Research On A Spherical Underwater Observation Robot

The research content of this article belongs to the national natural science foundation of China (51175048) as a main part for underwater detection. A single pushing device with the heavy pendulums is the general structure of the spherical underwater robot, which has a good compression performance, high movement efficiency and the advantages of flexible movement. The robot can move through the propeller and the bottom rolling in one of two ways. On the basis of the analyzing the characteristics of the underwater movement, the control strategies were researched.For the spherical underwater robot detecting in the application, it provides theoretical basis and technical support.The content is organized as follows :(1) The finite element method was adopted to study the hydrodynamic characteristics of the movement. According to the principle of fluid mechanics and finite element, a finite element model of the three-dimensional structure was simplified. The hydrodynamic characteristics of spherical robot with the central pipe were analyzed. The direct resistance and added mass coefficient were calculated. Then under the condition of the integration of propeller and sphere assembly, the working parameters of the influence of hydrodynamic propeller were studied. The hydrodynamic differences were summarized.(2) Through the analysis of the underwater robot research and application in the domestic and overseas, the structure of a spherical underwater robot used in underwater detection was proposed according to the actual demand indicators.According to the environment in the coastal waters, the design principle was researched for the underwater robot. On the basis of the spherical underwater robot,the shape of the structure and drive mode were designed and analyzed. According to the maximum speed, working time and the quality of the driving mechanism configuration, the overall structure size of the robot was calculated under both volume and quality constraints. The spherical shell was calculated about mechanical strength.(3) Heavy pendulum in the spherical underwater robot was studied. Its dynamic characteristics and its influence on the movement of spherical robot were analyzed.The mathematical equations were used to describe the motion of spherical underwater robot. The dynamic model the pendulums was established. And then the structure parameters, motion parameters and heavy pendulum swinging were analyzes and summarized on the speed fluctuation of the robot Finally, a two-stage controlling method based on neural network for underwater robot for swing suppression method was proposed in this paper. The simulation and experimental validation were carried.(4) The rolling characteristics of the bottom of the spherical robot were studied.The spherical robot can move by underwater propeller and underwater rolling movement in two ways. The underwater robot observation strategy was researched.Then the water route control ability and the landing underwater control method were studied, analyzed and verified by simulation method. Finally, through the experiment the characteristics of the spherical robot BYSQ3 in the bottom rolling were analyzed and summarized.(5) For the spherical underwater robot a water control method and strategy of underwater observation was proposed. This paper also proposed an underwater fixed-point observation strategy; In the underwater movement process for robot, this paper proposed a kind of a control method based on the flywheel of spherical robot. In the pool experiments the navigation of the robot BYSQ3 was verified. In the underwater observation experiment, the sensors of underwater robot were loaded and the important data was sent back to the ground. This paper studied a new type of spherical underwater apparatus robot, which has a certain underwater observation skills.