CN109572964A - A kind of underwater robot automatic control system applied to non-powered positioning ship - Google Patents

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

An automatic control system of underwater robot applied to non-dynamically positioned ships

technical field

The invention relates to a control system, in particular to an automatic control system of an underwater robot applied to a non-dynamic positioning vessel.

Background technique

At present, the underwater robot ROV is carried on the dynamic positioning mother ship during the submarine cable detection operation. Work on the seabed. However, the cost of dynamic positioning vessels is high, the rental and dispatch costs are high, and they are only in the hands of some large units. The shipping schedule is tight, and there are strict requirements for the time when the submarine cable is out of power during the submarine cable inspection. It is difficult to match the inspection period requirements.

Non-dynamic positioning mother ships are widely used, the cost is relatively low, the rental cost is low, there are many types and quantities of ships available in the market, and the use is flexible. The environmental factors such as wind, waves, surges, and currents are relatively large, and the position changes greatly. At this stage, a relatively reliable working platform cannot be provided for the underwater robot. The mother ship and the underwater robot need to maintain a high degree of coordination during the operation of the underwater robot. , This requires very high requirements for the captain and the underwater robot operator (ROV navigator), and this is often difficult to achieve. Once affected by the external environment, there will be some inconsistency between the two, and the relationship between the underwater robot and the non-dynamic positioning mother ship The tension on the umbilical will suddenly increase, which will seriously affect the effect of the underwater robot's subsea operations, and even cause the umbilical to break, which will directly lead to the loss of the ROV and cause a large emergency loss.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and to provide an automatic control system of an underwater robot applied to a non-dynamically positioned vessel, so as to ensure the operation safety of the underwater robot and improve the operation efficiency.

For achieving the above object, the technical scheme of the present invention is:

An automatic control system of an underwater robot applied to a non-dynamically positioned vessel, comprising a controller, a tension sensor and an altimeter; wherein,

The tensile force sensor is used to be installed at the lifting point of the underwater robot to monitor the current tensile force of the umbilical cable, and transmit the monitored tensile force value data to the controller, and the controller presets the appropriate working tensile force of the umbilical cable. The range value is compared, and the controller controls the action of the umbilical winch to adjust the tightness of the umbilical according to the comparison result;

The altimeter is used to be 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, and the fixed height value preset by the controller For comparison, the controller controls the action of the vertical thruster of the underwater robot according to the comparison result, so as to adjust the distance between the underwater robot and the seabed.

The underwater robot automatic control system applied to the non-dynamic positioning vessel further includes an inertial navigator, and the inertial navigator is used to be installed on the underwater robot to monitor the heel angle of the underwater robot, and to monitor the detected The heel angle is transmitted to the controller. When the monitored heel angle is not 0, the controller adjusts the action of the vertical thruster until the heel angle of the underwater robot is 0.

The inertial navigator is also used to monitor the heading of the underwater robot, and transmit the monitored heading to the controller, and compare it with the heading preset by the controller, and the controller controls the underwater robot according to the result of the comparison. The action of the horizontal thruster to adjust the heading of the underwater robot.

The controller is a programmable controller.

Compared with the prior art, the present invention has the following beneficial effects:

The system obtains the tension of the umbilical cable by installing a tension sensor at the retraction and lifting point of the underwater robot. If the tension is too large, the umbilical cable is too tight, and the umbilical cable is automatically controlled to release it. Recover the umbilical cable to solve the cooperation between the underwater robot and the non-dynamic positioning mother ship, so that the position drift or fluctuation of the non-dynamic positioning mother ship under the influence of environmental wind, wave, surge, current, etc. will not cause the underwater robot to be dragged. At the same time, the data is obtained through the altimeter and the inertial navigator to realize the automatic control function of the underwater robot, including the automatic height-fixing function, the automatic heeling control function, and the automatic orientation function, so as to prevent the underwater robot from being pushed by high-speed ocean currents and unable to operate on the seabed. Save the original position and reduce the labor cost of the underwater robot for underwater operations.

Description of drawings

1 is a schematic diagram of the composition of an underwater robot automatic control system applied to a non-dynamically positioned vessel according to an embodiment of the present invention;

In the figure: 1. Controller; 2. Tension sensor; 3. Altimeter; 4. Inertial navigation instrument; 10. Retractable winch; 20. Umbilical cable; 30. Vertical thruster; 40. Horizontal pusher.

Detailed ways

The content of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Example:

Referring to FIG. 1 , the automatic control system for an underwater robot applied to a non-dynamically positioned vessel provided in this embodiment includes a controller, a tension sensor 2 and an altimeter 3 . Specifically, in this application, the controller adopts the programmable controller 1, and the tension sensor 2 and the altimeter 3 adopt the existing conventional instruments. Therefore, the specific structure and the altimeter 3 will not be described in detail in the application. working principle.

Wherein, the tension sensor 2 is used to be installed at the lifting point of the underwater robot to monitor the current tension of the umbilical cable 20 in real time. When carrying out the detection of the submarine cable of the underwater robot, it is assumed that the suitable working tension range of the umbilical cable is F _min - F _max , the tensile force sensor 2 is connected to the programmable controller 1, when the umbilical cable tensile force monitored by the tensile force sensor 2 in real time is F,

When _F≤Fmin , the umbilical cable is too slack, and the retractable winch 10 needs to recover part of the umbilical cable;

When F≥F _max , the umbilical cable is too tight, and the retractable winch 10 needs to release part of the umbilical cable;

The action of recovering and releasing the umbilical cable The programmable controller 1 sends a recovery and release command to the retracting winch, and the retracting and retracting winch executes the release and recovery of the umbilical cable to complete the automatic control function of the umbilical cable.

When carrying out the detection of the submarine cable of the underwater robot, the underwater robot needs to keep a certain height from the seabed to fly, which is called the automatic height setting function of 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. If it is necessary to maintain a fixed height at the current height H1, through the programmable controller ₁ and the Compare the real-time altitude _H2 returned by the altimeter 3,

When H ₁ <H ₂ , the underwater robot is higher than the fixed height at this time, and the vertical thruster 30 of the underwater robot is controlled to reduce the thrust;

When H ₁ >H ₂ , the underwater robot is lower than the fixed height at this time, and the vertical thruster 30 of the underwater robot is controlled to increase the thrust;

When H ₁ =H ₂ , at this time, the underwater robot maintains a constant height and maintains the current vertical thrust of the underwater robot.

At the same time, since the underwater robot may have a heeling phenomenon in the water, for this reason, as a preference of this embodiment, the system also includes an inertial navigator 4. Of course, the inertial navigator 4 also adopts the existing conventional inertial navigator. Navigation system, specifically, the inertial navigator 4 is used to be installed on the underwater robot to monitor the heel angle of the underwater robot, and transmit the monitored heel angle to the programmable controller 1, when the heel angle is 0 When the underwater robot maintains the positive level, the monitored heel angle of the underwater robot is ρ, and the programmable controller 1 determines whether ρ is 0 to determine the thrust of each propeller of the underwater robot until the heel angle is 0. ,

When ρ≠0, the underwater robot is inclined at this time, and the vertical thruster 30 moves according to the predetermined program;

When ρ=0, at this time, the underwater robot maintains the forward horizontal direction, and the vertical thruster 30 maintains the current thrust.

In addition, the inertial navigator is also used to detect the flight heading of the underwater vehicle in real time. If the heading deviates, the heading angle will be corrected immediately, so that the underwater robot will fly towards the desired fixed heading. Assume that the required navigation heading is α ₁ , the current heading of the underwater robot measured by the inertial navigator is α, and the horizontal thruster 40 is determined by the programmable controller 1 to complete the orientation. When α≠α ₁ , the water When the direction of the lower robot deviates, the programmable controller 1 outputs the output, and the horizontal thruster 40 moves. Until α ₌ α1, the horizontal thruster maintains the current state.

It can be seen that the programmable controller of this system is the control core. The tension sensor is installed at the retraction and lifting point of the underwater robot to obtain the tension of the umbilical cable. If the tension is too large, the umbilical cable is too tight, and the umbilical cable is automatically controlled to release. If the pulling force is too small and the umbilical cable is too loose, the umbilical cable will be automatically controlled and recovered to solve the cooperation between the underwater robot and the non-dynamic positioning mother ship, so that the position of the non-dynamic positioning mother ship will drift or fluctuate due to the influence of environmental wind, waves, surges and currents. Does not cause drag on the underwater robot. At the same time, the data is obtained through the altimeter and the inertial navigator to realize the automatic control function of the underwater robot, including the automatic height-fixing function, the automatic heeling control function, and the automatic orientation function, so as to prevent the underwater robot from being pushed by high-speed ocean currents and unable to operate on the seabed. Save the original position and reduce the labor cost of the underwater robot for underwater operations.

The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose thereof is to enable those of ordinary skill in the art to understand the content of the present invention and implement them accordingly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the essence of the present invention shall be included within the protection scope of the present invention.

Claims (4)

1. an underwater robot automatic control system applied to a non-dynamic positioning vessel, is characterized in that, comprises controller, tension sensor and altimeter; Wherein, The tensile force sensor is used to be installed at the lifting point of the underwater robot to monitor the current tensile force of the umbilical cable, and transmit the monitored tensile force value data to the controller, and the controller presets the appropriate working tensile force of the umbilical cable. The range value is compared, and the controller controls the action of the umbilical winch to adjust the tightness of the umbilical according to the comparison result; The altimeter is used to be 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, and the fixed height value preset by the controller For comparison, the controller controls the action of the vertical thruster of the underwater robot according to the comparison result, so as to adjust the distance between the underwater robot and the seabed. 2. The automatic control system of an underwater robot applied to a non-dynamically positioned vessel as claimed in claim 1, further comprising an inertial navigator, and the inertial navigator is used to be installed on an underwater robot to monitor water Lower the heel angle of the robot, and transmit the monitored heel angle to the controller. When the monitored heel angle is not 0, the controller adjusts the action of the vertical thruster until the heel angle of the underwater robot is 0. 3. the underwater robot automatic control system applied to non-dynamic positioning vessel as claimed in claim 2, is characterized in that, described inertial navigator is also used for monitoring the course of underwater robot, and the course that is monitored is transmitted To the controller, compare with the course preset by the controller, and the controller controls the action of the horizontal thruster of the underwater robot according to the comparison result, so as to adjust the course of the underwater robot. 4. The automatic control system of an underwater robot applied to a non-dynamically positioned vessel according to any one of claims 1-3, wherein the controller is a programmable controller.