CN108045531A - For the underwater robot control system and method for submarine cable inspection - Google Patents
For the underwater robot control system and method for submarine cable inspection Download PDFInfo
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- CN108045531A CN108045531A CN201711259977.5A CN201711259977A CN108045531A CN 108045531 A CN108045531 A CN 108045531A CN 201711259977 A CN201711259977 A CN 201711259977A CN 108045531 A CN108045531 A CN 108045531A
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Classifications
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- 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
- B63G8/14—Control of attitude or depth
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of underwater robot control systems and method for submarine cable inspection.Wherein, which includes：Remote control is located at more than the water surface and is responsible for assigning job task to underwater robot；Task control portion is connected with Powered Propulsion portion；The task control portion is configured as receiving the job task that remote control is assigned, and carries out path planning to job task Powered Propulsion portion to be controlled to implement corresponding actions, realizes the navigation of underwater robot multiple degrees of freedom；Also navigational parameter is adjusted in real time simultaneously, ensures that underwater robot smoothly completes given job task.
Description
Technical field
The invention belongs to underwater robot control field more particularly to a kind of underwater robots for submarine cable inspection
Control system and method.
Background technology
Submarine Cable Laying is the heavy construction of universally acknowledged great difficulty, scale of investment is big, difficulty of construction is high, laying away from
From length.At present, extra large cable laying is mostly using sea-bottom embedment mode, this is that protection submarine cable safety is most economical, most efficient method.But it throws
Enter postrun submarine cable and still need carry out regular visit, with investigate submarine cable body there may be the problem of (such as cable
Whether body is exposed to outside embedded ditch, crust corrosion, wear degree etc.) and the potential threat that is subject to of submarine cable Routing Area
(such as sea-bottom shallow geologic change, marine sediment cover).It such as runs into operation ship anchor body or fishing net is pullled cable body is caused to break
The accidents such as split, although submarine cable remote monitoring system may detect failure cause and can provide substantially abort situation,
(breaking part may be shifted over), it is even more impossible to be detected to fault in-situ, this meeting cannot be accurately positioned to abort situation
Seriously affect the maintenance activity efficiency of failure cable.At present, the Daily Round Check of submarine cable and fault-finding are manually to dive under water
Visually based on observation, not only poor reliability, dangerous height are not suitable for deep ocean work to this operating type yet.
In recent years, as underwater human reriability, stability and security are continuously improved, unmanned underwater is used
People, which carries out the inspection of submarine cable O＆M and fault-finding, becomes possibility.Unmanned underwater robot (UUV, Unmanned
Underwater Vehicle) be also referred to as UAV navigation, be it is a kind of work in it is underwater carry out limit operation nobody
Robot system can replace manually long-time under water in the waters of highly dangerous environment, contaminated environment and zero visibility
Operation.Unmanned underwater robot be generally divided into cable remote underwater robot (ROV, Remote Operated Vehicle) and
Autonomous underwater robot (AUV, Autonomous Underwater Vehicle) two major classes.Their maximum differences are ROV
It is connected by umbilical cable with surface mother ship, to realize that energy resource supply and signal quickly transmit, therefore operator can pass through water
Face lash ship monitor sees picture or other detection datas under the Real-time Water that ROV is shot, and controls and navigated by water in the water of robot, but
It is limited be subject to umbilical cable, and usual job area is limited and navigation flexibility ratio is poor, is easily influenced by marine vessel activity, it is also possible to
The winding of generation cable, fracture cause robot to damage or lose.And AUV can then depart from surface mother ship support, it is only with the energy
The advantages that vertical, maneuverability, strong concealment, it can realize the functions such as autonomous energy resource supply, decision-making navigation, information Perception, make
Industry scope and sphere are more farther than ROV, wider, can continue AUTONOMOUS TASK in abyssopelagic.Therefore, AUV is more suitable for being used for seabed
Cable inspection operation.
Due to needing to perform remote submarine cable inspection, at present still without can not only penetrate water body but also can remote data pass
Defeated communication modes and communication apparatus, therefore, AUV need to exist by the independent navigation and work planning ability of own control systems
Inspection job task is completed in unknown marine environment.It can be seen that the foundation of intelligentized control method system, which is AUV, successfully realizes sea
The premise guarantee of bottom cable inspection job task.
However, limited the control with modularized design requirement, at present majority underwater robots be subject to computer process ability
System is separately designed using by task controller and navigation controller, that is, two parts are divided on hardware.Its
In, navigation controller is only responsible for carrying out real-time status control (some imparting navigation locating functions) to the water Air China row of robot.
But such design needs to solve the Communication between two controllers from hardware design, and it is logical to occupy valuable information transmission
Road adds the load burden of underwater robot, also counteracts the realization of intelligent system on Software for Design, reduces underwater machine
The AUTONOMOUS TASK ability of device people limits its application in inspection operation.
The content of the invention
In order to solve the deficiencies in the prior art, the first object of the present invention is to provide a kind of water for submarine cable inspection
Using autonomous underwater robot (AUV) as research object, O＆M is route with remote submarine cable for lower robot control system
Inspection is operation mission, improves the AUTONOMOUS TASK ability of underwater robot, it is made to meet the requirement of submarine cable O＆M operation.
A kind of underwater robot control system for submarine cable inspection of the present invention, including：
Remote control is located at more than the water surface and is responsible for assigning job task to underwater robot；And
Task control portion is connected with Powered Propulsion portion；The task control portion is configured as：Receive remote control subordinate
The job task reached, and path planning is carried out so that Powered Propulsion portion to be controlled to implement corresponding actions to job task, realize underwater machine
Device people multiple degrees of freedom navigates by water；Also navigational parameter is adjusted in real time simultaneously, ensures that underwater robot smoothly completes given work
Industry task.
Further, the task controller is also connected with mission payload portion, and the mission payload portion is configured as：Using
In identical body position, different mission payloads is carried according to job task for mission payload Configuration design.
The present invention had both reduced the size and weight of underwater robot using this Configuration design, also met different work
The needs of environment and task improve the practicability of underwater robot inspection operation.
Further, the mission payload for Underwater Camera, side-scan sonar, multibeam sonar, sub-bottom profiler or
Magnetometer.
Wherein, when carrying Underwater Camera (optical detection devices), routing submarine surface can be shot, judges seabed
The embedded situation (whether taking off ditch or exposed) of cable evaluates the coverage condition of marine sediment.
When carrying side scan sonar/multibeam sonar (acoustic sounding equipment), the inspection operating type of underwater robot is with taking
It is similar during load Underwater Camera, and since Acoustic Wave Propagation distance is remote, when operation is navigated by water underwater robot and seabed can keep
Safe distance.
When carrying sub-bottom profiler (acoustic sounding equipment), section can be carried out to the stratum under routing submarine surface and shown
Show, judge the buried depth situation of submarine cable accordingly and whether produce fracture, the detection demand of embedded submarine cable can be met.
When carrying magnetometer (magnetic survey equipment), the magnetic signature inside submarine cable and changing features rule can be obtained
Rule, and determine therefrom that its actual operating status and with the presence or absence of defect, submarine cable progress condition adjudgement that can be shallower to buried depth.
Further, the Powered Propulsion portion includes main thruster, vertical auxiliary propeller, horizontal auxiliary propeller, side
To rudder and elevator.
Wherein, main thruster is responsible for underwater robot and provides navigating power and speed of a ship or plane control ability, can pass through rotating
To determine to advance or retreat；
Vertical auxiliary propeller be responsible for underwater robot low speed or it is static when generate and float and dive campaign；
Horizontal auxiliary propeller be responsible for underwater robot low speed or it is static when generate horizontal shifting movement；
Rudder can change the course angle of underwater robot and then generate divertical motion；
Elevator, which can change the pitch angle of underwater robot and then generate, to float and dive campaign.
Task control portion controls main thruster, vertical auxiliary propeller and horizontal auxiliary propeller these three propellers in real time
The rotation of propeller, and the angle of elevator and rudder is adjusted, advance, retreat, turning left, is right so that underwater robot is realized
Turn, floatings, dive, spot hover, fixed point rotary, left and right translation in any one move or several movement combinations, make it have
Powerful and flexible multiple degrees of freedom operational capabilities.
Further, the task control portion includes：
Work planning intelligent body, be responsible for by the job task received carry out integrated planning, realize from job task to
The mapping of path planning；And
Task control intelligent body is responsible for the management and running between each component of system and shape in inspection operation process
State monitors, and timely processing is discrete and accident, ensures the smooth execution of the navigation safety and job task of underwater robot；And
Dynamic decision intelligent body, the processing of the underwater collision avoidance being responsible for during navigating by water and other default special circumstances.
Further, the task control portion further includes：
Information communication intelligent body is responsible for the information exchange of underwater robot and remote control；And
State aware intelligent body is responsible for obtaining underwater robot itself and surrounding enviroment status information, and based on other
The demand of intelligent body carries out data processing and transmission to above-mentioned status information；And
Energy management intelligent body is responsible for monitoring in real time the energy storage state of accumulator group.
Further, the task control portion further includes：
Safety management intelligent body is responsible for carrying out fault diagnosis to underwater robot, body abnormality is carried out dangerous
It perceives, definite emergency processing mode, and coordinate with task control intelligent body and implement self-protection measure in time；And
Navigator fix intelligent body is responsible for the navigation and positioning of underwater robot.
Further, the task control portion further includes：
Navigation control intelligent body, it is true according to task control intelligent body, dynamic decision intelligent body and navigator fix intelligent body
Fixed navigation control instruction by controlling different propeller and rudder, adjusts navigational parameter in real time, realizes underwater
The multiple degrees of freedom navigation of robot；And
Load controls intelligent body, is responsible for real-time control to airborne mission payload, and detection data is collected and
Storage.
Further, the work planning intelligent body further includes：
Digital chart module is created, the routing iinformation provided based on Submarine Cable Laying construction party is provided, is created
The 3-dimensional digital sea chart of submarine cable routing and near zone environment is reacted, the planning of patrol task is performed as underwater robot
Foundation；And
Job task module is generated, is configured to carry out submarine cable patrol task setting according to digital chart, with generation
Job task；And
Path planning module is configured to need according to mission requirements, marine environment, energy reserves and being carried for task
These elements of load cook up the optimal navigation path that underwater robot performs job task.
The second object of the present invention is to provide a kind of control of the underwater robot control system for submarine cable inspection
Method.
The control method of the underwater robot control system for submarine cable inspection of the present invention, including：
Remote control assigns job task to underwater robot；
Task control portion receives the job task that remote control is assigned, and carries out path planning to job task to control
Powered Propulsion portion implements corresponding actions, realizes the navigation of underwater robot multiple degrees of freedom；Also navigational parameter is adjusted in real time simultaneously
It is whole, ensure that underwater robot smoothly completes given job task.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) present invention is patrolled using autonomous underwater robot (AUV) as research object with remote submarine cable routing O＆M
It examines as operation mission, while being task control portion by the control system hardware simplicity of underwater robot, devises based on more
The control system software configuration of Agentarchitecture improves the AUTONOMOUS TASK ability of underwater robot, it is made to meet submarine cable
The requirement of O＆M operation.
(2) task control portion of the invention is after remote control table receives job task, according to task definition, operation about
Beam, ocean operation environment and itself operational configuration fulfil assignment planning, navigation reckonings, the task controls behavior such as dynamic decision, control
Different propellers and rudder are made to realize that underwater robot multiple degrees of freedom navigates by water, and to the speed of a ship or plane, course, height, depth etc.
Navigational parameter is adjusted in real time, ensures that underwater robot smoothly completes given job task.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not form the improper restriction to the application for explaining the application.
Fig. 1 is one structural representation of embodiment of the underwater robot control system for submarine cable inspection of the present invention
Figure.
Fig. 2 is two structural representation of embodiment of the underwater robot control system for submarine cable inspection of the present invention
Figure.
Fig. 3 is the intelligent body in the task control portion of the underwater robot control system for submarine cable inspection of the present invention
Structure diagram.
Fig. 4 is the control method flow chart of the underwater robot control system for submarine cable inspection of the present invention.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.It is unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
Embodiment one
Fig. 1 is one structural representation of embodiment of the underwater robot control system for submarine cable inspection of the present invention
Figure.
As shown in Figure 1, a kind of underwater robot control system for submarine cable inspection of the present invention, including：
Remote control is located at more than the water surface and is responsible for assigning job task to underwater robot；And
Task control portion is connected with Powered Propulsion portion；The task control portion is configured as：Receive remote control subordinate
The job task reached, and path planning is carried out so that Powered Propulsion portion to be controlled to implement corresponding actions to job task, realize underwater machine
Device people multiple degrees of freedom navigates by water；Also navigational parameter is adjusted in real time simultaneously, ensures that underwater robot smoothly completes given work
Industry task.
(1) task control portion
Task control portion is the core control portions that underwater robot performs job task, and the present invention will navigate by water control function
It is transplanted in task control portion, realizes the centralization of control function.Task control portion has assignment decisions, navigation control, (work(
Can) module management, condition monitoring and data acquisition, data processing, data transmission, data storage etc. functions.
In the concrete realization, computer, server or processor can be used to realize in task control portion.
Underwater robot task control portion is a flow system mixed, comprising numerous function modules and task module,
Substantial amounts of discrete and accident is also accompanied by, it is necessary to carry out timely information transmission, is controlled in real time and concurrently this requires realizing
System.Based on the analysis to underwater robot AUTONOMOUS TASK demand, the present invention uses the multi-agent systems of Behavior-based control doctrine
(Multi Agent System, MAS) designs the task control portion of underwater robot, and multiclass is performed to adapt to underwater robot
The needs of type job task.
MAS control is the typical case of intelligent control technology.Structurally, intelligent body is some independent rows
For module, each behavioral module concurrent working generates respective assignment instructions, and each assignment instructions are adjusted by tuning algorithm,
Each intelligent body is managed collectively and dispatched, multiple intelligent bodies is allow to cooperate and connect into an entirety, finally show that control refers to
It makes and realizes task behaviour control.Only indivedual intelligent bodies are transformed with just expansible new task function, it will not be to other intelligence
The normal work of energy body has an impact.Therefore, multi-agent systems can be such that the task control system of underwater robot has certainly
Tissue and adaptive ability, flexibility, opening and scalability are not available for other control systems, are improved underwater
The overall intelligenceization of robot task control system is horizontal, convenient for completing increasingly complex job task.
As shown in Figure 1, the task control portion of the present invention is divided into three control hierarchys from top to bottom, it is mission planning respectively
Layer coordinates key-course and function execution level, embodies the mutual information exchange flow direction of different intelligent body.
Autonomy-oriented degree increases three key-courses successively from top to bottom, and responsible control task is respectively：
(1) mission planning layer be responsible for underwater robot based on submarine cable patrol task overall operation planning, realize from
Job task is to the mapping of path planning；
(2) coordinate the instruction that key-course is responsible for performing mission planning layer, carry out scheduling between function module and task module,
Management and monitoring, realize the mapping from path planning to behavior command；
(3) function execution level is responsible for realizing the mapping that subordinate act instruction is acted to underwater robot execution.
Specifically, the task control portion includes：
(1) work planning intelligent body is responsible for the job task received carrying out integrated planning, be realized from job task
To the mapping of path planning.
The work planning intelligent body further includes：
(1.1) digital chart module is created, the routing iinformation provided based on Submarine Cable Laying construction party is provided,
The 3-dimensional digital sea chart of the routing of reaction submarine cable and near zone environment is created, patrol task is performed as underwater robot
Planning basis.
Wherein, routing iinformation includes electronic chart, bottom relief map, submarine cable buried depth data etc..
(1.2) job task module is generated, is configured to carry out submarine cable patrol task setting according to digital chart, with
Generate job task.
Patrol mode is divided into two kinds of origin recycling and far point recycling according to whether underwater robot returns to task starting point：
A) origin recycling refers to surface mother ship laying the position of underwater robot as operation origin, at this time underwater machine
Device people, which drives into, navigates by water and carries out inspection operation above the routing inspection section of setting, make a return voyage in artificial set of routing inspection section
Point is independently determined to make a return voyage a little according to accumulator group Power Reserve along original route backtracking origin.
The work pattern can carry out routing inspection section the round-trip detection of inspection twice, can make up underwater robot because leading
Polling path deviates caused by accumulated error of navigating, and ensures preferable inspection quality.But it is limited to the limited electricity storage of underwater robot
Standby, inspection operation is closer to the distance under the patrol mode；
B) far point recycling refers to setting one distal end recovery point, and surface mother ship drives towards this after laying underwater robot
Recovery point position in distal end waits, and underwater robot drives into navigation above the routing inspection section of setting and carries out inspection operation at this time,
And depart from submarine cable Routing Area near the recovery point of distal end and drive towards distal end recovery point, it is recycled by surface mother ship.Due to being one
Secondary by inspection section rather than to cruise, which can greatly improve the inspection distance of underwater robot, carry
Multibeam sonar is this kind of to be swept especially suitable during the acoustic sounding equipment for surveying wider range, therefore can be used as following transnational remote sea
The Main Patterns of bottom cable inspection operation.
(1.3) path planning module is configured to need according to mission requirements, marine environment, energy reserves and carried
Mission payload these elements cook up the optimal navigation path that underwater robot performs job task.
The purpose of path planning is to obtain a series of continuous path points, as the sky of underwater robot task navigation
Intermediate node guides it to complete inspection job task.
Mostly due to Submarine Cable Laying Route Selection are more straight and grading sea-floor reliefs, to underwater
The horizontal plane path planning requirement of robot navigation is not very high, but when carrying different task load, just to underwater
The vertical plane path planning of people's navigation proposes different requirements.
When such as carrying Underwater Camera visual detection equipment, underwater robot needs to navigate by water close to seabed surface as far as possible
(near away from sea floor height), to ensure image-capturing resolution；Side scan sonar, sub-bottom profiler are carried when sonar sets, underwater machine
Device people may be located remotely from seabed navigation, but depthkeeping need to be kept to navigate by water (be kept fixed keel depth) at a slow speed；Carry the magnetic spies such as magnetometer
During measurement equipment, underwater robot to be made to keep appropriate distance with seabed, and considers the influence that trailing cable navigates by water itself.Cause
This, underwater robot is that one kind includes horizontal plane two axial coordinate, depth, height for the path planning of submarine cable inspection operation
Space-time planning.
(2) task control intelligent body is responsible for the management and running between each component of system in inspection operation process
And condition monitoring, timely processing is discrete and accident, ensures the navigation safety of underwater robot and smoothly holding for job task
Row.
(3) dynamic decision intelligent body, the processing of the underwater collision avoidance being responsible for during navigating by water and other default special circumstances.
Whether having barrier in navigation path is judged to the detection information in marine site in front of underwater robot course using Forward-looking Sonar
Hinder, when there are being made decisions on one's own collision prevention mode (horizontal plane bypasses or vertical plane bypasses) according to obstacle identity during obstacle, and with work
Industry planning intelligent body cooperation is online to carry out local path replanning, makes underwater robot Safe Avoidance of collision, and by the speed of a ship or plane of variation, boat
Each intelligent body of function execution level is passed to, sailing commands such as depth, height.When special circumstances such as generation power reserves deficiencies
When, dynamic decision intelligent body also can independently make Rational Decision, send task alteration command, ensure the navigation peace of underwater robot
Entirely.
(4) information communication intelligent body is responsible for the information exchange of underwater robot and remote control.
Information communication intelligent body is the window that operation maintenance personnel assigns job instruction.When the remote submarine cable inspection of progress
When, underwater robot can not use underwater acoustic communication set to carry out real-time information interaction with lash ship, be only capable of using wireless telecommunications system
(data radio station) realizes information data transmission.But wireless communication is hindered be subject to water body, only robot floats on closely under water
A small amount of key message such as wireless telecommunications, transformation task instruction could be realized during the water surface by stretching out the combined antenna on sea level.Separately
Outside, Airborne GPS location receiver obtains navigator fix initialization information and is completed also by wireless telecommunications across the sea.
(5) state aware intelligent body is responsible for obtaining underwater robot itself and surrounding enviroment status information, and based on it
The demand of its intelligent body carries out data processing and transmission to above-mentioned status information.
The navigation appearance of underwater robot is such as obtained by optical fiber compass sensor, Doppler log, altimeter, depth gauge
State, the speed of a ship or plane, voyage, away from information such as sea floor height, keel depths.
(6) energy management intelligent body is responsible for monitoring in real time the energy storage state of accumulator group.
When energy storage is too low, send a warning message in time to task control intelligent body, make underwater robot make a return voyage in time or
It floats in safety zone, can also ensure the reasonable employment of accumulator group to prolong the service life.
(7) safety management intelligent body is responsible for carrying out fault diagnosis to underwater robot, endanger to body abnormality
Danger perceives, definite emergency processing mode, and coordinate with task control intelligent body and implement self-protection measure in time.
Wherein, dangerous criminal：Such as leak, breakage, ultra-deep.
(8) navigator fix intelligent body is responsible for the navigation and positioning of underwater robot.
Positioning initialization information is obtained on sea using GPS positioning receiver and combined antenna, to realize position and time
Correction obtains underwater robot by sensors such as optical fiber compass sensor, Doppler log (DVL), altimeter, depth gauges
Operational configuration information, and underwater navigation information reckoning is carried out using data anastomosing algorithm, provide control for navigation control intelligent body
Foundation.
(9) navigation control intelligent body, according to task control intelligent body, dynamic decision intelligent body and navigator fix intelligent body
Definite navigation control instruction by controlling different propeller and rudder, adjusts navigational parameter in real time, realizes water
The multiple degrees of freedom navigation of lower robot.
(10) load control intelligent body, is responsible for the real-time control to airborne mission payload, and detection data is received
Collection and storage.
Such as：Angle adjustment of switch, underwater camera machine head to side scan sonar etc..
(2) Powered Propulsion portion
Powered Propulsion portion includes main thruster, vertical auxiliary propeller, horizontal auxiliary propeller, rudder and elevator.
Wherein, main thruster is responsible for underwater robot and provides navigating power and speed of a ship or plane control ability, can pass through rotating
To determine to advance or retreat；
Vertical auxiliary propeller be responsible for underwater robot low speed or it is static when generate and float and dive campaign；
Horizontal auxiliary propeller be responsible for underwater robot low speed or it is static when generate horizontal shifting movement；
Rudder can change the course angle of underwater robot and then generate divertical motion；
Elevator, which can change the pitch angle of underwater robot and then generate, to float and dive campaign.
Task control portion controls main thruster, vertical auxiliary propeller and horizontal auxiliary propeller these three propellers in real time
The rotation of propeller, and the angle of elevator and rudder is adjusted, advance, retreat, turning left, is right so that underwater robot is realized
Turn, floatings, dive, spot hover, fixed point rotary, left and right translation in any one move or several movement combinations, make it have
Powerful and flexible multiple degrees of freedom operational capabilities.
Embodiment two
Fig. 2 is two structural representation of embodiment of the underwater robot control system for submarine cable inspection of the present invention
Figure.
As shown in Fig. 2, on the basis of embodiment one, the underwater robot control for submarine cable inspection of the embodiment
System processed further includes mission payload portion.
Mission payload portion is connected with task controller, and the mission payload portion is configured as：It is set using mission payload reconstruct
In identical body position, different mission payloads is carried according to job task for meter.
The present invention had both reduced the size and weight of underwater robot using this Configuration design, also met different work
The needs of environment and task improve the practicability of underwater robot inspection operation.
Specifically, mission payload is Underwater Camera, side-scan sonar, multibeam sonar, sub-bottom profiler or magnetometer.
Wherein, when (1) carries Underwater Camera (optical detection devices), routing submarine surface can be shot, judged
The embedded situation (whether taking off ditch or exposed) of submarine cable evaluates the coverage condition of marine sediment.When submarine cable damages
When wound or fracture accident, degree of impairment can be also found out according to video image or breaking point position is accurately positioned.It is but underwater
The visual range of video camera is influenced by water quality transparency, needs that underwater robot is made to navigate by water close to seabed in water turbidity marine site,
To ensure shooting effect, but it can so influence the navigation safety of underwater robot.
(2) carry side scan sonar/multibeam sonar (acoustic sounding equipment) when, the inspection operating type of underwater robot with
It is similar during carrying Underwater Camera, and since Acoustic Wave Propagation distance is remote, when operation is navigated by water underwater robot and seabed can protect
Hold safe distance.But this kind of equipment price is expensive, and its detection data need to be handled using professional software, and discrimination difficulty is big,
Not as good as video image simple, intuitive.
(3) when carrying sub-bottom profiler (acoustic sounding equipment), the stratum under routing submarine surface can be cutd open
Whether face is shown, judge the buried depth situation of submarine cable accordingly and produce fracture, can meet the detection need of embedded submarine cable
It asks.But the data analysis of this kind equipment is difficult, when carrying out remote submarine cable inspection, later data processing workload compared with
Greatly.
(4) when carrying magnetometer (magnetic survey equipment), the magnetic signature inside submarine cable can be obtained and feature becomes
Law, and determine therefrom that its actual operating status and with the presence or absence of defect, submarine cable that can be shallower to buried depth carries out state
Judge.But the Effect on Detecting of this kind equipment is easily influenced by seabed metal deposit, and it is man-machine to be mounted on underwater
, it is necessary to be navigated by water using pull-type, trailing cable can have an impact the navigation of underwater robot in internal portion.
It can be seen that above-mentioned mission payload (detecting devices) cuts both ways, it is therefore desirable to according to inspection job task and work
Industry environment is reasonably selected or is arranged in pairs or groups use.
The present invention also provides a kind of control methods of the underwater robot control system for submarine cable inspection.
Fig. 4 is the control method flow chart of the underwater robot control system for submarine cable inspection of the present invention.
As shown in figure 4, the control method of the underwater robot control system for submarine cable inspection of the present invention, bag
It includes：
Remote control assigns job task to underwater robot；
Task control portion receives the job task that remote control is assigned, and carries out path planning to job task to control
Powered Propulsion portion implements corresponding actions, realizes the navigation of underwater robot multiple degrees of freedom；Also navigational parameter is adjusted in real time simultaneously
It is whole, ensure that underwater robot smoothly completes given job task.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of underwater robot control system for submarine cable inspection, which is characterized in that including：
Remote control is located at more than the water surface and is responsible for assigning job task to underwater robot；And
Task control portion is connected with Powered Propulsion portion；The task control portion is configured as：Receive what remote control was assigned
Job task, and path planning is carried out so that Powered Propulsion portion to be controlled to implement corresponding actions to job task, realize underwater robot
Multiple degrees of freedom navigates by water；Also navigational parameter is adjusted in real time simultaneously, ensures that underwater robot smoothly completes given operation and appoints
Business.
2. the underwater robot control system of submarine cable inspection to be used for as described in claim 1, which is characterized in that described
Business controller is also connected with mission payload portion, and the mission payload portion is configured as：Using mission payload Configuration design, identical
Body position, different mission payload is carried according to job task.
3. the underwater robot control system of submarine cable inspection to be used for as claimed in claim 2, which is characterized in that described
Business load is Underwater Camera, side-scan sonar, multibeam sonar, sub-bottom profiler or magnetometer.
4. the underwater robot control system of submarine cable inspection to be used for as described in claim 1, which is characterized in that described dynamic
Power promotion part includes main thruster, vertical auxiliary propeller, horizontal auxiliary propeller, rudder and elevator.
5. the underwater robot control system of submarine cable inspection to be used for as described in claim 1, which is characterized in that described
Business control unit includes：
Work planning intelligent body is responsible for the job task received carrying out integrated planning, be realized from job task to path
The mapping of planning；And
Task control intelligent body, the management and running being responsible in inspection operation process between each component of system and state prison
Control, timely processing is discrete and accident, ensures the smooth execution of the navigation safety and job task of underwater robot；And
Dynamic decision intelligent body, the processing of the underwater collision avoidance being responsible for during navigating by water and other default special circumstances.
6. the underwater robot control system of submarine cable inspection to be used for as claimed in claim 5, which is characterized in that described
Business control unit further includes：
Information communication intelligent body is responsible for the information exchange of underwater robot and remote control；And
State aware intelligent body is responsible for obtaining underwater robot itself and surrounding enviroment status information, and based on other intelligence
The demand of body carries out data processing and transmission to above-mentioned status information；And
Energy management intelligent body is responsible for monitoring in real time the energy storage state of accumulator group.
7. the underwater robot control system of submarine cable inspection to be used for as claimed in claim 5, which is characterized in that described
Business control unit further includes：
Safety management intelligent body, is responsible for carrying out fault diagnosis to underwater robot, and dangerous criminal is carried out to body abnormality,
Definite emergency processing mode in time, and coordinate with task control intelligent body and implement self-protection measure；And
Navigator fix intelligent body is responsible for the navigation and positioning of underwater robot.
8. the underwater robot control system of submarine cable inspection to be used for as claimed in claim 7, which is characterized in that described
Business control unit further includes：
Navigation control intelligent body, determines according to task control intelligent body, dynamic decision intelligent body and navigator fix intelligent body
Control instruction is navigated by water, by controlling different propeller and rudder, navigational parameter is adjusted in real time, realizes underwater
The multiple degrees of freedom navigation of people；And
Load controls intelligent body, is responsible for the real-time control to airborne mission payload, and detection data is collected and is stored.
9. the underwater robot control system of submarine cable inspection to be used for as claimed in claim 5, which is characterized in that the work
Industry planning intelligent body further includes：
Digital chart module is created, the routing iinformation provided based on Submarine Cable Laying construction party is provided, creates reaction
Submarine cable route and near zone environment 3-dimensional digital sea chart, as underwater robot perform patrol task planning according to
According to；And
Job task module is generated, is configured to carry out submarine cable patrol task setting according to digital chart, to generate operation
Task；And
Path planning module is configured to need according to mission requirements, marine environment, energy reserves and the mission payload carried
These elements cook up the optimal navigation path that underwater robot performs job task.
10. a kind of underwater robot control system for being used for submarine cable inspection as claimed in any one of claims 1-9 wherein
Control method, which is characterized in that including：
Remote control assigns job task to underwater robot；
Task control portion receives the job task that remote control is assigned, and carries out path planning to job task to control power
Corresponding actions are implemented in promotion part, realize the navigation of underwater robot multiple degrees of freedom；Also navigational parameter is adjusted in real time simultaneously, is protected
Card underwater robot smoothly completes given job task.
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| CN108818574A (en) * | 2018-08-28 | 2018-11-16 | 深圳市智慧海洋科技有限公司 | Open, the restructural underwater robot control system of one kind and method |
| CN109242337A (en) * | 2018-09-28 | 2019-01-18 | 广西电网有限责任公司电力科学研究院 | A kind of Intelligent Mobile Robot resource allocation method towards provincial power network |
| CN109625220A (en) * | 2018-11-01 | 2019-04-16 | 国网浙江省电力有限公司 | There are cable remote underwater robot cruising inspection system and a method with light, sound, magnetic machine |
| CN109828606A (en) * | 2019-03-21 | 2019-05-31 | 青岛罗博飞海洋技术有限公司 | A kind of underwater net cage cruising inspection system |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN110927802A (en) * | 2019-11-29 | 2020-03-27 | 国网浙江省电力有限公司舟山供电公司 | Submarine cable fault accurate positioning method based on magnetic vector data and positioner |
| CN111007071A (en) * | 2019-12-20 | 2020-04-14 | 清华四川能源互联网研究院 | Underwater inspection control method and underwater inspection system |
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| CN111959722B (en) * | 2020-08-21 | 2022-05-17 | 广东海洋大学 | ROV ship bottom autonomous inspection method based on ship STL three-dimensional model |
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| CN113895580A (en) * | 2021-11-17 | 2022-01-07 | 国网智能科技股份有限公司 | Communication positioning device and method for cableless autonomous underwater robot |
| CN114408131A (en) * | 2021-12-29 | 2022-04-29 | 青岛五叠纪智能科技有限公司 | Bionic robot fish for daily inspection of underwater part of bridge |
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