CN109572964A - A kind of underwater robot automatic control system applied to non-powered positioning ship - Google Patents
A kind of underwater robot automatic control system applied to non-powered positioning ship Download PDFInfo
- Publication number
- CN109572964A CN109572964A CN201811386462.6A CN201811386462A CN109572964A CN 109572964 A CN109572964 A CN 109572964A CN 201811386462 A CN201811386462 A CN 201811386462A CN 109572964 A CN109572964 A CN 109572964A
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- controller
- umbilical cables
- monitored
- automatic control
- Prior art date
- 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.)
- Pending
Links
- 238000004804 winding Methods 0.000 claims description 2
- 239000000725 suspension Substances 0.000 abstract 2
- 238000004064 recycling Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of underwater robot automatic control systems applied to non-powered positioning ship, including controller, the tension sensor tension sensor for being mounted at the suspension centre of underwater robot, to monitor the current pulling force of umbilical cables, and the pulling force Value Data monitored is transmitted to controller, it is compared with the preset umbilical cables suitable services weight range value of controller, controller controls the movement of the releasing winch of umbilical cables according to the result of the comparison, to adjust the elastic of umbilical cables.By tension sensor being installed at suspension centre to obtain umbilical cables pulling force, if pulling force is excessive, umbilical cables are excessively tight, automatically control release umbilical cables, if pulling force is too small, umbilical cables excessively relax, and automatically control recycling umbilical cables, the cooperation for solving underwater robot and non-powered positioning lash ship makes non-powered positioning lash ship by ambient wind, the position excursion for influencing to generate such as wave, gushes, flow or fluctuate the dragging not caused to underwater robot.
Description
Technical Field
The invention relates to a control system, in particular to an automatic control system of an underwater robot applied to a non-power positioning ship.
Background
At present, the underwater robot ROV is carried on a dynamic positioning mother ship in the process of submarine cable detection operation, and the dynamic positioning mother ship utilizes a propelling device of the dynamic positioning mother ship to enable the ship to keep a stable and preset motion track of a position so as to be matched with the underwater robot to operate on the seabed. However, the dynamic positioning ship is high in manufacturing cost and high in renting and moving cost, only a part of large-scale units are mastered, the ship is short in period, the power failure time of the submarine cable during submarine cable detection is strictly required, and the detection period requirement is difficult to match.
The non-dynamic positioning mother ship is widely used, the manufacturing cost is relatively low, the renting cost is low, the number and the types of ships which can be selected in the market are large, the use is flexible, if the underwater robot is carried for use, because the underwater robot is mostly kept in a mooring mode, the underwater robot is greatly influenced by environmental factors such as wind, wave, surge and flow, the position change is large, a reliable working platform cannot be provided for the underwater robot at the present stage, the mother ship is required to be in high coordination with the underwater robot in the operation process of the underwater robot, the requirement on the ship length and an underwater robot operator (ROV navigator) is quite high, the operation is difficult to realize, once the underwater robot is influenced by the external environment, the matching of the mother ship and the underwater robot is slightly inconsistent, the tension on an umbilical cable between the underwater robot and the non-dynamic positioning mother ship is suddenly intensified, and the operation effect of the underwater robot at the sea bottom is seriously influenced, even causing the umbilical to break, directly resulting in the loss of the ROV, causing a large emergency loss.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic control system of an underwater robot applied to a non-power positioning ship so as to ensure the operation safety of the underwater robot and improve the operation efficiency.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an automatic control system of an underwater robot applied to a non-power positioning ship comprises a controller, a tension sensor and a height gauge; wherein,
the tension sensor is used for being installed at a hanging point of the underwater robot to monitor the current tension of the umbilical cable, transmitting the monitored tension value data to the controller, comparing the monitored tension value data with an umbilical cable proper working tension range value preset by the controller, and controlling the action of a winch for winding and unwinding the umbilical cable by the controller according to a comparison result to adjust the tightness of the umbilical cable;
the height gauge is used for being installed on the underwater robot to monitor the distance between the underwater robot and the seabed and transmit the monitored height value data to the controller, the controller compares the monitored height value data with a preset fixed height value set by the controller, and the controller controls the action of a vertical propeller of the underwater robot according to the comparison result to adjust the distance between the underwater robot and the seabed.
The automatic control system of the underwater robot applied to the non-power positioning ship further comprises an inertial navigator, wherein the inertial navigator is used for being installed on the underwater robot to monitor the transverse inclination angle of the underwater robot and transmit the monitored transverse inclination angle to the controller, and when the monitored transverse inclination angle is not 0, the controller adjusts the action of the vertical propeller until the transverse inclination angle of the underwater robot is 0.
The inertial navigator is also used for monitoring the course of the underwater robot, transmitting the monitored course to the controller, comparing the monitored course with the preset course of the controller, and controlling the action of a horizontal propeller of the underwater robot by the controller according to the comparison result so as to adjust the course of the underwater robot.
The controller is a programmable controller.
Compared with the prior art, the invention has the beneficial effects that:
the system acquires tension of the umbilical cable by installing the tension sensor at the retraction hoisting point of the underwater robot, automatically controls and releases the umbilical cable when the tension is too large and automatically controls and recovers the umbilical cable when the tension is too small, solves the problem that the underwater robot is matched with a non-power positioning mother ship, and ensures that the non-power positioning mother ship is not dragged by position drift or fluctuation caused by the influences of environmental wind, waves, gushes, currents and the like. Meanwhile, the data are acquired through the height gauge and the inertial navigator, the automatic control function of the underwater robot is realized, the automatic control function comprises an automatic height setting function, an automatic transverse inclination control function and an automatic orientation function, the underwater robot is prevented from being pushed by high-speed ocean current during submarine operation and being incapable of saving the original position, and the labor cost of the underwater robot during underwater operation is reduced.
Drawings
FIG. 1 is a schematic diagram of an automatic control system of an underwater robot applied to a non-power positioning ship according to an embodiment of the present invention;
in the figure: 1. a controller; 2. a tension sensor; 3. an altimeter; 4. an inertial navigator; 10. retracting and releasing a winch; 20. an umbilical cable; 30. a vertical thruster; 40. a horizontal pusher.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Example (b):
referring to fig. 1, the automatic control system of the underwater robot applied to the non-power positioning ship provided by the embodiment includes a controller, a tension sensor 2 and a height gauge 3. In particular, in the present application, the programmable controller 1 is used as the controller, the tension sensor 2 and the height gauge 3 are conventional instruments, and therefore, the detailed construction and operation thereof will not be described in detail in the application.
Wherein, this tension sensor 2 is used for installing the lewis point department at underwater robot to the current pulling force of real-time supervision umbilical 20, when carrying out underwater robot submarine cable and detecting, supposing that the suitable working pulling force scope of umbilical is Fmin—FmaxThe tension sensor 2 is connected to the programmable controller 1, when the tension of the umbilical cable monitored by the tension sensor 2 in real time is F,
when F is less than or equal to FminWhen the umbilical cable is too loose, the winch 10 needs to recover part of the umbilical cable;
when F is more than or equal to FmaxWhen the umbilical cable is too tight, the winch 10 needs to release part of the umbilical cable;
the action of recovering and releasing the umbilical cable is realized by sending a recovering and releasing command to a retracting winch by a programmable controller 1, and the retracting winch executes the releasing and recovering action of the umbilical cable to complete the function of automatically controlling the umbilical cable.
When the submarine cable detection of the underwater robot is carried out, the underwater robot is required to keep flying at a certain height from the seabed during working, which is called as the automatic height setting function of the underwater robot, therefore, the height gauge 3 is arranged on the underwater robot to monitor the distance between the underwater robot and the seabed and transmit the monitored height value data to the programmable controller 1, and if the current height H is required to be detected, the height gauge is arranged at the current height H1Keeping the height constant, and transmitting the real-time height H back through the programmable controller 1 and the height gauge 32The comparison is carried out in such a way that,
when H is present1＜H2When the underwater robot is higher than the fixed height, the underwater robot vertical propeller 30 is controlled to reduce the thrust;
when H is present1＞H2When the underwater robot is lower than the fixed height, the underwater robot vertical propeller 30 is controlled to increase the thrust;
when H is present1＝H2And at the moment, the underwater robot keeps a fixed height and keeps the vertical thrust of the current underwater robot.
Meanwhile, since the underwater robot may have a transverse inclination phenomenon in water, for this reason, as a preferred embodiment of the present invention, the system further includes an inertial navigator 4, and of course, the inertial navigator 4 also adopts an existing conventional inertial navigation system, specifically, the inertial navigator 4 is configured to be installed on the underwater robot to monitor the transverse inclination angle of the underwater robot and transmit the monitored transverse inclination angle to the programmable controller 1, when the transverse inclination angle is 0, the underwater robot keeps a forward horizontal direction, the monitored transverse inclination angle of the underwater robot is ρ, the programmable controller 1 determines thrust of each propeller of the underwater robot by determining whether ρ is 0 until the transverse inclination angle is 0,
when rho is not equal to 0, the underwater robot transversely tilts at the moment, and the vertical propeller 30 acts according to a preset program;
when ρ is 0, the underwater robot keeps forward horizontal at this time, and the vertical thruster 30 keeps the current thrust.
In addition, the inertial navigator is used for detecting the flying course of the underwater robot in real time, and if the course deviates, the course angle is corrected immediately, so that the underwater robot flies towards the required fixed course, and the required sailing course is α1When the current heading of the underwater robot measured by the inertial navigator is α, the horizontal thruster 40 is output to finish the orientation by judging through the programmable controller 1, and when α ≠ α1At this time, the direction of the underwater robot deviates, the programmable controller 1 outputs, and the horizontal thruster 40 operates until α becomes α1Meanwhile, the horizontal thruster keeps the current state.
Therefore, the programmable controller of the system is a control core, tension sensors are installed at the retraction hoisting points of the underwater robot to acquire tension of the umbilical cables, if the tension is too large, the umbilical cables are too tight, the umbilical cables are automatically controlled to be released, if the tension is too small, the umbilical cables are too loose, the umbilical cables are automatically controlled to be recovered, the problem that the underwater robot is matched with a non-power positioning mother ship is solved, and the non-power positioning mother ship is not dragged by position drift or fluctuation caused by the influences of environmental wind, wave, surge, flow and the like is solved. Meanwhile, the data are acquired through the height gauge and the inertial navigator, the automatic control function of the underwater robot is realized, the automatic control function comprises an automatic height setting function, an automatic transverse inclination control function and an automatic orientation function, the underwater robot is prevented from being pushed by high-speed ocean current during submarine operation and being incapable of saving the original position, and the labor cost of the underwater robot during underwater operation is reduced.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. All equivalent changes or modifications made in accordance with the spirit of the present disclosure are intended to be covered by the scope of the present disclosure.
Claims (4)
1. An automatic control system of an underwater robot applied to a non-power positioning ship is characterized by comprising a controller, a tension sensor and a height gauge; wherein,
the tension sensor is used for being installed at a hanging point of the underwater robot to monitor the current tension of the umbilical cable, transmitting the monitored tension value data to the controller, comparing the monitored tension value data with an umbilical cable proper working tension range value preset by the controller, and controlling the action of a winch for winding and unwinding the umbilical cable by the controller according to a comparison result to adjust the tightness of the umbilical cable;
the height gauge is used for being installed on the underwater robot to monitor the distance between the underwater robot and the seabed and transmit the monitored height value data to the controller, the controller compares the monitored height value data with a preset fixed height value set by the controller, and the controller controls the action of a vertical propeller of the underwater robot according to the comparison result to adjust the distance between the underwater robot and the seabed.
2. An underwater robot automatic control system for a non-power locating ship as claimed in claim 1 further comprising an inertial navigator for mounting on the underwater robot to monitor a roll angle of the underwater robot and transmit the monitored roll angle to the controller, and when the monitored roll angle is not 0, the controller adjusts the action of the vertical thruster until the roll angle of the underwater robot is 0.
3. An underwater robot automatic control system for an unpowered positioning vessel as recited in claim 2 wherein the inertial navigator is further configured to monitor a heading of the underwater robot and transmit the monitored heading to the controller for comparison with a heading preset by the controller, the controller controlling an operation of a horizontal thruster of the underwater robot based on a result of the comparison to adjust the heading of the underwater robot.
4. An underwater robotic automatic control system for use with a non-power positioning vessel as claimed in any one of claims 1 to 3 wherein the controller is a programmable controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811386462.6A CN109572964A (en) | 2018-11-20 | 2018-11-20 | A kind of underwater robot automatic control system applied to non-powered positioning ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811386462.6A CN109572964A (en) | 2018-11-20 | 2018-11-20 | A kind of underwater robot automatic control system applied to non-powered positioning ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109572964A true CN109572964A (en) | 2019-04-05 |
Family
ID=65923379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811386462.6A Pending CN109572964A (en) | 2018-11-20 | 2018-11-20 | A kind of underwater robot automatic control system applied to non-powered positioning ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109572964A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111649910A (en) * | 2020-06-11 | 2020-09-11 | 中国科学院沈阳自动化研究所 | Umbilical cable dynamics model verification test system |
| CN112578807A (en) * | 2019-09-29 | 2021-03-30 | 刘春梅 | Control method for flight detection ship |
| CN114919718A (en) * | 2022-05-16 | 2022-08-19 | 昆明海威机电技术研究所(有限公司) | Water surface equipment system of underwater cleaning robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4742792A (en) * | 1985-07-19 | 1988-05-10 | Ferranti Subsea Systems Limited | Communication arrangement between a sub-sea structure and floating vessel |
| CN104114445A (en) * | 2011-11-15 | 2014-10-22 | 萨博赛7有限公司 | Launch and recovery techniques for submersible vehicles and other payloads |
| CN104296915A (en) * | 2014-10-20 | 2015-01-21 | 上海交通大学 | Device and method for monitoring tension of underwater umbilical cable |
| 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 |
| CN105731284A (en) * | 2016-03-04 | 2016-07-06 | 上海阜有海洋科技有限公司 | Servo cable arrangement constant-tension self-adaptive control system for deep sea umbilical cable winch |
| US9540076B1 (en) * | 2014-01-10 | 2017-01-10 | Wt Industries, Llc | System for launch and recovery of remotely operated vehicles |
| CN107323637A (en) * | 2017-06-27 | 2017-11-07 | 德海电子科技（上海）有限公司 | Underwater robot |
| CN107479601A (en) * | 2017-09-18 | 2017-12-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of automatic deploying and retracting cable monitoring system and method for ROV umbilical cables winches |
| CN209366425U (en) * | 2018-11-20 | 2019-09-10 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of underwater robot automatic control system applied to non-powered positioning ship |
-
2018
- 2018-11-20 CN CN201811386462.6A patent/CN109572964A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4742792A (en) * | 1985-07-19 | 1988-05-10 | Ferranti Subsea Systems Limited | Communication arrangement between a sub-sea structure and floating vessel |
| CN104114445A (en) * | 2011-11-15 | 2014-10-22 | 萨博赛7有限公司 | Launch and recovery techniques for submersible vehicles and other payloads |
| US9540076B1 (en) * | 2014-01-10 | 2017-01-10 | Wt Industries, Llc | System for launch and recovery of remotely operated vehicles |
| 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 |
| CN104296915A (en) * | 2014-10-20 | 2015-01-21 | 上海交通大学 | Device and method for monitoring tension of underwater umbilical cable |
| CN105731284A (en) * | 2016-03-04 | 2016-07-06 | 上海阜有海洋科技有限公司 | Servo cable arrangement constant-tension self-adaptive control system for deep sea umbilical cable winch |
| CN107323637A (en) * | 2017-06-27 | 2017-11-07 | 德海电子科技（上海）有限公司 | Underwater robot |
| CN107479601A (en) * | 2017-09-18 | 2017-12-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of automatic deploying and retracting cable monitoring system and method for ROV umbilical cables winches |
| CN209366425U (en) * | 2018-11-20 | 2019-09-10 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of underwater robot automatic control system applied to non-powered positioning ship |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112578807A (en) * | 2019-09-29 | 2021-03-30 | 刘春梅 | Control method for flight detection ship |
| CN112578807B (en) * | 2019-09-29 | 2023-05-09 | 西藏谦诚信息科技有限公司 | Control method for flight detection ship |
| CN111649910A (en) * | 2020-06-11 | 2020-09-11 | 中国科学院沈阳自动化研究所 | Umbilical cable dynamics model verification test system |
| CN114919718A (en) * | 2022-05-16 | 2022-08-19 | 昆明海威机电技术研究所(有限公司) | Water surface equipment system of underwater cleaning robot |
| CN114919718B (en) * | 2022-05-16 | 2023-05-16 | 昆明海威机电技术研究所(有限公司) | Water surface equipment system of underwater cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209366425U (en) | A kind of underwater robot automatic control system applied to non-powered positioning ship | |
| US12045066B2 (en) | Systems and methods for an automated, lighter-than-air airborne platform | |
| AU2014224703B2 (en) | System and method for recovering an autonomous underwater vehicle | |
| JP6969047B2 (en) | Automatic ship maneuvering system | |
| CN109572964A (en) | A kind of underwater robot automatic control system applied to non-powered positioning ship | |
| CN110239675B (en) | Scientific investigation ship capable of realizing low-speed and constant-speed towing operation | |
| US11952089B2 (en) | Working method using autonomous underwater vehicle | |
| WO2015028636A1 (en) | Power control in marine vessel | |
| NO347397B1 (en) | Intermediate docking station for underwater vehicles | |
| Piskura et al. | Development of a robust Line Capture, Line Recovery (LCLR) technology for autonomous docking of AUVs | |
| CN110254676B (en) | Control system for assisting scientific investigation ship to realize low-speed towing operation by utilizing DP | |
| CN113895580B (en) | Communication positioning device and method for cableless autonomous underwater robot | |
| CN114212220A (en) | Underwater detection device and control method thereof | |
| KR102443107B1 (en) | Underwater drone system | |
| JP2003048594A (en) | Intelligent buoy | |
| Kojima et al. | Development of autonomous underwater vehicle'AQUA EXPLORER 2'for inspection of underwater cables | |
| CN207292352U (en) | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current | |
| JP2016132406A (en) | Underwater sailing body lifting-storage system | |
| JP6698805B2 (en) | Underwater vehicle collection system | |
| CN112068546A (en) | Unmanned autonomous navigation control system and method for ship | |
| CN113602452B (en) | Acoustic fishing device and method | |
| CN218142065U (en) | Underwater sonar searching machine and underwater searching system | |
| CN215663926U (en) | Acoustic fishing device | |
| KR20180026123A (en) | Towing apparatus using independent unmanned underwater vehicle | |
| CN108710378A (en) | A kind of device and its control method for underwater kit wireless communication |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |