CN108528665A - A kind of repeater of unmanned remotely controlled submersible vehicle - Google Patents
A kind of repeater of unmanned remotely controlled submersible vehicle Download PDFInfo
- Publication number
- CN108528665A CN108528665A CN201810481698.1A CN201810481698A CN108528665A CN 108528665 A CN108528665 A CN 108528665A CN 201810481698 A CN201810481698 A CN 201810481698A CN 108528665 A CN108528665 A CN 108528665A
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- China
- Prior art keywords
- tms
- underwater
- repeater
- navigation controller
- location information
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
Abstract
The embodiment of the present application discloses a kind of repeater of unmanned remotely controlled submersible vehicle, and repeater TMS includes：Multiple underwater propellers, navigation controller and locating module；The different direction of propulsion on the TMS are arranged in multiple underwater propeller；The navigation controller is connected with the locating module, multiple underwater propeller respectively；The locating module is used to send the location information of the TMS to the navigation controller；The navigation controller is used for when the location information of the TMS is unsatisfactory for preset position information, is controlled at least one of multiple underwater propeller underwater propeller and is worked, until the location information of the TMS meets the preset position information；Wherein, which includes the position location of the TMS.Autonomous dynamic positioning may be implemented in the TMS, without realizing positioning by the ship positioned dedicated for TMS, so that the cost when TMS assists ROV to carry out operation substantially reduces.
Description
Technical field
This application involves underwater operation fields, more particularly to a kind of repeater of unmanned remotely controlled submersible vehicle.
Background technology
Unmanned remotely controlled submersible vehicle (Remote Operated Vehicle, ROV) is mainly used for executing underwater observation, scanning
Task.Repeater (Tether Management System, TMS) is snorkeling under water and can carry the device of ROV, usually
TMS can coordinate ROV to use, for example, ROV can under water be made in a certain range centered on by the position location of TMS
Industry, wherein position location can be understood as longitude and latitude position.However, since TMS can determine because flow causes the TMS that can deviate
Position position, to influence the range that ROV carries out underwater operation.Therefore, when ROV carries out operation, usual TMS is determined
Position, to ensure that TMS is constantly in position location, to not interfere with the range that ROV carries out underwater operation.
In a kind of traditional TMS localization methods, need to complete the positioning to TMS by external force, it will usually using special
TMS is pulled for the ship of TMS positioning, so that TMS can complete to position.That is, traditional TMS localization methods
In, TMS can only be positioned by dedicated for the ship that TMS is positioned.
However, since the manufacturing cost of the ship positioned dedicated for TMS is higher, also, should be positioned dedicated for TMS
The rent of ship is also higher.So cost mistake when traditional TMS localization methods can cause to assist ROV to carry out operation using TMS
It is high.
Invention content
In order to solve the above-mentioned technical problem, described this application provides a kind of repeater TMS of unmanned remotely controlled submersible vehicle
Autonomous dynamic positioning may be implemented in TMS, without realizing positioning by the ship positioned dedicated for TMS, so that
The cost when TMS assists ROV to carry out operation substantially reduces.
The embodiment of the present application discloses following technical solution：
The embodiment of the present application provides a kind of repeater of unmanned remotely controlled submersible vehicle, and the repeater TMS includes：Multiple water
Lower propeller, navigation controller and locating module；
The different direction of propulsion on the TMS are arranged in the multiple underwater propeller；The navigation controller respectively with
The locating module, the multiple underwater propeller are connected；The locating module is used for described in navigation controller transmission
The location information of TMS；The navigation controller is used for when the location information of the TMS is unsatisfactory for preset position information, control
At least one of the multiple underwater propeller underwater propeller works, until the location information of the TMS meets institute
Until stating preset position information；Wherein, the preset position information includes the position location of the TMS.
Optionally, the multiple underwater propeller includes four underwater propellers.
Optionally, the different direction of propulsion on the TMS symmetrically are arranged in four underwater propellers.
Optionally, four underwater propellers are separately positioned on four different angles of the TMS.
Optionally, the TMS further includes：The power drive controller；The power drive controller with it is the multiple
Underwater propeller is connected, for providing electric energy needed for work for the multiple underwater propeller.
Optionally, the power drive controller is connected by umbilical cables with ship；The umbilical cables include power cord,
For the ship electric energy is provided for the power drive controller by the umbilical cables.
Optionally, the TMS further includes：Buoyancy support system；The buoyancy support system is floating again according to the TMS
Heart position, the balance setting in the agent structure of the TMS so that the TMS can self-righting.
Optionally, the TMS further includes：Underwater mating interlock；The underwater mating interlock is arranged described
The lower part of the agent structure of TMS is attached and locks for the suspending head to ROV.
Optionally, the TMS further includes：Main suspension centre；The main suspension centre is universal suspending head, for the deck straight-arm with ship
The docking facilities hung on match.
Optionally, the TMS is semi-submersible type repeater.
Optionally, the agent structure of the TMS is tower structure.
Optionally, the TMS is connect by umbilical cables with automatic cable storage winch, and the cable storage winch is arranged on ship；
The automatic cable storage winch is used to control the folding and unfolding of the umbilical cables.
The repeater TMS of unmanned remotely controlled submersible vehicle in the embodiment of the present application it can be seen from above-mentioned technical proposal includes：
Multiple underwater propellers, navigation controller and locating module.Wherein, the navigation controller respectively with the locating module, institute
Multiple underwater propellers are stated to be connected.The navigation controller receives the location information for the TMS that the locating module is sent
Afterwards, if the navigation controller determines that the location information is unsatisfactory for preset position information, illustrate that movement has occurred in TMS, then,
The navigation controller can be worked by controlling the underwater propeller in the TMS so that the TMS can be from trend
The corresponding position of the preset position information is moved, until to come back to the preset position information corresponding by the TMS
Position.In this way, the TMS can realize that autonomous dynamic positions, it is real without coming by the ship positioned dedicated for TMS
It now positions, so that the cost when TMS assists ROV to carry out operation substantially reduces.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of system structure diagram of the repeater of unmanned remotely controlled submersible vehicle provided by the embodiments of the present application；
Fig. 2 is a kind of side view of the repeater of unmanned remotely controlled submersible vehicle provided by the embodiments of the present application；
Fig. 3 is a kind of upward view of the repeater of unmanned remotely controlled submersible vehicle provided by the embodiments of the present application；
Fig. 4 is a kind of schematic diagram of a scenario provided by the embodiments of the present application.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Through inventor the study found that in traditional TMS localization methods, the positioning to TMS by external force completion is needed, is led to
Often can TMS be pulled using the ship positioned dedicated for TMS, so that TMS can complete to position.That is, traditional
In TMS localization methods, TMS can only be positioned by dedicated for the ship that TMS is positioned.However, due to fixed dedicated for TMS
The manufacturing cost of the ship of position is higher, also, should be also higher dedicated for the rent of the TMS ships positioned.So traditional
Cost when TMS localization methods can cause to assist ROV to carry out operation using TMS is excessively high.
For this purpose, the embodiment of the present application provides a kind of the repeater TMS, the TMS of unmanned remotely controlled submersible vehicle may include：
Multiple underwater propellers, navigation controller and global positioning system locating module.Wherein, the navigation controller can respectively with
The locating module, the multiple underwater propeller are connected.The navigation controller receives the institute that the locating module is sent
After the location information for stating TMS, if the navigation controller determines that the location information is unsatisfactory for preset position information, illustrate TMS
Movement has occurred, then, the navigation controller can be worked by controlling the underwater propeller in the TMS so that
The TMS can be moved from the corresponding position of preset position information described in trend, until the TMS come back to it is described pre-
If until the corresponding position of location information.In this way, the TMS can independently realize dynamic positioning, without by special
Positioning is realized for the ship of TMS positioning, so that the cost when TMS assists ROV to carry out operation substantially reduces.
Fig. 1 is a kind of system structure diagram of TMS provided by the present application, and the TMS 100 may include：It is multiple underwater
Propeller 400, navigation controller 300 and global positioning system locating module 200.
In the present embodiment, TMS 100 can be the repeater of complete submerged, can also be partly latent underwater half
Submersible repeater.
Wherein, the navigation controller 300 can be connect with the multiple underwater propeller 400.The navigation controller
300, which can control the underwater propeller 400, works, for example, the navigation controller 300 can control the multiple water
Lower propeller 400 is carried out at the same time work, can also only control the part underwater propeller in the multiple underwater propeller 400
400 are carried out at the same time work.
It should be noted that the different propulsion sides on the TMS 100 can be arranged in the multiple underwater propeller 400
To.For example, the TMS 100 may include four underwater propellers 400, and four underwater propellers 400 can be with
Symmetrically it is arranged in four of the TMS 100 different direction of propulsion, alternatively, four underwater propellers 400 can be with
It is separately positioned on four different angles of the TMS 100；When any one in four underwater propellers 400 is underwater
When propeller 400 is worked, the TMS 100 can be moved according to the 400 corresponding direction of propulsion of underwater propeller；
When two underwater propellers 400 in four underwater propellers 400 are carried out at the same time work, it is assumed that the two underwater propulsions
The direction of propulsion of device 400 respectively east, north, then, the TMS 100 can be moved southwester in direction.
The locating module 200 can be connect with the navigation controller 300.For example, the locating module 200 can lead to
The radio connections such as bluetooth, infrared ray, WIFI, radio station are crossed to be attached with the navigation controller 300.
Wherein, the locating module 200 can be used for obtaining the location information of the TMS 100 in real time, and can incite somebody to action
The location information of the TMS 100 is sent to the navigation controller 300, for example, the locating module 200 can be that the whole world is fixed
Position system (Global Positioning System, GPS) module.Wherein, the location information of the TMS 100 is appreciated that
For the real-time position information of the TMS 100, the location information may include the TMS 100 longitude and latitude position (such as
40°N、116°E)。
After the navigation controller 300 can be used for getting the location information of the TMS 100, the TMS is judged
Whether 100 location information meets preset position information；If it is not, so, the navigation controller 300 can control multiple underwater
At least one of propeller 400 underwater propeller 400 works, until described in the location information satisfaction of the TMS 100
Until preset position information.The preset position information may include the position location of the TMS 100, which can be with
It is interpreted as the TMS100 and needs fixed position, for example, the position location can be preset longitude and latitude position.
As an example it is assumed that preset position information includes position location (41 ° of N, 116 ° of E), and the navigation controller 300
The location information of the TMS 100 got is (40 ° of N, 116 ° of E), since the navigation controller 300 judges the position
Information (40 ° of N, 116 ° of E) is unsatisfactory for the position location (41 ° of N, 116 ° of E), and therefore, the navigation controller 300 can control
Underwater propeller 400 works so that the TMS 100 can be moved to the position location by position (40 ° of N, 116 ° of E)
(41 ° of N, 116 ° of E), to which the TMS 100 independently realizes dynamic positioning.
It is emphasized that in a kind of realization method of the present embodiment, the TMS 100 can also include：Electric power drives
Movement controller.The power drive controller can be connected with the multiple underwater propeller 400, also, the electric drive
Controller can be that multiple underwater propellers 400 in the TMS 100 provide the electric energy needed for its work.Wherein, the electricity
Power drive voltage transformation controller can be connected by umbilical cables with ship, also, may include power cord in the umbilical cables, this
Sample, the ship can provide electric energy by the umbilical cables for the electric drive voltage transformation controller.
The repeater TMS of unmanned remotely controlled submersible vehicle in the embodiment of the present application it can be seen from above-mentioned technical proposal includes：
Multiple underwater propellers, navigation controller and locating module.Wherein, the navigation controller respectively with the locating module, institute
Multiple underwater propellers are stated to be connected.The navigation controller receives the location information for the TMS that the locating module is sent
Afterwards, if the navigation controller determines that the location information is unsatisfactory for preset position information, illustrate that movement has occurred in TMS, then,
The navigation controller can be worked by controlling the underwater propeller in the TMS so that the TMS can be from trend
The corresponding position of the preset position information is moved, until to come back to the preset position information corresponding by the TMS
Position.In this way, the TMS can realize that autonomous dynamic positions, it is real without coming by the ship positioned dedicated for TMS
It now positions, so that the cost when TMS assists ROV to carry out operation substantially reduces.
In a kind of realization method of the embodiment of the present application, the side view of TMS 100 as shown in Figure 2, the TMS 100
Can also include：Buoyancy support system 500.
Wherein, the buoyancy support system 500 can be the heavy hull position according to the TMS 100, in the TMS
Balance setting in 100 agent structure, for example, the buoyancy support system 500 can balance and be arranged the TMS's 100
Weight hull position.In this way, when the TMS 100 topples, the buoyancy support system 500 can be relied on to make the TMS 100
It is autonomous to return just, achieve the purpose that restore upright condition, so that the TMS 100 realizes self-righting.Wherein, in this implementation
In example, the agent structure of the TMS 100 can be tower structure.
It should be noted that in one possible implementation, the buoyancy support system 500 can be by multiple floating
What power support air bag was constituted.
As it can be seen that the buoyancy support system 500 is arranged on the TMS 100, it is ensured that when the TMS100 occurs
When toppling, the TMS 100 can realize autonomous time just by the buoyancy support system 500, reach and restore upright condition
Purpose, to which the TMS 100 can realize self-righting.
In a kind of realization method of the embodiment of the present application, the upward view of TMS 100 as shown in Figure 3, the TMS 100
Can also include：Underwater mating interlock 600.The underwater mating interlock 600 can be arranged the TMS's 100
The lower part of agent structure, and the underwater mating interlock 600 can be used for that the suspending head of ROV is attached and is locked.
In this way, before ROV dives, the TMS 100 can open the docking interlock 600, with discharge the ROV make it is described
ROV can autonomous dive；It, can be by the underwater mating interlock 600 by the ROV after the ROV floats in place
Locking so that the connection of the ROV and the TMS 100 are more solid and reliable.
In a kind of realization method of the embodiment of the present application, the TMS 100 can also include：Main suspension centre.One kind can
In the realization method of energy, the main suspension centre can be universal suspending head, and the main suspension centre can be used for hanging with the deck straight-arm of ship
On docking facilities match so that the ship can be by the docking facilities that the deck straight-arm is hung on by the TMS
100 are fastened.
In a kind of realization method of the embodiment of the present application, schematic diagram of a scenario as shown in Figure 4, the TMS100 can lead to
It crosses umbilical cables 110 to connect with automatic cable storage winch 800, wherein the cable storage winch 800 can be arranged on ship 700.And
And the other end of the umbilical cables 110 can be with unmanned remotely controlled submersible vehicle (Remote Operated Vehicle, ROV) 900
Connection.Specifically, the automatic cable storage winch 800 can be used for controlling the folding and unfolding of the umbilical cables 110, to realize described
When TMS 100 assists 900 dives of the ROV or floats, folding and unfolding can be carried out to the umbilical cables 110, so as to avoid
Umbilical cables 110 are stated to impact the navigation of the ROV 900.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment it
Between just to refer each other for identical similar part, each embodiment focuses on the differences from other embodiments.
Equipment and system embodiment described above is only schematical, wherein as the unit that separating component illustrates can be or
Person, which may not be, to be physically separated.Some or all of module therein can be selected according to the actual needs to realize this
The purpose of example scheme.Those of ordinary skill in the art are without creative efforts, you can with understand and it is real
It applies.
The above, only this preferable specific implementation mode, but the protection domain of the application is not limited thereto, it is any
Those familiar with the art in the technical scope that the application discloses, all answer by the change or replacement that can be readily occurred in
Cover within the protection domain of the application.Therefore, the protection domain of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of repeater of unmanned remotely controlled submersible vehicle, which is characterized in that the repeater TMS includes：Multiple underwater propellers,
Navigate by water controller and locating module；
The different direction of propulsion on the TMS are arranged in the multiple underwater propeller；The navigation controller respectively with it is described
Locating module, the multiple underwater propeller are connected；The locating module is used to send the TMS's to the navigation controller
Location information；The navigation controller is used for when the location information of the TMS is unsatisfactory for preset position information, and control is described more
At least one of a underwater propeller underwater propeller works, until the location information of the TMS meets described preset
Until location information；Wherein, the preset position information includes the position location of the TMS.
2. TMS according to claim 1, which is characterized in that the multiple underwater propeller includes four underwater propellers.
3. TMS according to claim 2, which is characterized in that four underwater propellers symmetrically are arranged in institute
State the different direction of propulsion on TMS.
4. TMS according to claim 2, which is characterized in that four underwater propellers are separately positioned on the TMS's
On four different angles.
5. TMS according to claim 1, which is characterized in that the TMS further includes：The power drive controller；It is described
Power drive controller is connected with the multiple underwater propeller, electric needed for work for being provided for the multiple underwater propeller
Energy.
6. TMS according to claim 5, which is characterized in that the power drive controller passes through umbilical cables and ship phase
Even；The umbilical cables include power cord, are provided for the power drive controller by the umbilical cables for the ship
Electric energy.
7. TMS according to claim 1, which is characterized in that the TMS further includes：Buoyancy support system；The buoyancy branch
Support system is the heavy hull position according to the TMS, the balance setting in the agent structure of the TMS so that the TMS can
Self-righting.
8. TMS as claimed in any of claims 1 to 7, which is characterized in that the TMS further includes：Underwater mating connects
Locking device；The underwater mating interlock is arranged in the lower part of the agent structure of the TMS, is carried out for the suspending head to ROV
Connection and locking.
9. TMS as claimed in any of claims 1 to 7, which is characterized in that the TMS is semi-submersible type repeater.
10. TMS as claimed in any of claims 1 to 7, which is characterized in that the TMS is by umbilical cables and automatically
Cable storage winch connects, and the cable storage winch is arranged on ship；The automatic cable storage winch is used to control the receipts of the umbilical cables
It puts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810481698.1A CN108528665A (en) | 2018-05-18 | 2018-05-18 | A kind of repeater of unmanned remotely controlled submersible vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810481698.1A CN108528665A (en) | 2018-05-18 | 2018-05-18 | A kind of repeater of unmanned remotely controlled submersible vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN108528665A true CN108528665A (en) | 2018-09-14 |
Family
ID=63472300
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810481698.1A Pending CN108528665A (en) | 2018-05-18 | 2018-05-18 | A kind of repeater of unmanned remotely controlled submersible vehicle |
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| CN205239870U (en) * | 2015-09-09 | 2016-05-18 | 北京南风科创应用技术有限公司 | Unmanned remotely controlled submersible vehicle |
| CN106394815A (en) * | 2016-10-28 | 2017-02-15 | 杭州电子科技大学 | Combined system of unmanned ship and unmanned submersible |
| CN208278298U (en) * | 2018-05-18 | 2018-12-25 | 北京南风科创应用技术有限公司 | A kind of repeater of unmanned remotely controlled submersible vehicle |
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2018
- 2018-05-18 CN CN201810481698.1A patent/CN108528665A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159320A (en) * | 2014-08-12 | 2015-12-16 | 天津北洋蓝水科技有限公司 | Underwater target detection platform system suitable for complex water area and using method thereof |
| CN205239870U (en) * | 2015-09-09 | 2016-05-18 | 北京南风科创应用技术有限公司 | Unmanned remotely controlled submersible vehicle |
| CN106394815A (en) * | 2016-10-28 | 2017-02-15 | 杭州电子科技大学 | Combined system of unmanned ship and unmanned submersible |
| CN208278298U (en) * | 2018-05-18 | 2018-12-25 | 北京南风科创应用技术有限公司 | A kind of repeater of unmanned remotely controlled submersible vehicle |
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