CN109515649A - A kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship - Google Patents
A kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship Download PDFInfo
- Publication number
- CN109515649A CN109515649A CN201811150552.5A CN201811150552A CN109515649A CN 109515649 A CN109515649 A CN 109515649A CN 201811150552 A CN201811150552 A CN 201811150552A CN 109515649 A CN109515649 A CN 109515649A
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- Prior art keywords
- underwater robot
- buoy
- lash ship
- powered
- short
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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
-
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of buoy pull-type underwater robot systems suitable for non-powered positioning lash ship, including short-wave communication buoy, short-wave communication buoy is moved ahead by the connection of umbilical cables as underwater robot is mobile, data detected by it are transferred to short-wave communication buoy by umbilical cables by underwater robot, and communication buoy is by wireless transmission by the data information transfer to non-powered positioning lash ship；When needing to operate underwater robot, non-powered positions the underwater robot operator on lash ship and issues instruction, and is sent to short-wave communication buoy through wireless transmission, which is transferred to underwater robot by umbilical cables by short-wave communication buoy.By using the mode of this system, not only avoid non-powered positioning lash ship position unstable, fluctuation is larger to carry out problem to underwater robot normal operation and safety belt, solves the biggest obstacle that underwater robot carries out seabed operation based on non-powered positioning lash ship.
Description
Technical field
The present invention relates to underwater robot control systems, and in particular to it is a kind of suitable for non-powered positioning lash ship buoy drag
Drag formula underwater robot system.
Background technique
At this stage, Large Underwater robot during carrying out seabed operation, is mounted on dynamic positioning lash ship, is moved
Power, which positions lash ship, moves the scheduled motion profile of stablizing of vessel holding position using the propulsion device of itself, so as to hydrous water
Lower robot carries out operation in seabed.But dynamic positioning ship cost is high, rent and it is dynamic send costly, and only rest in portion
Divide in large unit hand, sailing date is nervous.
Non-powered positions lash ship using relatively broad, and cost is relatively low, it is low to rent expense, in the market available ship type
And quantity is also more, using flexible, if but carry underwater robot use, since its multi-pass crosses anchoring approach holding position,
By the wind, wave, gush, flow etc. that environmental factors are larger, and change in location is larger, cannot still be provided at this stage for underwater robot more reliably
Workbench, need in underwater robot operation process lash ship with and underwater robot keep hight coordinate to cooperate, this is to ship
Long and underwater robot operator requirement is quite high, and this also tends to be difficult to realize, once it is affected by the external environment, the two
Cooperation appearance is a little inconsistent, and pulling force suffered by umbilical cables will aggravate suddenly between underwater robot and non-powered positioning lash ship, sternly
Ghost image rings the effect of underwater robot seabed operation, or even umbilical cables is caused to be broken, and directly results in underwater robot loss, causes
Larger urgent loss.
For small underwater robot, it is usually applicable only to calm water, camera is only carried and is optically inspected, to ship
It is only without any requirement, but this kind of small underwater robot can not carry out operation in seabed, be not belonging to scope of the present invention.
Summary of the invention
It is an object of the invention to overcoming above-mentioned the deficiencies in the prior art, provide a kind of suitable for non-powered positioning lash ship
Buoy pull-type underwater robot system positions non-powered to solve the cooperation of underwater robot and non-powered positioning lash ship
Lash ship by ambient wind, the position excursion for influencing to generate such as wave, gush, flow or fluctuation causes dragging to underwater robot.
To achieve the above object, the technical scheme is that
A kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship, including short-wave communication buoy,
The short-wave communication buoy is moved ahead by the connection of umbilical cables as underwater robot is mobile, and underwater robot is detected it
To data be transferred to short-wave communication buoy by umbilical cables, communication buoy is by wireless transmission by the data information transfer to non-
Dynamic positioning lash ship；When needing to operate underwater robot, non-powered positions the underwater robot operator on lash ship
Member's publication instruction, and it is sent to short-wave communication buoy through wireless transmission, which is passed through umbilical cables by short-wave communication buoy
It is transferred to underwater robot.
The underwater robot is powered using battery.
In the kentledge that the bottom of the underwater robot is equipped with, floating can not be drained by encountering underwater robot failure
When, kentledge is abandoned using acoustics remote control release remote control, mitigates robot quality, floats automatically after obtaining positive buoyancy.
It is also configured with emergency buoy in the underwater robot, when kentledge can not be abandoned, is remotely controlled by acoustics
The emergency buoy is discharged, emergency buoy carries nylon rope and floats on the surface of the water, finds for sea and recycle underwater robot.
The inside of the umbilical cables is optical fiber.
The buoy pull-type underwater robot system for being suitable for non-powered positioning lash ship further includes being mounted on non-move
Power positions the above water on lash ship, and the above water includes operation command unit, underwater robot operation and control unit
And underwater robot is laid and recovery unit；The operation command unit is used to carry out operation to non-powered positioning lash ship to refer to
It waves；The underwater robot operation is with control unit for underwater robot to be operated and controlled；The underwater robot
It lays to be used to appoint machine waterborne with recovery unit and is laid and recycled.
The buoy pull-type underwater robot system for being suitable for non-powered positioning lash ship further includes installing under water
Underwater portion in robot；The underwater portion includes carrying equipment and sensor, electronics storehouse, chassis and frame, underwater confession
Electric unit composition；Underwater power unit is by power delivery to electronic compartment, by the distribution of electronic compartment, commutation inversion, to be underwater
Propeller, sensor and the carrying equipment of robot provide power supply；Electronic compartment communication bus is then and in robot under water
Communication element is communicated, and signal is transferred to short-wave communication buoy by the optical fiber in umbilical cables, floating by wirelessly communicating
It is marked with communication to be sent out, the wireless receiver of non-powered positioning lash ship receives specific signal.
The short-wave communication buoy is lightweight buoy.
The carrying equipment and sensor include high-definition camera, holder, LED illumination lamp, posture/compass sensor, depth
Degree/height sensor, avoidance sonar, ultra-short baseline USBL, seabed operation tool.
Compared with prior art, the present invention the beneficial effect is that:
During seabed operation, buoy is as transition by wireless communication for this system, underwater robot and wireless communication
It is communicated between buoy by umbilical cables internal optical fiber, it is that only need to pull lightweight buoy that underwater robot, which moves ahead, is communicated
It is communicated between buoy and non-powered positioning lash ship by being wirelessly transferred realization, to realize non-powered positioning lash ship and underwater
Data exchange and operational order publication between people.In submarine cable detection process, navigation mark follows underwater robot mobile, non-dynamic
Power positioning working mother boat need to only keep certain communication range with communication buoy, both wireless highly difficult compounding practice；Simultaneously
Without direct physical connection between underwater robot and working mother boat, working mother boat positional fluctuation will not be to the detection of underwater robot
Operation and safety impact, and realize underwater robot and carry non-powered positioning working mother boat realization seabed operation.Therefore originally
System has following technical advantage:
(1) underwater robot can carry out submarine cable based on non-powered positioning lash ship and detect operation, conventional watercraft
It meets the requirements, without paying the dynamic positioning ship rental charge and the dynamic expense of sending etc. of great number.
(2) in terms of ship outfit, it is contemplated that underwater human needs, if building own submarine cable detects ship
Only, non-powered positioning ship expenditure of construction is significantly less than the expense of dynamic positioning ship, and expense difference is up to even hundred million grades of millions.
(3) relative to dynamic positioning ship, non-powered positioning workboat use is more extensive, in submarine cable detection process
In mutually conflict without having to worry about the power off time of schedule with sailing date, ordinary ships can be found at any time and carried out the work, mentioned significantly
High working efficiency can reply customer power supply without considering additional spare power off time as early as possible.
(4) dynamic positioning ship is relatively large ship, and it is inconvenient to call, and is not suitable for the shallower sea area operation of the depth of water, with
For the detection of Hainan networked system submarine cable, the neritic province domain that dynamic positioning ship is cannot be introduced into substantially within KP5 is examined
Operation is surveyed, and the non-powered of smaller ship type is used to position ship, calling is then more flexible, can be realized most of shallow sea section sea
The detection of bottom cable additionally generates the dynamic of other ships and sends expense without calling other ships again, while also improving work effect
Rate.
Detailed description of the invention
Fig. 1 is the buoy pull-type underwater robot system for positioning lash ship provided by the embodiment of the present invention suitable for non-powered
The work original image figure of system；
Fig. 2 is the composition block diagram of above water and underwater portion；
In figure: 1, short-wave communication buoy；2, umbilical cables；100, underwater robot；200, non-powered positions lash ship.
Specific embodiment
The contents of the present invention are described in further details with reference to the accompanying drawings and detailed description.
Embodiment:
Described refering to fig. 1, provided by the present embodiment suitable for non-powered positioning lash ship the buoy pull-type underwater
People's system mainly includes short-wave communication buoy 1, the short-wave communication buoy 1 by be built-in with optical fiber umbilical cables 2 connection with
Underwater robot 100 is mobile and moves ahead, and the data detected by it are passed through umbilical cables 2 and are transferred to wirelessly by underwater robot 100
The data information transfer to non-powered is positioned lash ship 200 by wireless transmission by communication buoy 1, short-wave communication buoy 1.In addition,
When needing to operate underwater robot 100, the underwater robot operator publication on non-powered positioning lash ship 200 refers to
It enables, and is sent to short-wave communication buoy 1 through wireless transmission, dependent instruction is transferred to water by umbilical cables 2 by short-wave communication buoy 1
Lower robot 100.In this way, non-powered positioning lash ship 200 on operator need to only keep at a distance from short-wave communication buoy 1
In normal communications range, without being fitted close communication buoy and underwater robot, operation difficulty is greatly reduced.That is,
Under water in 100 seabed operation whole process of robot, underwater robot 100 and non-powered positioning lash ship 200 are without any direct
Physical connection, buoy 1 keeps realizing communication by wireless communication between the two, although then non-powered positions lash ship in operation process
200 cannot keep position, will not all pull, will not be worked underwater robot 100 to underwater robot 100 with stormy waves movement etc.
Generate any influence.
It follows that not only avoiding non-powered positioning 200 position of lash ship unstable, wave by using the mode of this system
Dynamic property is larger carrys out problem to 100 normal operation of underwater robot and safety belt, and also avoids lash ship operator and underwater
The problem of highly difficult cooperation of robot 100 operates solves underwater robot 100 and is based on non-powered positioning lash ship progress sea
The biggest obstacle of bottom operation.
Specifically, as described in Figure 2, above-mentioned system further includes being mounted on above water and underwater portion.Wherein, portion waterborne
Divide and be mostly installed above non-powered positioning lash ship 200, including underwater robot lays and operates with recovery unit, underwater robot
With control unit, operation command unit and overtime work power supply unit；The operation command unit be used for non-powered position lash ship into
Row operation command；Underwater robot operation is with control unit for underwater robot to be operated and controlled；The underwater machine
Device people lays to be used to appoint machine waterborne with recovery unit and lays and recycle；Power supply unit of working overtime then is other each units
Power supply.
And the underwater portion is mounted in underwater human body, comprising carrying equipment and sensor, electronics storehouse, chassis with
Frame, underwater power unit composition；Underwater power unit is inverse by the distribution of electronic compartment, rectification by power delivery to electronic compartment
Change etc. provides power supply into the propeller of underwater robot, each sensor, carrying equipment etc..Electronic compartment communication bus then with each communication
Component, module are communicated, and signal is transferred to short-wave communication buoy by optical fiber in umbilical cables, by short-wave communication buoy
It is sent out with communication, working mother boat wireless receiver receives specific signal.Specifically, equipment mounted
And sensor mainly includes high-definition camera, holder, LED illumination lamp, posture/compass sensor, depth/height sensor, keeps away
Hinder sonar, ultra-short baseline USBL, seabed operation tool, to realize accurate detection comprehensive to submarine cable；Chassis and frame are then
Specifically include main body frame and the buoyancy regulating system for adjusting underwater robot buoyancy.
Since underwater robot umbilical cables fail directly to be connected with working mother boat, power can not be provided by working mother boat and led to
Believe power supply, therefore underwater robot is powered using battery, underwater robot underwater power unit mainly includes battery pack and power supply pipe
Reason system two parts.
Simultaneously as working mother boat (i.e. non-powered positioning lash ship) and underwater robot connect without direct physics in this system
It connects, need to consider how Emergency recovery when breaking down, therefore Emergency recovery system has been separately configured in robot under water, specifically
Ground, the bottom of robot is equipped with the kentledge of constant weight under water, when floating can not be drained by encountering underwater robot failure,
Kentledge is abandoned using acoustics remote control release (independent current source power supply) remote control, mitigates robot quality, is top-uped
It floats automatically after power.In addition, underwater robot can also configure emergency buoy, it is remotely controlled when kentledge can not be abandoned by acoustics
Release, this buoy carry nylon rope and float on the surface of the water, find for sea and recycle underwater robot.
Underwater robot other parts such as posture and compass sensor, depth and height sensor, avoidance sonar, ultrashort base
Laying and recovery system, operation and control system, work on line USBL, buoyancy regulating system, theme frame and working mother boat
Industry command system is then configured with conventional subsea robot and is no different.
When carrying out submarine cable detection using this system, non-powered positions lash ship selection without particular/special requirement, only needs deck plane
Product, the conventional watercraft that meets the requirements of carrying, find and rent it is very convenient, without having to worry about the power failure at sailing date and schedule
Between mutually conflict.
Specifically, above-mentioned short-wave communication buoy is lightweight buoy, with good floating effect.
Simply to illustrate that technical concepts and features of the invention, its purpose is allows in the art above-described embodiment
Those of ordinary skill cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent changes or modifications that the essence of content according to the present invention is made, should be covered by the scope of protection of the present invention.
Claims (9)
1. a kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship, which is characterized in that including wireless
Communication buoy, the short-wave communication buoy are moved ahead by the connection of umbilical cables as underwater robot is mobile, underwater robot
Data detected by it are transferred to short-wave communication buoy by umbilical cables, communication buoy believes the data by being wirelessly transferred
Breath is transferred to non-powered positioning lash ship；When needing to operate underwater robot, non-powered positions the underwater machine on lash ship
Device people operator issues instruction, and is sent to short-wave communication buoy through wireless transmission, and short-wave communication buoy is by the dependent instruction
Underwater robot is transferred to by umbilical cables.
2. the buoy pull-type underwater robot system suitable for non-powered positioning lash ship as described in claim 1, feature
It is, the underwater robot is powered using battery.
3. the buoy pull-type underwater robot system suitable for non-powered positioning lash ship as claimed in claim 1 or 2, special
Sign is, in the kentledge that the bottom of the underwater robot is equipped with, when floating can not be drained by encountering underwater robot failure,
Kentledge is abandoned using acoustics remote control release remote control, mitigates robot quality, floats automatically after obtaining positive buoyancy.
4. the buoy pull-type underwater robot system suitable for non-powered positioning lash ship as claimed in claim 3, feature
It is, emergency buoy is also configured in the underwater robot, when kentledge can not be abandoned, is remotely controlled and is discharged by acoustics
The emergency buoy, emergency buoy carry nylon rope and float on the surface of the water, find for sea and recycle underwater robot.
5. the buoy pull-type underwater robot system suitable for non-powered positioning lash ship as described in claim 1, feature
It is, the inside of the umbilical cables is optical fiber.
6. the buoy pull-type underwater robot system suitable for non-powered positioning lash ship as described in claim 1, feature
It is, further includes the above water being mounted on non-powered positioning lash ship, the above water includes operation command unit, underwater
Robot manipulation and control unit and underwater robot is laid and recovery unit；The operation command unit is used for non-powered
It positions lash ship and carries out operation command；The underwater robot operation is with control unit for underwater robot to be operated and controlled
System；The underwater robot lays to be used to appoint machine waterborne with recovery unit and is laid and recycled.
7. the buoy pull-type underwater robot system as described in claim 1 or 6 suitable for non-powered positioning lash ship, special
Sign is, further includes the underwater portion being mounted in underwater robot；The underwater portion includes carrying equipment and sensor, electricity
Sub- storehouse, chassis and frame, underwater power unit composition；Power delivery to electronic compartment is passed through electronic compartment by underwater power unit
Distribution, commutation inversion, to provide power supply for the propeller, sensor and carrying equipment of underwater robot；Electronic compartment communication is total
Line is then communicated with the communication element in robot under water, and signal is transferred to wirelessly by the optical fiber in umbilical cables
Communication buoy is sent out by short-wave communication buoy with communication, and the wireless receiver that non-powered positions lash ship receives
To specific signal.
8. the buoy pull-type underwater robot system suitable for non-powered positioning lash ship as described in claim 1, feature
It is, the short-wave communication buoy is lightweight buoy.
9. the buoy pull-type underwater robot system suitable for non-powered positioning lash ship as claimed in claim 7, feature
Be, the carrying equipment and sensor include high-definition camera, holder, LED illumination lamp, posture/compass sensor, depth/
Height sensor, avoidance sonar, ultra-short baseline USBL, seabed operation tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811150552.5A CN109515649A (en) | 2018-09-29 | 2018-09-29 | A kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811150552.5A CN109515649A (en) | 2018-09-29 | 2018-09-29 | A kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship |
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| CN201811150552.5A Pending CN109515649A (en) | 2018-09-29 | 2018-09-29 | A kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114725A (en) * | 2019-12-27 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Autonomous underwater vehicle based on optical fiber communication buoy |
| CN111290409A (en) * | 2020-04-01 | 2020-06-16 | 山东省科学院海洋仪器仪表研究所 | Control system and control method for movement of buoy following in buoy boarding operation boat |
| CN111319734A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Modularized reconfigurable underwater robot |
| CN112644647A (en) * | 2020-12-24 | 2021-04-13 | 上海海洋大学 | Method for carrying out investigation operation on deep-brillouin by adopting offshore flow laboratory system |
| CN113335480A (en) * | 2021-05-31 | 2021-09-03 | 中国人民解放军海军工程大学 | Intelligent underwater robot with umbilical cable based on Beidou positioning |
| 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 |
| CN114180011A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Underwater robot system |
| CN114279608A (en) * | 2021-12-22 | 2022-04-05 | 中国极地研究中心(中国极地研究所) | Umbilical cable underwater torque monitoring system |
| CN115189319A (en) * | 2022-07-08 | 2022-10-14 | 中国船舶科学研究中心 | Underwater cable clamping and position marking system and operation method |
| CN117622435A (en) * | 2024-01-25 | 2024-03-01 | 招商局深海装备研究院(三亚)有限公司 | Underwater operation system and method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114725B (en) * | 2019-12-27 | 2021-05-28 | 中国船舶重工集团有限公司第七一0研究所 | Autonomous underwater vehicle based on optical fiber communication buoy |
| CN111114725A (en) * | 2019-12-27 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Autonomous underwater vehicle based on optical fiber communication buoy |
| CN111290409A (en) * | 2020-04-01 | 2020-06-16 | 山东省科学院海洋仪器仪表研究所 | Control system and control method for movement of buoy following in buoy boarding operation boat |
| CN111319734A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Modularized reconfigurable underwater robot |
| CN112644647B (en) * | 2020-12-24 | 2023-01-06 | 上海海洋大学 | Method for carrying out investigation operation on deep Brillouin by adopting offshore flow laboratory system |
| CN112644647A (en) * | 2020-12-24 | 2021-04-13 | 上海海洋大学 | Method for carrying out investigation operation on deep-brillouin by adopting offshore flow laboratory system |
| CN113335480A (en) * | 2021-05-31 | 2021-09-03 | 中国人民解放军海军工程大学 | Intelligent underwater robot with umbilical cable based on Beidou positioning |
| CN114180011A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Underwater robot system |
| 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 |
| CN114279608A (en) * | 2021-12-22 | 2022-04-05 | 中国极地研究中心(中国极地研究所) | Umbilical cable underwater torque monitoring system |
| CN115189319A (en) * | 2022-07-08 | 2022-10-14 | 中国船舶科学研究中心 | Underwater cable clamping and position marking system and operation method |
| CN117622435A (en) * | 2024-01-25 | 2024-03-01 | 招商局深海装备研究院(三亚)有限公司 | Underwater operation system and method |
| CN117622435B (en) * | 2024-01-25 | 2024-04-09 | 招商局深海装备研究院(三亚)有限公司 | Underwater operation system and method |
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