CN107585280A - A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current - Google Patents
A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current Download PDFInfo
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- CN107585280A CN107585280A CN201710947890.0A CN201710947890A CN107585280A CN 107585280 A CN107585280 A CN 107585280A CN 201710947890 A CN201710947890 A CN 201710947890A CN 107585280 A CN107585280 A CN 107585280A
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- rov
- propeller
- underwater robots
- vertical
- oscillation current
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- 230000010355 oscillation Effects 0.000 title claims abstract description 17
- 230000010354 integration Effects 0.000 abstract description 3
- 238000005457 optimization Methods 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000004088 simulation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008034 disappearance Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The invention discloses a kind of quick dynamic positioning systems of the ROV for being adapted to vertical oscillation current, the both ends of ROV underwater robots are mounted on video camera, the both sides of ROV underwater robots are respectively arranged with the starboard propeller and larboard propeller being horizontally mounted, and the both sides of ROV underwater robots are mounted on vertical pusher and sideways-acting propeller, flow sensor is installed in vertical direction on ROV underwater robots, the inside of ROV underwater robots is provided with the fuzzy PD sensor, the fuzzy PD sensor respectively with video camera, vertical pusher, starboard propeller, larboard propeller, flow sensor and sideways-acting propeller electricly connect.The control integrated system that the underwater robot that optimization of the present invention is adapted to vertical oscillation current quickly dynamically positions.In the future, both horizontally and vertically collaboration integration is extended to, so as to which the automatic attitude orientation applied to underwater robot in various complex flowfields controls, improves ROV job stabilization.
Description
Technical field
The present invention relates to a kind of quick dynamic positioning systems of ROV, more particularly to a kind of ROV for being adapted to vertical oscillation current
Quick dynamic positioning system, belong to location systems art field.
Background technology
Dynamic positioning of vessels (dynamic positioning, DP) system is a kind of closed-loop control system, and it passes through control
System drive marine propeller offsets the external force of environment that wind, wave, stream etc. are acted on ship, so that ship is maintained at sea level
On certain desired position.DP constantly detects the physical location of ship and the deviation of target location by measuring system, further according to ring
The influence of power overseas calculates the size that ship of sening as an envoy to returns to thrust needed for target location, and then each propeller of full ship is carried out
Thrust is distributed, and each propeller is produced corresponding thrust to overcome the interference of the external force of environment such as wind, wave, stream, is maintained at ship
Certain determination position is navigated by water along certain preset flight path.
With reference to the general principle of fuzzy control, deep-controlled the fuzzy PD controller is designed, is obscured using in MATLAB
Control editing machine establishes simulation model, and has carried out emulation experiment, obtains simulation curve.It can be seen by the simulation experiment result
Arrive, for underwater robot it is vertical on Depth control, the control method of the fuzzy PD can obtain preferable control effect.
In the case that there are vertical oscillation current in environment under water, the depth of the depthkeeping function foundation of underwater robot itself
Sensor can produce the error in cycle, can so extend the underwater robot depthkeeping stable cycle.After current disappearance is vibrated, water
Holding position for lower robot needs the longer cycle, so as to cause the loss of object of observation or detection data to produce mistake.
The content of the invention
The technical problem to be solved in the present invention is overcome in the case that vertical oscillation current occurs in environment under water, underwater machine
The depth transducer of the depthkeeping function foundation of device people itself can produce the error in cycle, and it is steady so to extend underwater robot depthkeeping
The fixed cycle.After current disappearance is vibrated, holding position for underwater robot needs the longer cycle, so as to cause object of observation
Loss or detection data produce it is wrong the defects of, there is provided a kind of ROV for being adapted to vertical oscillation current quickly dynamically positioning system
System.
In order to solve the above-mentioned technical problem, the invention provides following technical scheme：
The invention provides a kind of quick dynamic positioning systems of the ROV for being adapted to vertical oscillation current, including the underwater machines of ROV
Device people, the both ends of the ROV underwater robots are mounted on video camera, and the both sides of the ROV underwater robots are respectively arranged with
The starboard propeller and larboard propeller being horizontally mounted, and the both sides of the ROV underwater robots are mounted on vertical pusher
And sideways-acting propeller, flow sensor, the ROV underwaters are installed in vertical direction on the ROV underwater robots
The inside of people is provided with the fuzzy PD sensor, and the fuzzy PD sensor pushes away with the video camera, vertical pusher, starboard respectively
Enter device, larboard propeller, flow sensor and sideways-acting propeller to electricly connect.
As a preferred technical solution of the present invention, the inside of the ROV underwater robots is provided with digital compass.
As a preferred technical solution of the present invention, the both ends of the ROV underwater robots are mounted on transparent protection
Cover.
As a preferred technical solution of the present invention, illuminating lamp is installed above the video camera.
As a preferred technical solution of the present invention, the vertical pusher, starboard propeller, larboard propeller and side
It is rotating spiral propeller to propeller.
The beneficial effect that is reached of the present invention is：The underwater robot that optimization of the present invention is adapted to vertical oscillation current is fast
The control integrated system of quick-action state positioning.In the future, both horizontally and vertically collaboration integration is extended to, so as to applied to underwater
Automatic attitude orientation control of the robot in various complex flowfields, improve ROV job stabilization.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the side view of the present invention；
Fig. 3 is the module map of the present invention；
Fig. 4 is the schematic diagram of the present invention；
In figure：1st, ROV underwater robots；2nd, illuminating lamp；3rd, video camera；4th, vertical pusher；5th, starboard propeller；6th, it is left
Side of a ship propeller；7th, transparent shield；8th, flow sensor；9th, sideways-acting propeller；10th, the fuzzy PD controller；11st, electronic guide
Pin.
Embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that described herein preferred real
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Embodiment 1
As Figure 1-4, the invention provides a kind of quick dynamic positioning systems of the ROV for being adapted to vertical oscillation current,
Including ROV underwater robots 1, the both ends of ROV underwater robots 1 are mounted on video camera 3, the both sides point of ROV underwater robots 1
The starboard propeller 5 and larboard propeller 6 being horizontally mounted are not provided with, and the both sides of ROV underwater robots 1 are mounted on vertically
Propeller 4 and sideways-acting propeller 9, flow sensor 8, the underwater machines of ROV are installed in vertical direction on ROV underwater robots 1
The inside of device people 1 is provided with the fuzzy PD sensor 10, the fuzzy PD sensor 10 respectively with video camera 3, vertical pusher 4, starboard
Propeller 5, larboard propeller 6, flow sensor 8 and sideways-acting propeller 9 electricly connect.
The inside of ROV underwater robots 1 is provided with digital compass 11, can be that underwater robot is navigated, prevent it
Get lost.The both ends of ROV underwater robots 1 are mounted on transparent shield 7, and video camera can be protected.Video camera 3
Top is provided with illuminating lamp 2, and the visual field of shooting can be provided for camera.Vertical pusher 4, starboard propeller 5, larboard promote
Device 6 and sideways-acting propeller 9 are rotating spiral propeller, propeller is provided Bidirectional power as needed.
Concrete operating principle：The quick dynamic positioning system of one kind that the present invention develops with reference to the dynamic positioning system of ship
System, it is that it combines existing ROV underwater robots 1 in order to keep the technology of underwater robot dynamic stability in vertical direction
Depthkeeping function and the vertical direction installed additional flow sensor 8, utilize the depth transducer that carries and the flow-velocity sensing installed additional
The data of device 8 are as reflexive feedback signal, and by the control system algorithm optimized in the fuzzy PD controller 10, automatic utilize vertically pushes away
The rotating and starboard propeller 5, larboard propeller 6, sideways-acting propeller 9 for entering device 4 control ROV underwater robots 1 vertical
Quick dynamic in current is vibrated to position.
The beneficial effect that is reached of the present invention is：The underwater robot that optimization of the present invention is adapted to vertical oscillation current is fast
The control integrated system of quick-action state positioning.In the future, both horizontally and vertically collaboration integration is extended to, so as to applied to underwater
Automatic attitude orientation control of the robot in various complex flowfields, improve ROV job stabilization.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current, including ROV underwater robots (1), its feature
It is, the both ends of the ROV underwater robots (1) are mounted on video camera (3), the both sides point of the ROV underwater robots (1)
The starboard propeller (5) and larboard propeller (6) being horizontally mounted are not provided with, and the both sides of the ROV underwater robots (1) are equal
Vertical pusher (4) and sideways-acting propeller (9) are installed, stream is installed in vertical direction on the ROV underwater robots (1)
Fast sensor (8), the inside of the ROV underwater robots (1) are provided with the fuzzy PD sensor (10), the fuzzy PD sensor
(10) respectively with the video camera (3), vertical pusher (4), starboard propeller (5), larboard propeller (6), flow sensor
(8) electricly connected with sideways-acting propeller (9).
2. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current according to claim 1, its feature exist
In the inside of the ROV underwater robots (1) is provided with digital compass (11).
3. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current according to claim 1, its feature exist
In the both ends of the ROV underwater robots (1) are mounted on transparent shield (7).
4. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current according to claim 1, its feature exist
In being provided with illuminating lamp (2) above the video camera (3).
5. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current according to claim 1, its feature exist
In the vertical pusher (4), starboard propeller (5), larboard propeller (6) and sideways-acting propeller (9) are rotating spiral
Propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710947890.0A CN107585280A (en) | 2017-10-12 | 2017-10-12 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710947890.0A CN107585280A (en) | 2017-10-12 | 2017-10-12 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
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| CN107585280A true CN107585280A (en) | 2018-01-16 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108769631A (en) * | 2018-08-15 | 2018-11-06 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater robot, which is used, is convenient for fixed video camera waterproof cover |
| CN109594603A (en) * | 2018-12-10 | 2019-04-09 | 哈尔滨工程大学 | It is a kind of for quickly cleaning the jet flow type ROV type ditcher of mud above extra large pipe |
| CN113074725A (en) * | 2021-05-11 | 2021-07-06 | 哈尔滨工程大学 | Small underwater multi-robot cooperative positioning method and system based on multi-source information fusion |
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2017
- 2017-10-12 CN CN201710947890.0A patent/CN107585280A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108769631A (en) * | 2018-08-15 | 2018-11-06 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater robot, which is used, is convenient for fixed video camera waterproof cover |
| CN108769631B (en) * | 2018-08-15 | 2021-06-25 | 东莞市凯勒帝数控科技有限公司 | Underwater robot convenient to fixed camera buckler |
| CN109594603A (en) * | 2018-12-10 | 2019-04-09 | 哈尔滨工程大学 | It is a kind of for quickly cleaning the jet flow type ROV type ditcher of mud above extra large pipe |
| CN109594603B (en) * | 2018-12-10 | 2021-05-28 | 哈尔滨工程大学 | Jet-flow type ROV (remote operated vehicle) trencher for quickly cleaning sludge above sea pipe |
| CN113074725A (en) * | 2021-05-11 | 2021-07-06 | 哈尔滨工程大学 | Small underwater multi-robot cooperative positioning method and system based on multi-source information fusion |
| CN113074725B (en) * | 2021-05-11 | 2022-07-22 | 哈尔滨工程大学 | Small underwater multi-robot cooperative positioning method and system based on multi-source information fusion |
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Application publication date: 20180116 |