are printed from 3D material. The electric control and the flight control are fixed on a bracket of the control cabin 5 by means of binding wire fixing, screw fastening and the like, and the battery cabin 8 is arranged at the front part of the underwater robot, and the control cabin 5 is arranged at the middle rear part of the underwater robot for adjusting the gravity center of the underwater robot. The energizing and controlling cable is led out by the threading bolt at the upper end of the waterproof box and is encapsulated.
FIG. 9 is a schematic diagram of a two degree-of-freedom robotic arm;
further, the robot: the steering engine further comprises a two-degree-of-freedom mechanical arm, and the two-degree-of-freedom mechanical arm is connected with the steering engine.
A two-degree-of-freedom mechanical arm is designed for effectively picking up small target objects in water. The mechanical arm is driven by two steering engines, and has compact and light structure. The mechanical claw can grasp objects below 70 mm, and the rotary joint has a rotation stroke of 90 degrees, so that the device is suitable for the irregular topography of the seabed. Compared with a single-degree-of-freedom mechanical arm, the robot has higher operation flexibility and can effectively grasp objects on complex landforms, such as sea urchins. The design embodies practical value and flexibility and overcomes the limitation of the single-degree-of-freedom mechanical arm.
Motion stage of underwater robot
1 underwater navigation mode
The underwater horizontal navigation is powered by two propellers at two sides of the boat body, forward propulsion and reverse propulsion of the propellers have good propulsion efficiency, forward and backward movements of the underwater robot can be effectively controlled, steering torque of the underwater robot is generated by the two propellers in a differential mode, when the underwater robot is in a small-radius whirl maneuver, the two horizontal propellers can generate opposite-direction thrust to control the underwater robot to small-radius whirl, the navigation direction is changed, the lifting and submerging of the underwater robot is controlled by one double-rotor propeller 1, the underwater robot adopts a positive buoyancy design for safety navigation, after unexpected loss signals occur, the underwater robot can automatically float out of the water, the underwater robot is required to provide downward thrust by the lifting and submerging propeller in a non-load state, and the lifting and submerging propeller provides a part of thrust to assist in lifting and submerging under a heavy load condition by means of buoyancy.
2 posture adjusting mode
The three-dimensional vector nozzle can adjust the pitching attitude and the rolling attitude of the hull in water, the three-dimensional vector nozzle can deflect the propelling water flow of the propeller so as to achieve the effect of controlling the attitude, for example, after a mechanical arm clamps a heavy object, the gravity center of the underwater robot greatly moves forward, at the moment, in order to effectively control the underwater robot to bring the object back, the three-dimensional vector nozzle is required to deflect upwards so as to provide a head-up moment for the underwater robot, the effect of balancing is achieved, and for example, the angle of a target object is too complex, the pitching attitude of the underwater robot can be greatly changed by using the three-dimensional vector nozzle, and then the target object is successfully clamped.
FIG. 10 is a flow line design of an underwater robot;
fluid simulation analysis
The underwater robot adopts streamline design, has smooth and regular surface and has no large undulation and edges. According to the streamline of the hydrodynamic knowledge, the fluid is mainly expressed as laminar flow on the surface of the underwater robot, and the formation of vortex can be reduced or avoided, so that the viscous resistance and the shape resistance of the underwater robot in the navigation process are reduced, and the underwater robot is ensured to receive smaller resistance.
FIG. 11 is a flow chart of SolidWorks simulation for an underwater robot;
the flow diagram shows that the design of the hull is reasonable, the water flow of the propeller is smooth, the part with larger structural stress of the underwater robot shell is determined according to the pressure cloud diagram, and the structure of the underwater robot is reasonably reinforced, so that the underwater robot is light and is not loose and firm;
FIG. 12 is a diagram of a motion coordinate system of the underwater robot;
2.5 motion modeling analysis
2.5.1 coordinate System establishment
In order to simplify the analysis of the underwater motion of the underwater robot, a coordinate system needs to be established to clearly describe the relationship between the motion parameters such as the position, the gesture, the speed, the angular speed, the acceleration, the angular acceleration and the like of the underwater robot and the time. For this purpose, a Cartesian coordinate system is selected as the basis and an inertial system is established for kinetic analysis.
According to the system recommended by the International pool conference (ITTC) and the system of the term bulletin of the society of shipbuilding and turbine engineering (SNAME), the fixed coordinates E-XYZ (fixed system) and the motion coordinates O-XYZ (dynamic system) are established. The origin E of the fixed system is positioned at a certain point on the water surface, and the XYZ axes are respectively directed to the north, east and vertical upward directions and are mainly used for describing the absolute position and the gesture of the underwater robot in the water. The origin O of the dynamic system is positioned on the mass center of the underwater robot, and the xyz axis is parallel to the fixed system and is mainly used for describing the relative position and the posture of the underwater robot relative to water flow.
(one) fixed coordinate System
The origin is taken from any point on the horizontal plane, the positive direction of EZ points to the earth center, EY and EX are mutually vertical in the horizontal plane, any direction can be selected as the positive direction, the main heading of the underwater robot is regulated as the positive direction of EX, and the EY positive direction forms a coordinate system E-XYZ conforming to the right-hand spiral rule on the right side of the positive direction of EX.
(II) motion coordinate System
Motion coordinate system: commonly referred to as a carrier coordinate system, is built on the underwater robot carrier and varies with the position of the carrier. Taking the gravity center of the submersible vehicle as an origin O, taking the Ox direction as the main symmetrical axis of the robot to forward, wherein the Oy axis is parallel to the base line plane and perpendicular to the Ox axis, and pointing to the starboard is positive; the Oz axis is perpendicular to the plane formed by Ox and Oy axis, and the direction bottom surface is positive. The coordinate system O-xyz is also a rectangular coordinate system.
2.5.2 building a kinetic model
Because the underwater robot acts slowly in water, the complex multi-movement process of the underwater robot can be split into single-movement process researches, which are reasonable assumptions.
Equation of horizontal motion
The underwater robot moves horizontally, namely w=0, p=q=0, and the equation of motion can be simplified as follows:
since the previous equation is built on the general example, i.e. the center of gravity is not coincident with the origin coordinate system, for simplicity of calculation, let x g ＝y g ＝z g =0, discussing its special case, the above formula can be simplified as:
(II) lateral movement
When the underwater robot moves transversely underwater, u=0, q=r=0 and x g ＝y g ＝z g =0, then the equation of motion is:
(III) vertical movement
When the underwater robot moves vertically underwater, v=0, p=r=0 and x g ＝y g ＝z g =0, then the equation of motion is:
finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (7)
1. Three-propeller underwater robot based on vector nozzle control, its characterized in that: comprises a robot body:
the robot body comprises a control cabin, a first double-rotor propeller, a second double-rotor propeller, a ternary vector nozzle, a battery cabin, a vector rudder, a steering engine control cabin and a camera;
the battery compartment comprises a battery compartment body and a battery module arranged in the battery compartment body and is used for providing power for the control compartment, the first double-rotor propeller, the second double-rotor propeller, the ternary vector nozzle, the vector rudder, the steering engine control compartment and the camera;
the control cabin comprises a control cabin body and a control module arranged in the control cabin body;
the left side and the right side of the control cabin are respectively provided with a first double-rotor propeller and a second double-rotor propeller, and the first double-rotor propeller and the second double-rotor propeller are used for providing forward power for the robot;
the steering engine control cabin comprises a steering engine cabin body and a steering engine arranged in the steering engine cabin body and is used for adjusting the direction of the robot body;
the front end of the battery compartment body is provided with a camera which is arranged in the underwater robot compartment body and is used for collecting images of the underwater environment;
the rear end of the battery compartment body is provided with a ternary vector nozzle for fine adjustment of the direction of the robot body;
the robot body is seen from front to back, and comprises a camera, a battery compartment, a ternary vector nozzle, a control compartment, a steering engine control compartment and a vector rudder;
one end of the vector rudder is connected with the guide vane, and the other end of the vector rudder is connected with the control module and receives the instruction of the control module to act;
the control module is also connected with the camera, the ternary vector nozzle, the first double-rotor propeller and the second double-rotor propeller. The control module comprehensively acquires route information based on the underwater environment picture provided by the camera, and controls the ternary vector nozzle, the first double-rotor propeller, the second double-rotor propeller and the rudder cabin, so that the operation of the robot body is ensured.
2. A three-propeller underwater robot based on vector spout control as claimed in claim 1, characterized in that: the device also comprises a first shell, a second shell and a third shell;
the first shell is arranged on the upper side of the robot body;
the second shell is arranged on the lower side of the robot body;
the third shell is arranged at the front end of the robot body;
the first shell, the second shell and the third shell are assembled in a fixed connection mode, so that the robot body is fixed.
3. A three-propeller underwater robot based on vector spout control as claimed in claim 1, characterized in that: the first double-rotor propeller and the second double-rotor propeller have the same structure;
the dual rotor propeller structure includes a first rotor, a second rotor and a stator, a propeller body, a brushless motor, bearings and a sealing system.
The brushless motor comprises a first rotor, a second rotor and a stator;
the first rotor, the second rotor and the stator are coupled together by 2 rotating magnetic fields, three-phase symmetrical currents are introduced into three-phase symmetrical windings on the inner side and the outer side of the stator to generate rotating magnetic fields, stator magnetic flux is divided into two parts, and the two parts respectively penetrate through an inner air gap and an outer air gap to be linked with the 2 rotors, and at the moment, respective electromagnetic torque is generated on the rotor side; the magnetic fluxes of the 2 rotating magnetic fields pass through the stator iron core and are respectively linked with the inner and outer windings of the stator, and the inner and outer windings of the stator are connected in series.
4. A three-propeller underwater robot based on vector spout control as claimed in claim 1, characterized in that: the first searchlight and the second searchlight are arranged on two sides of the camera and are arranged at the front end of the battery compartment.
5. A three-propeller underwater robot based on vector spout control as claimed in claim 1, characterized in that: the steering engine comprises a two-degree-of-freedom mechanical arm, wherein the two-degree-of-freedom mechanical arm is connected with the steering engine.
6. A three-propeller underwater robot based on vector spout control as claimed in claim 1, characterized in that: the vector rudder consists of a plurality of guide vanes and is used for controlling the water flow direction. The internal steering engine can finely adjust the deflection angle of the guide vane, so that the accurate control of the water flow direction is realized.
7. A three-propeller underwater robot based on vector spout control as claimed in claim 1, characterized in that: the ternary vector nozzle comprises a first propeller and a second propeller, and the first propeller and the second propeller are arranged in a lower lamination mode.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111660742A (en) * | 2020-06-12 | 2020-09-15 | 广东工业大学 | Multi-rotor amphibious unmanned aerial vehicle |
| CN111660742B (en) * | 2020-06-12 | 2024-05-24 | 广东工业大学 | Multi-rotor amphibious unmanned aerial vehicle |
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