CN109292056B - Cable-controlled underwater robot retraction and extension control method - Google Patents
Cable-controlled underwater robot retraction and extension control method Download PDFInfo
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- CN109292056B CN109292056B CN201811325092.5A CN201811325092A CN109292056B CN 109292056 B CN109292056 B CN 109292056B CN 201811325092 A CN201811325092 A CN 201811325092A CN 109292056 B CN109292056 B CN 109292056B
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- cable
- underwater robot
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- water flow
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- 238000000034 method Methods 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 47
- 238000004804 winding Methods 0.000 claims abstract description 38
- 238000009434 installation Methods 0.000 claims description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000003954 umbilical cord Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of cable-controlled underwater robots, and discloses a cable-controlled underwater robot retraction control method, which comprises the following steps: the winding and unwinding device monitors tension from the umbilical cable in real time; the control system adjusts the propelling force of the cable-controlled underwater robot and the pulling force of the winding and unwinding device on the umbilical cable according to the pulling force of the umbilical cable, so that the umbilical cable is in a tensioning state. According to the invention, the tension from the umbilical cable is monitored in real time through the winding and unwinding device, and the control system adjusts the propelling force of the cable-controlled underwater robot and the tension of the winding and unwinding device on the umbilical cable according to the real-time tension, so that the umbilical cable is always in a tensioning state in the winding and unwinding processes, the winding and knotting of the umbilical cable are avoided, the cable-controlled underwater robot cannot float along with the impact force of water flow, and the fixed-point observation of the cable-controlled underwater robot can be realized.
Description
Technical Field
The invention relates to the technical field of cable-controlled underwater robots, in particular to a cable-controlled underwater robot retraction control method.
Background
The cable-controlled underwater robot is one ultimate underwater robot and is one important tool for ocean development and underwater operation. When the cable-controlled underwater robot works, the onshore unit is connected with the cable-controlled underwater robot body through an umbilical cable on the winding and unwinding device, the umbilical cable provides electric energy for the cable-controlled underwater robot and is responsible for signal transmission, and under the normal condition, when the cable-controlled underwater robot works, the umbilical cable floats in water in a free state.
When the cable-controlled underwater robot works in a culvert and other occasions, equipment can be separated from the sight of an operator when entering the culvert. When the cable is in a complex working condition or is out of sight of an operator, the umbilical cable is easy to wind, so that the cable-controlled underwater robot is difficult to recover. In addition, when the water flow is large or unstable, the thrust of the cable-controlled underwater robot is difficult to resist the thrust of the water flow, so that the cable-controlled underwater robot can float along with the water flow, and fixed-point observation is difficult to realize.
Disclosure of Invention
The invention aims to provide a cable-controlled underwater robot retraction control method which can avoid winding of an umbilical cable and can realize fixed-point observation of the cable-controlled underwater robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cable-controlled underwater robot retraction and release control method comprises the following steps:
the winding and unwinding device monitors tension from the umbilical cable in real time;
the control system adjusts the propelling force of the cable-controlled underwater robot and the pulling force of the winding and unwinding device on the umbilical cable according to the pulling force of the umbilical cable, so that the umbilical cable is in a tensioning state.
Preferably, the control system controls the retraction device to apply a constant tension to the umbilical during the lowering of the cable downstream.
Preferably, when the thrust of water flow to the cable-controlled underwater robot is greater than the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot to stop working, so that the water flow thrust pushes the cable-controlled underwater robot to advance.
Preferably, when the thrust of the water flow to the cable-controlled underwater robot is smaller than or equal to the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot to generate the downstream thrust, so that the sum of the downstream thrust and the water flow thrust is greater than the constant tension, and the cable-controlled underwater robot advances.
Preferably, the control system controls the retraction device to apply a constant tension to the umbilical as the cable is retracted downstream.
Preferably, when the thrust of water flow to the cable-controlled underwater robot is greater than or equal to the constant pulling force, the control system controls the propulsion system of the cable-controlled underwater robot to generate a counter-flow propulsion force, so that the sum of the counter-flow propulsion force and the constant pulling force is greater than the water flow thrust force, and the cable-controlled underwater robot is recycled.
Preferably, when the thrust of water flow to the cable-controlled underwater robot is smaller than the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot to stop working, so that the constant tension pulls the cable-controlled underwater robot to recover.
Preferably, when observing at a fixed point under the downstream working condition, the control system controls the retraction device to apply a constant tension to the umbilical cable.
Preferably, when the thrust of water flow to the cable-controlled underwater robot is larger than the constant tension, the control system releases the setting of the constant tension between the winding and unwinding device and the umbilical cable and controls the winding and unwinding device not to unwind the umbilical cable, so that the tension of the cable-controlled underwater robot to the umbilical cable is transmitted to the fixed installation position of the winding and unwinding device.
Preferably, when the pushing force of the water flow on the cable-controlled underwater robot is smaller than the constant pulling force:
the control system controls a propulsion system of the cable-controlled underwater robot to generate a downstream propulsion force, so that the sum of the downstream propulsion force and the water flow thrust force is equal to constant tension;
or the control system releases the setting of constant tension between the winding and unwinding device and the umbilical cable and controls the winding and unwinding device not to unwind the umbilical cable, so that the tension of the umbilical cable by the cable-controlled underwater robot is transmitted to the fixed installation position of the winding and unwinding device.
The invention has the beneficial effects that:
the tension from the umbilical cable is monitored in real time through the winding and unwinding device, the control system adjusts the propelling force of the cable-controlled underwater robot and the tension of the winding and unwinding device on the umbilical cable according to the real-time tension, so that the umbilical cable is always in a tensioning state in the winding and unwinding processes, the winding and knotting of the umbilical cable are avoided, the cable-controlled underwater robot cannot float along with the impact force of water flow, and the fixed-point observation of the cable-controlled underwater robot can be achieved.
Drawings
Fig. 1 is a schematic structural diagram of an underwater observation device according to an embodiment of the present invention;
FIG. 2 is a flow chart of the cable-controlled underwater robot deploying and retracting control method according to the embodiment of the invention during cable lowering in a downstream manner;
fig. 3 is a flowchart of the cable-controlled underwater robot retraction control method according to the embodiment of the present invention during cable retraction downstream.
In the figure:
1. a retracting device;
2. an umbilical cable;
3. cable controlled underwater robot.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The underwater observation equipment shown in figure 1 comprises a winding and unwinding device 1, an umbilical cable 2 and a cable-controlled underwater robot 3, wherein the winding and unwinding device 1 is fixed on the shore during working, so that the umbilical cable cannot be driven by the tension of the umbilical cable 2, the winding and unwinding of the winding and unwinding device 1 are completed through a control handle, the cable is unwound when a rocker is forwards, the cable is unwound when the rocker is backwards, and the umbilical cable 2 is locked by a motor of the winding and unwinding device 1 when the rocker is loosened.
The invention provides a cable-controlled underwater robot retraction control method, which comprises the following steps: the winding and unwinding device 1 monitors the tension from the umbilical cable 2 in real time; the control system adjusts the propelling force of the cable control underwater robot 3 and the pulling force of the retraction device 1 on the umbilical cable 2 according to the pulling force of the umbilical cable 2, so that the umbilical cable 2 is in a tensioning state.
In the invention, the tension from the umbilical cable 2 is monitored in real time through the retraction device 1, and the control system adjusts the propelling force of the cable-controlled underwater robot 3 and the tension of the retraction device 1 on the umbilical cable 2 according to the real-time tension, so that the umbilical cable 2 is always in a tensioning state in the retraction process, the winding and knotting of the umbilical cable 2 are avoided, the cable-controlled underwater robot 3 cannot float along with the impact force of water flow, and the fixed-point observation of the cable-controlled underwater robot 3 can be realized.
The winding and unwinding device 1 judges the working condition of real-time water flow through the change of the tension by monitoring the tension from the umbilical cable 2 in real time.
In this embodiment, when the umbilical cable is laid down in the downstream direction, the control system controls the retraction device 1 to apply a constant pulling force to the umbilical cable 2 according to the specific water flow condition.
Specifically, as shown in fig. 2, when the water flow velocity is high and the thrust of the water flow to the cable-controlled underwater robot 3 is greater than the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot 3 to stop working, so that the water flow thrust pushes the cable-controlled underwater robot 3 to advance. When the water flow speed is low and the thrust of the water flow to the cable-controlled underwater robot 3 is smaller than or equal to the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot 3 to generate the downstream propulsion force, so that the sum of the downstream propulsion force and the water flow thrust is larger than the constant tension.
In this embodiment, when the umbilical cord is retracted downstream, the control system controls the retraction device 1 to apply a constant pulling force to the umbilical cord 2 according to the specific water flow condition.
Specifically, as shown in fig. 3, when the water flow rate is high and the thrust of the water flow to the cable-controlled underwater robot 3 is greater than or equal to the constant pulling force, the control system controls the propulsion system of the cable-controlled underwater robot 3 to generate a reverse flow propulsion force, so that the sum of the reverse flow propulsion force and the constant pulling force is greater than the water flow thrust force. When the water flow speed is low and the pushing force of the water flow on the cable-controlled underwater robot 3 is smaller than the constant pulling force, the control system controls the pushing system of the cable-controlled underwater robot 3 to stop working, so that the cable-controlled underwater robot 3 is pulled by the constant pulling force to be recovered.
In this embodiment, when observing at a fixed point under the downstream condition, the control system controls the retraction device 1 to apply a constant pulling force to the umbilical cable 2 according to the specific water flow condition.
Specifically, when the water flow speed is high and the thrust of the water flow to the cable-controlled underwater robot 3 is greater than the constant tension, the control system releases the setting of the constant tension between the winding and unwinding device 1 and the umbilical cable 2 and controls the winding and unwinding device 1 not to unwind the cable, and controls the propulsion system of the cable-controlled underwater robot 3 to stop working, so that the tension of the cable-controlled underwater robot 3 to the umbilical cable 2 is directly transmitted to the fixed installation position of the winding and unwinding device 1. When the thrust of water flow to the cable-controlled underwater robot 3 is smaller than the constant tension: the control system controls a propulsion system of the cable-controlled underwater robot 3 to generate a downstream propulsion force, so that the sum of the downstream propulsion force and the water flow propulsion force is equal to constant tension; or the control system releases the arrangement of constant tension between the winding and unwinding device 1 and the umbilical cable 2 and controls the winding and unwinding device 1 not to unwind the umbilical cable, so that the tension of the umbilical cable 2 by the cable-controlled underwater robot 3 is transmitted to the fixed installation position of the winding and unwinding device 1. And when the thrust of the water flow to the cable-controlled underwater robot 3 is equal to the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot 3 to stop working.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. A cable-controlled underwater robot retraction control method is characterized by comprising the following steps:
the winding and unwinding device (1) monitors the tension from the umbilical cable (2) in real time;
the control system adjusts the propelling force of the cable control underwater robot (3) and the pulling force of the retraction device (1) on the umbilical cable (2) according to the pulling force of the umbilical cable (2), so that the umbilical cable (2) is in a tensioning state;
when the cable is lowered down along the current flow, the control system controls the retraction device (1) to apply a constant tension to the umbilical cable (2);
when the thrust of water flow to the cable-controlled underwater robot (3) is larger than the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot (3) to stop working, so that the water flow thrust pushes the cable-controlled underwater robot (3) to move forward;
when the cable is collected downstream, the control system controls the collecting and releasing device (1) to apply a constant pulling force to the umbilical cable (2);
when the thrust of water flow to the cable-controlled underwater robot (3) is larger than or equal to the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot (3) to generate a countercurrent propulsion force, so that the sum of the countercurrent propulsion force and the constant tension is larger than the water flow thrust, and the cable-controlled underwater robot (3) is recycled.
2. The cable-controlled underwater robot retracting and releasing control method according to claim 1, wherein when the thrust of water flow to the cable-controlled underwater robot (3) is less than or equal to the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot (3) to generate a downstream thrust, so that the sum of the downstream thrust and the water flow thrust is greater than the constant tension, and the cable-controlled underwater robot (3) advances.
3. The cable-controlled underwater robot retracting and releasing control method according to claim 1, wherein when the thrust of water flow to the cable-controlled underwater robot (3) is smaller than the constant tension, the control system controls the propulsion system of the cable-controlled underwater robot (3) to stop working, so that the constant tension pulls the cable-controlled underwater robot (3) to recover.
4. The cable-controlled underwater robot deploying and retracting control method according to claim 1, characterized in that the control system controls the deploying and retracting device (1) to apply a constant tension to the umbilical (2) during fixed-point observation under a downstream working condition.
5. The cable-controlled underwater robot retracting and releasing control method according to claim 4, characterized in that when the thrust of water flow to the cable-controlled underwater robot (3) is greater than the constant tension, the control system releases the setting of the constant tension between the retracting and releasing device (1) and the umbilical cable (2) and controls the retracting and releasing device (1) not to release the cable, so that the tension of the umbilical cable (2) by the cable-controlled underwater robot (3) is transmitted to the fixed installation position of the retracting and releasing device (1).
6. The cable-controlled underwater robot retracting and releasing control method according to claim 4, wherein when the thrust of water flow to the cable-controlled underwater robot (3) is less than a constant tension:
the control system controls a propulsion system of the cable-controlled underwater robot (3) to generate a downstream propulsion force, so that the sum of the downstream propulsion force and the water flow propulsion force is equal to a constant pulling force;
or the control system releases the arrangement of constant tension between the winding and unwinding device (1) and the umbilical cable (2) and controls the winding and unwinding device (1) not to unwind, so that the tension of the umbilical cable (2) by the cable-controlled underwater robot (3) is transmitted to the fixed installation position of the winding and unwinding device (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811325092.5A CN109292056B (en) | 2018-11-08 | 2018-11-08 | Cable-controlled underwater robot retraction and extension control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811325092.5A CN109292056B (en) | 2018-11-08 | 2018-11-08 | Cable-controlled underwater robot retraction and extension control method |
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| Publication Number | Publication Date |
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| CN109292056A CN109292056A (en) | 2019-02-01 |
| CN109292056B true CN109292056B (en) | 2021-04-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11892442B2 (en) * | 2022-01-25 | 2024-02-06 | Technical Centre For Soil, Agriculture And Rural Ecology And Environment, Ministry Of Ecology And Environment | Comprehensive system for potential risk identification and pollution prewarning of groundwater |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106809358B (en) * | 2015-12-01 | 2018-10-09 | 上海航事志汇海洋装备有限公司 | Nuclear power station cooling water diversion culvert detects robot system and implementation |
| CN105752337B (en) * | 2016-02-26 | 2018-04-03 | 北京计算机技术及应用研究所 | One kind is tethered at unmanned plane automatic deploying and retracting line control system |
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Patent Citations (4)
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|---|---|---|---|---|
| CN201458616U (en) * | 2009-04-24 | 2010-05-12 | 武汉海王机电工程技术公司 | Automatic constant-tension retraction and cable laying umbilical cable winch device |
| CN103195662A (en) * | 2011-03-14 | 2013-07-10 | 罗琮贵 | Wing ring, wing ring mechanism and method |
| CN108083150A (en) * | 2017-10-31 | 2018-05-29 | 武汉船用机械有限责任公司 | A kind of cable reel system |
| CN108678139A (en) * | 2018-01-12 | 2018-10-19 | 哈尔滨盛迪电力设备有限公司 | Culvert apparatus for examination and repair under the double expelling waters of combined type |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US11892442B2 (en) * | 2022-01-25 | 2024-02-06 | Technical Centre For Soil, Agriculture And Rural Ecology And Environment, Ministry Of Ecology And Environment | Comprehensive system for potential risk identification and pollution prewarning of groundwater |
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| CN109292056A (en) | 2019-02-01 |
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Address after: 300457 Tianjin Binhai New Area Tianjin Development Zone Muning road No.45 Jinbin development plant No.7 Patentee after: Shenzhen Blue Ocean Technology Co.,Ltd. Address before: 300457 Tianjin Binhai New Area Tianjin Development Zone Muning road No.45 Jinbin development plant No.7 Patentee before: Tianjin shenzhilan Marine Equipment Technology Co.,Ltd. |
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Address after: 300457 Tianjin Binhai New Area Tianjin Development Zone Muning road No.45 Jinbin development plant No.7 Patentee after: Tianjin shenzhilan Marine Equipment Technology Co.,Ltd. Address before: 300457 Tianjin Binhai New Area Development Zone Muning road No.45 Jinbin development plant No.7 Patentee before: Tianjin Deepfar Ocean Technology Co.,Ltd. |
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Effective date of registration: 20220811 Address after: No.58, nanxiange street, Xicheng District, Beijing 100038 Patentee after: China South to North Water Diversion group middle line Co.,Ltd. Patentee after: Shenzhen Blue Ocean Technology Co.,Ltd. Address before: 300457 Tianjin Binhai New Area Tianjin Development Zone Muning road No.45 Jinbin development plant No.7 Patentee before: Shenzhen Blue Ocean Technology Co.,Ltd. |