CN112015121A - Underwater carrying platform extended power supply control connection system and working method thereof - Google Patents
Underwater carrying platform extended power supply control connection system and working method thereof Download PDFInfo
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Abstract
The invention relates to an extended power supply control connection system of an underwater carrying platform and a working method thereof, wherein the extended power supply control connection system comprises an HOV/ROV input interface, an underwater pressure-bearing cabin body, an internal circuit and a plurality of detection cabin output interfaces; the internal circuit comprises a rectifying current-limiting circuit, a switching power supply, a DC/DC voltage stabilizing module, a power supply control module, a single chip microcomputer, a serial server, an environmental parameter detection circuit, a multi-detection-cabin working state detection circuit, a switch and a plurality of network modulators; the invention enables a plurality of detection cabins to be butted with the HOV/ROV underwater carrying platform to only occupy one interface, thereby improving the load capacity of the HOV/ROV. The invention can coordinate the power supply and communication of a plurality of detection cabins, control and monitor the working states of the plurality of detection cabins, and lead the plurality of detection cabins or a single detection cabin to be flexibly connected and adjusted with domestic HOV/ROV underwater carrying platforms under the condition of not changing the interface types and internal circuits of the detection cabins.
Description
Technical Field
The invention relates to an underwater carrying platform extended power supply control connection system and a working method thereof, and belongs to the technical field of deep sea detection.
Background
In the field of deep sea exploration, HOV/ROV such as flood dragon number, discovery number, and hippocampal number are often used for deep sea exploration, and can be used as an underwater carrying platform to cooperate with a single or a plurality of exploration cabins to complete ocean scientific research tasks; the detection cabins are usually developed and designed by different units, the types of interfaces are different, BHF13, BHF6, Button and the like are common, the power supply voltages are also different, direct current 24V, direct current 48V and alternating current 110V to 220V are common, the definitions of all leads, network communication modes and the like are different, different adapter cables are generally customized for the butt joint of the same detection cabin equipment with different HOV/ROV, the butt joint of the same detection cabin equipment and different HOV/ROV is realized in a mode of modifying the power supply and communication circuits in the detection cabin, the maintenance and upgrading cost of a scheme for adding a plurality of interfaces suitable for different detection cabins or different carrying platforms to the carrying platform or the detection cabin is high, the operability and the flexibility are poor, and the practicability is low.
With the rapid increase of the deep sea detection requirement, more and more detection cabins carrying the HOV/ROV platform are provided, the requirement of the multi-detection cabin combined work is increased, the HOV/ROV interfaces are not uniform, the lead definition is inconsistent, the power supply voltage is different, the communication modes are different, and the influence on the development of deeper scientific research work is increased; due to the special underwater environment, the transmission distance of underwater network communication is generally low, and the actual underwater working range of the detection cabin is limited.
For the above reasons, a scheme with lower cost, and stronger operability and flexibility is needed to be sought, so as to solve the problem that the same detection cabin is difficult to be in butt joint with a plurality of HOV/ROV underwater carrying platforms with different interfaces, and the problem that the underwater network communication transmission distance is short.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an extended power supply control connection system of an underwater carrying platform;
the invention also provides a working method of the underwater carrying platform extended power supply control connection system.
The invention can realize interface switching, interface expansion and power control, improve the underwater network communication transmission distance, monitor the internal environment parameters of the instrument, control and monitor the working state of a plurality of detection cabins and improve the load capacity of the HOV/ROV and the coordination capacity of a plurality of detection cabins under the condition of not changing the structures of the HOV/ROV underwater carrying platform and the detection cabins.
Interpretation of terms:
1. HOV/ROV (Human Occupied Vehicles), a manned deep submergence vehicle, is a standard tool for marine exploration, and the submergence depth can reach thousands of meters or more than 10000 meters. Such as the flood dragon number which is designed and integrated in China. An rov (remote Operated Vehicle), i.e., a remotely Operated Unmanned submersible, is one type of Unmanned Underwater Vehicle (UUV). The ROV has various functions, different types of ROVs are used for executing different tasks, and the ROV is widely applied to various fields of army, coast guard, maritime affairs, customs, nuclear power, water and electricity, marine oil, fishery, marine rescue, pipeline detection, marine scientific research and the like.
2. The HOV/ROV software control platform is software running on a computer in an HOV cabin body or ROV ship-based and shore-based computers, is used for controlling the running states of an underwater carrying platform extended power supply control connection system and a plurality of detection cabins, can read back the temperature, humidity and air pressure data in the cabin body of the underwater carrying platform extended power supply control connection system and the current working states of the detection cabins, and is upper computer operation software of the underwater carrying platform extended power supply control connection system and the plurality of detection cabins.
The technical scheme of the invention is as follows:
an extended power supply control connection system for an underwater carrying platform comprises an HOV/ROV input interface, an underwater pressure-bearing cabin body, an internal circuit and a plurality of detection cabin output interfaces; an internal circuit is arranged in the underwater pressure-bearing cabin body, the HOV/ROV input interface is connected with the internal circuit, and the internal circuit is also connected with a plurality of detection cabin output interfaces;
the internal circuit comprises a rectifying current-limiting circuit, a switching power supply, a DC/DC voltage stabilizing module, a power supply control module, a single chip microcomputer, a serial server, an environmental parameter detection circuit, a multi-detection-cabin working state detection circuit, a switch and a plurality of network modulators;
the switching power supply is connected with the rectifying current-limiting circuit, the rectifying current-limiting circuit is respectively connected with the power supply control module and the DC/DC voltage stabilizing module, the power supply control module is respectively connected with a plurality of detection cabin output interfaces, the power supply control module is also connected with the multi-detection cabin working state detection circuit, the DC/DC voltage stabilizing module is respectively connected with the single chip microcomputer and the serial server, the single chip microcomputer is bidirectionally connected with the environmental parameter detection circuit, the single chip microcomputer is also connected with the multi-detection cabin working state detection circuit, the switch is respectively connected with the serial server and a plurality of network modulators, and the plurality of network modulators are respectively connected with a plurality of detection cabin output interfaces;
the HOV/ROV provides a power supply voltage, the power supply voltage is transmitted to the internal circuit through the HOV/ROV input interface, if the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and is input to the rectifying current-limiting circuit, for example, the direct current is converted into 24V/48V, and other voltage magnitudes are also available; if the input voltage is direct current, the direct current is directly input into the rectification current-limiting circuit, and the rectification current-limiting circuit adjusts the input current to a proper magnitude; the power supply control module sequentially drives the relays to supply power to the output interfaces of the detection cabins; the DC/DC voltage stabilizing module converts the working voltage of the multiple detection cabins into voltage which can be used by the single chip microcomputer, the serial server, the switch and the network modulator; for example, 3.3V voltage available for a single chip microcomputer and 12V voltage available for a network modulator supply power to the single chip microcomputer, a serial server, a switch and the network modulator;
the environment parameter detection circuit measures and obtains the temperature, the humidity and the air pressure in the underwater pressure bearing cabin body in real time, a commercialized temperature, humidity and air pressure module is used for realizing the measurement and the transmission of the temperature, the humidity and the air pressure to the single chip microcomputer, the multi-detection cabin working state detection circuit detects the working state of each detection cabin in real time and transmits the detected working state of each detection cabin to the single chip microcomputer, and the single chip microcomputer analyzes and processes the temperature, the humidity and the air pressure in the underwater pressure bearing cabin body and the working state of each detection cabin and then sends feedback information to the HOV/ROV software control platform through the serial server, the switch, the HOV/ROV input interface and the HOV/ROV in sequence; the HOV/ROV software control platform is software running on a computer in an HOV cabin body or an ROV ship base or a shore base computer, is used for controlling the running states of an underwater carrying platform extended power supply control connection system and a plurality of detection cabins, can read back the temperature, humidity and air pressure data in the cabin body of the underwater carrying platform extended power supply control connection system and the current working states of the detection cabins, and is upper computer operation software of the underwater carrying platform extended power supply control connection system and the plurality of detection cabins; and the HOV/ROV software control platform also sends a control command to the single chip microcomputer sequentially through the switch and the serial server.
Preferably, the multi-detection-cabin working state detection circuit detects whether the voltage of the power supply line of each detection cabin is the rated working voltage in real time through AD analog-to-digital conversion, and if so, the detection cabin is in an open state; if not, the working state of the detection cabin is a closed state.
Further preferably, the analysis and processing of the temperature, the humidity, the air pressure in the underwater pressure-bearing cabin body and the working state of each detection cabin by the single chip microcomputer are as follows: the single chip microcomputer judges whether temperature, humidity and air pressure data in the underwater pressure bearing cabin body exceed a safety range in real time, if the temperature, humidity and air pressure data do not exceed the safety range, the data are only required to be packaged and sent to the HOV/ROV software control platform, if the data exceed the safety range, the single chip microcomputer sends equipment water leakage alarm and specific temperature, humidity and air pressure data to the HOV/ROV software control platform, and the HOV/ROV software control platform reminds an operator to immediately power off the underwater carrying platform extended power supply control connection system and the detection cabins.
A power supply line and a communication line led out from a power supply communication interface of an HOV/ROV are led out to an internal circuit of an underwater carrying platform extended power supply control connection system, input voltage is converted into direct current through a rectification current-limiting circuit, then the input voltage is converted into rated working voltage of a plurality of detection cabins by a DC/DC voltage stabilizing module (the voltage of each detection cabin can be different, and the voltage stabilizing module is added to adjust to the corresponding different voltage) and output to output interfaces of each detection cabin, meanwhile, the DC/DC voltage stabilizing module also outputs the rated working voltage of a singlechip, a serial server, a switch, a network modulator and the like in the system for the work of the system, an environmental parameter detection circuit is used for detecting environmental parameters such as temperature, humidity and air pressure in the cabin, and the AD is used for detecting the voltage of a power supply lead of each detection cabin to determine the current working state of each detection. In the aspect of communication, the network modulator is used for improving the network communication quality and prolonging the network communication distance, wherein the network modulator is used in pairs, one network modulator is arranged in a cabin body of the system and one network modulator is arranged in a detection cabin, and the network names of the two network modulators are required to be set to be consistent. The invention can expand the communication power supply interface of HOV/ROV; the power supply and communication of a plurality of detection cabins can be coordinated, the working states of the detection cabins are controlled and monitored, and the detection cabins with the same or different power supply voltages can be flexibly butted and jointly adjusted with domestic HOV/ROV underwater carrying platforms under the condition that the interface types and internal circuits of the detection cabins are not changed; the operation of a plurality of detection cabins can be coordinated, and the current working state of each detection cabin is monitored.
According to the invention, the model of the DC/DC voltage stabilizing module is LM2596 HVS; the DC/DC voltage stabilizing module has the DC adjustable voltage stabilizing power supply with the input voltage of 4.5-50V and the output voltage of 3-35V; the power supply control module is realized by a plurality of relays. The type of the single chip microcomputer is MSP 430; the serial server is of a USR-TCP232-302 model; the type of the switch is OAM-6000-35-5 TX; the model number of the network modulator is DJA-8502.
The HOV/ROV input interface is connected with the internal circuit through a customized cable, and the internal circuit is also connected with a plurality of detection cabin output interfaces through customized cables. The customization of the customized cable refers to the customization aiming at different HOVs/ROVs, the definitions of different HOV/ROV power supply communication interfaces and lead wires are generally inconsistent, and the common interface types are BHF13 and Button; the type of the HOV/ROV input interface outside the cabin body of the underwater carrying platform power supply control connection system can be fixed and unchanged, if a SUBCON interface is adopted, leads are planned to be shared on an online sequence as much as possible, and the power supply communication leads contain as many HOV/ROV as possible, so that the connection system is used for different HOV/ROV, and only corresponding customized cables need to be replaced.
According to the invention, preferably, in the aspect of communication control, the HOV/ROV establishes communication with the switch, one path of the output interfaces of the switch is connected to a serial server, so that the HOV/ROV and the single chip microcomputer of the underwater carrying platform extended power supply control connection system are communicated, the rest output interfaces of the switch are respectively connected with a plurality of network modulators, the output end signal line of each network modulator is respectively connected with the output interfaces of the detection cabins, and the output interfaces of the detection cabins are connected with the detection cabins. Each detection cabin of the underwater carrying platform extended power supply control connection system external mounting needs to be connected with a network modulator with the same network name, namely: the internal circuit of the underwater carrying platform extended power supply control connection system and the internal circuit of the detection cabin are respectively provided with a network modulator, and the two network modulators are used in pairs and set to be the same network name.
And each detection cabin output interface is connected with each detection cabin through a special cable. The special cable is an underwater connecting cable between the cabin body of the underwater carrying platform extended power supply control connection system and the detection cabin, one special cable is arranged between each detection cabin and the cabin body of the system, and each detection cabin occupies one detection cabin output interface on the cabin body of the system and is connected with each detection cabin.
The detection cabins comprise a Roman detection cabin, a fluorescence detection cabin, an LTBS detection cabin and a Rip detection cabin.
According to the working method of the underwater carrying platform extended power supply control connection system, the power supply communication interface of the HOV/ROV and the HOV/ROV input interface of the underwater carrying platform extended power supply control connection system are connected through the customized cable, the detection cabin output interface of the underwater carrying platform extended power supply control connection system and the input interface of the detection cabin are connected through the special cable, and a plurality of detection cabins are connected according to actual conditions. Fixing the extended power supply control connection system of the underwater carrying platform on the HOV/ROV carrying platform, and operating a manipulator of the HOV/ROV to clamp the detection cabin to aim at a measured object, wherein the method comprises the following steps:
(1) the HOV/ROV provides a supply voltage, the supply voltage is transmitted to the internal circuit through the HOV/ROV input interface, if the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and then is input into the rectifying current-limiting circuit, for example, the direct current is converted into 24V/48V, and the voltage can be other voltages; if the input voltage is direct current, the direct current is directly input to the rectification current-limiting circuit;
(2) the rectifying current-limiting circuit regulates the input current to a proper magnitude; the power supply control module sequentially drives the relays to supply power to the output interfaces of the detection cabins; the DC/DC voltage stabilizing module converts the working voltage of the multiple detection cabins into voltage which can be used by the single chip microcomputer, the serial server, the switch and the network modulator; for example, 3.3V voltage available for a single chip microcomputer and 12V voltage available for a network modulator supply power to the single chip microcomputer, a serial server, a switch and the network modulator;
(3) the environment parameter detection circuit measures and obtains the temperature, the humidity and the air pressure in the underwater pressure bearing cabin body in real time, a commercialized temperature, humidity and air pressure module is used for realizing the measurement and the transmission of the temperature, the humidity and the air pressure to the single chip microcomputer, the multi-detection cabin working state detection circuit detects the working state of each detection cabin in real time and transmits the detected working state of each detection cabin to the single chip microcomputer, and the single chip microcomputer analyzes and processes the temperature, the humidity and the air pressure in the underwater pressure bearing cabin body and the working state of each detection cabin and then sends feedback information to the HOV/ROV software control platform through the serial server, the switch, the HOV/ROV input interface and the HOV/ROV in sequence; the HOV/ROV software control platform is software running on a computer in an HOV cabin body or an ROV ship base or a shore base computer, is used for controlling the running states of an underwater carrying platform extended power supply control connection system and a plurality of detection cabins, can read back the temperature, humidity and air pressure data in the cabin body of the underwater carrying platform extended power supply control connection system and the current working states of the detection cabins, and is upper computer operation software of the underwater carrying platform extended power supply control connection system and the plurality of detection cabins; and the HOV/ROV software control platform also sends a control command to the single chip microcomputer sequentially through the switch and the serial server.
Preferably, step (3) comprises the following steps:
A. the multi-detection-cabin working state detection circuit detects whether the voltage of the power supply line of each detection cabin is the rated working voltage in real time through AD (analog-to-digital) conversion, and if so, the detection cabin is in an open state; entering the step B; if not, the working state of the detection cabin is a closed state;
B. the single chip microcomputer judges whether temperature, humidity and air pressure data in the underwater pressure bearing cabin body exceed a safety range in real time, if not, the detection cabin starts to operate, measured data are stored in the HOV/ROV software control platform, and if the measured data exceed the safety range, the HOV/ROV software control platform sends alarm information to prompt equipment to leak water and close the detection cabins.
The invention has the beneficial effects that:
1. the invention enables a plurality of detection cabins to be butted with the HOV/ROV underwater carrying platform to only occupy one interface, thereby improving the load capacity of the HOV/ROV. Taking the example that an underwater carrying platform extended power supply control connection system is provided with 4 detection cabin output interfaces, the load capacity of the HOV/ROV is quadrupled. The HOV/ROV carrying platform can drive 4 detection cabin operations by needing 4 power supply communication interfaces, and the 4 detection cabin operations can be driven by only using 1 power supply communication interface of the HOV/ROV after the system for expanding power supply control connection of the underwater carrying platform is used.
2. The invention can coordinate the power supply and communication of a plurality of detection cabins, control and monitor the working states of the plurality of detection cabins, and lead the plurality of detection cabins or a single detection cabin to be flexibly connected and adjusted with domestic HOV/ROV underwater carrying platforms under the condition of not changing the interface types and internal circuits of the detection cabins.
3. The invention can improve the network communication quality between the HOV/ROV underwater carrying platform and the detection cabin, prolong the communication distance between the HOV/ROV and the detection cabin and increase the detection radius of the detection cabin. The communication distance between the HOV/ROV and the probe pod may extend up to 800 meters.
Drawings
FIG. 1 is a block diagram of an extended power supply control connection system of an underwater carrying platform according to the present invention;
FIG. 2 is a schematic structural connection diagram of an internal circuit of the underwater carrying platform extended power supply control connection system of the invention;
Detailed Description
The invention is further defined in the following, but not limited to, the figures and examples in the description.
Example 1
An extended power supply control connection system of an underwater carrying platform is shown in figure 1 and comprises an HOV/ROV input interface, an underwater pressure-bearing cabin body, an internal circuit and a plurality of detection cabin output interfaces; an internal circuit is arranged in the underwater pressure-bearing cabin body, the HOV/ROV input interface is connected with the internal circuit, and the internal circuit is also connected with a plurality of detection cabin output interfaces;
as shown in fig. 2, the internal circuit includes a rectifying current-limiting circuit, a switching power supply, a DC/DC voltage stabilizing module, a power supply control module, a single chip, a serial server, an environmental parameter detection circuit, a multi-detection-cabin working state detection circuit, a switch, and a plurality of network modulators; the switch power supply is connected with a rectifying current-limiting circuit, the rectifying current-limiting circuit is respectively connected with a power supply control module and a DC/DC voltage stabilizing module, the power supply control module is respectively connected with a plurality of detection cabin output interfaces, the power supply control module is also connected with a plurality of detection cabin working state detection circuits, the DC/DC voltage stabilizing module is respectively connected with a single chip microcomputer and a serial server, the single chip microcomputer is bidirectionally connected with an environmental parameter detection circuit, the single chip microcomputer is also connected with a plurality of detection cabin working state detection circuits, a switch is respectively connected with the serial server and a plurality of network modulators, and the plurality of network modulators are respectively connected;
the HOV/ROV provides a power supply voltage, the power supply voltage is transmitted to the internal circuit through the HOV/ROV input interface, if the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and is input to the rectifying current-limiting circuit, for example, the alternating current is converted into 24V/48V, and other voltages can be adopted; if the input voltage is direct current, the direct current is directly input into a rectification current-limiting circuit, and the rectification current-limiting circuit adjusts the input current to a proper magnitude; then the power supply control module sequentially drives the relays to supply power to the output interfaces of the detection cabins; the DC/DC voltage stabilizing module converts the working voltage of the multiple detection cabins into voltage which can be used by the single chip microcomputer, the serial server, the switch and the network modulator; for example, 3.3V voltage for the single chip microcomputer and 12V voltage for the network modulator supply power to the single chip microcomputer, the serial server, the switch and the network modulator;
the environment parameter detection circuit measures and obtains the temperature, the humidity and the air pressure in the underwater pressure-bearing cabin body in real time, a commercialized temperature, humidity and air pressure module is used for realizing the measurement and the transmission of the temperature, the humidity and the air pressure to the single chip microcomputer, the multi-detection-cabin working state detection circuit detects the working state of each detection cabin in real time and transmits the detected working state of each detection cabin to the single chip microcomputer, and the single chip microcomputer analyzes and processes the temperature, the humidity and the air pressure in the underwater pressure-bearing cabin body and the working state of each detection cabin and then sends feedback information to the HOV/ROV software control platform through the serial server, the switch, the HOV/ROV input interface and the HOV/RO; the HOV/ROV software control platform is software running on a computer in an HOV cabin body or an ROV ship base or a shore base computer, is used for controlling the running states of an underwater carrying platform extended power supply control connection system and a plurality of detection cabins, can read back the temperature, humidity and air pressure data in the cabin body of the underwater carrying platform extended power supply control connection system and the current working states of the detection cabins, and is upper computer operation software of the underwater carrying platform extended power supply control connection system and the plurality of detection cabins; and the HOV/ROV software control platform also sends a control command to the single chip microcomputer through the switch and the serial server in sequence.
The multi-detection-cabin working state detection circuit detects whether the voltage of the power supply line of each detection cabin is the rated working voltage in real time through AD (analog-to-digital) conversion, and if so, the detection cabin is in an open state; if not, the working state of the detection cabin is a closed state.
The singlechip analyzes and processes the temperature, the humidity and the air pressure in the underwater pressure bearing cabin body and the working state of each detection cabin, and the analysis and the processing refer to the following steps: the single chip microcomputer judges whether temperature, humidity and air pressure data in the underwater pressure bearing cabin body exceed a safety range in real time, if the temperature, humidity and air pressure data do not exceed the safety range, the data are only required to be packaged and sent to the HOV/ROV software control platform, if the data exceed the safety range, the single chip microcomputer sends equipment water leakage alarm and specific temperature, humidity and air pressure data to the HOV/ROV software control platform, and the HOV/ROV software control platform reminds an operator to immediately power off the underwater carrying platform expansion power supply control connection system and the detection cabins.
A power supply line and a communication line led out from a power supply communication interface of an HOV/ROV are led out to an internal circuit of an underwater carrying platform extended power supply control connection system, input voltage is converted into direct current through a rectification current-limiting circuit, then the input voltage is converted into rated working voltage of a plurality of detection cabins by a DC/DC voltage stabilizing module (the voltage of each detection cabin can be different, and the voltage stabilizing module is added to adjust to the corresponding different voltage) and output to output interfaces of each detection cabin, meanwhile, the DC/DC voltage stabilizing module also outputs the rated working voltage of a singlechip, a serial server, a switch, a network modulator and the like in the system for the work of the system, an environmental parameter detection circuit is used for detecting environmental parameters such as temperature, humidity and air pressure in the cabin, and the AD is used for detecting the voltage of a power supply lead of each detection cabin to determine the current working state of each detection. In the aspect of communication, the network modulator is used for improving the network communication quality and prolonging the network communication distance, wherein the network modulator is used in pairs, the network name of each of the system cabin body and the detection cabin body needs to be set to be consistent. The invention can expand the communication power supply interface of HOV/ROV; the power supply and communication of a plurality of detection cabins can be coordinated, the working states of the detection cabins are controlled and monitored, and the detection cabins with the same or different power supply voltages can be flexibly butted and jointly adjusted with domestic HOV/ROV underwater carrying platforms under the condition that the interface types and internal circuits of the detection cabins are not changed; the operation of a plurality of detection cabins can be coordinated, and the current working state of each detection cabin is monitored.
Example 2
The extended power supply control connection system for the underwater carrying platform is characterized in that: the model of the DC/DC voltage stabilizing module is LM2596 HVS; the DC/DC voltage stabilizing module has the DC adjustable voltage stabilizing power supply with the input voltage of 4.5-50V and the output voltage of 3-35V; the power supply control module is realized by a plurality of relays. The model of the singlechip is MSP 430; the serial server is USR-TCP 232-302; the type of the switch is OAM-6000-35-5 TX; the network modulator is model number DJA-8502.
The HOV/ROV input interface is connected with the internal circuit through a customized cable, and the internal circuit is also respectively connected with a plurality of detection cabin output interfaces through the customized cable. The customization of the customized cable refers to the customization aiming at different HOVs/ROVs, the definitions of different HOV/ROV power supply communication interfaces and lead wires are generally inconsistent, and the common interface types are BHF13 and Button; the type of the HOV/ROV input interface outside the cabin body of the underwater carrying platform power supply control connection system can be fixed, if the SUBCON interface is adopted, the leads are shared on the online sequence in a comprehensive planning mode, and the power supply communication leads contain as many HOV/ROV as possible, so that the connection system is used for different HOV/ROV, and only corresponding customized cables need to be replaced.
In the aspect of communication control, the HOV/ROV is communicated with the switch, one path of an output interface of the switch is connected to the serial server, the HOV/ROV is communicated with the single chip microcomputer of the underwater carrying platform extended power supply control connection system, the rest output interfaces of the switch are respectively connected with a plurality of network modulators, signal lines at the output ends of the network modulators are respectively connected with output interfaces of the detection cabins, and the output interfaces of the detection cabins are connected with the detection cabins. The inside of each detection cabin carried outside the underwater carrying platform extended power supply control connection system is connected with a network modulator arranged in the same network segment, namely: the internal circuit of the underwater carrying platform extended power supply control connection system and the internal circuit of the detection cabin are respectively provided with a network modulator, and the two network modulators are used in pairs and set to be the same network name.
And the output interfaces of the detection cabins are connected with the detection cabins through special cables. The special cable is an underwater connecting cable between the cabin body of the underwater carrying platform extended power supply control connection system and the detection cabin, one special cable is arranged between each detection cabin and the cabin body of the system, and each detection cabin occupies one detection cabin output interface on the cabin body of the system and is connected with each detection cabin.
The detection cabins comprise a Roman detection cabin, a fluorescence detection cabin, an LTBS detection cabin and a Rip detection cabin.
Example 3
The extended power supply control connection system for the underwater carrying platform is characterized in that:
taking the cooperation of a flood dragon HOV and a Roman detection cabin, a fluorescence detection cabin, a LIBS detection cabin and a Rip detection cabin with deep sea operation as an example, a communication power supply interface of the flood dragon and an HOV/ROV input interface of an underwater carrying platform extended power supply control connection system are connected by using a customized cable, 4 detection cabin output interfaces and 4 detection cabins of the system are respectively connected by using 4 special cables, and the underwater carrying platform extended power supply control connection system is fixed to a carrying platform of the flood dragon HOV. The mother ship loaded with the flood dragon HOV and the underwater carrying platform extended power supply control docking system, the Roman detection cabin, the fluorescence detection cabin, the LIBS detection cabin and the Rip detection cabin sails to a preset sea area, the flood dragon is put into water, the flood dragon sails to a seabed area to be measured, running an HOV/ROV software control platform on a flood dragon computer, checking the temperature, humidity and air pressure in the cabin body and each detection cabin of the system, if all the conditions are normal, operating a manipulator by a flood dragon operator to clamp the Roman detection cabin to align to an object to be detected, the operation state of the four detection cabins can be observed to be changed into an open state in sequence through the HOV/ROV software control platform, the corresponding buttons of the HOV/ROV software control platform are clicked to close the fluorescence detection cabin, the LIBS detection cabin and the Rip detection cabin, the Roman detection cabin starts to detect, and transmitting the obtained detection data to an HOV/ROV software control platform in a flood dragon through an underwater carrying platform extended power supply control connection system. After the operation of the Roman detection cabin is finished, the Roman detection cabin is closed by the HOV/ROV software control platform, the fluorescence detection cabin is opened, the mechanical arm releases the Roman detection cabin, the fluorescence detection cabin is clamped for continuous operation, and the like.
The HOV/ROV software control platform can also play a role in monitoring the whole process, and flood dragon operators can timely detect water leakage or other abnormal conditions and carry out emergency treatment. The interface is expanded by 4 times, and the underwater communication distance is prolonged by 800 meters.
Example 4
The working method of the extended power supply control connection system for the underwater carrying platform according to any one of embodiments 1 to 3 includes connecting a power supply communication interface of the HOV/ROV and an HOV/ROV input interface of the extended power supply control connection system for the underwater carrying platform by using a customized cable, connecting a detection cabin output interface of the extended power supply control connection system for the underwater carrying platform and an input interface of a detection cabin by using a dedicated cable, and connecting several detection cabins according to actual conditions. Fixing the extended power supply control connection system of the underwater carrying platform on the HOV/ROV carrying platform, and operating a manipulator of the HOV/ROV to clamp the detection cabin to aim at a measured object, wherein the method comprises the following steps:
(1) the HOV/ROV provides power supply voltage, the power supply voltage is transmitted to an internal circuit through an HOV/ROV input interface, if the input voltage is alternating current, the input alternating current is converted into direct current through a switching power supply and then is input into a rectifying current-limiting circuit, for example, the direct current is converted into 24V/48V, and other voltages can be adopted; if the input voltage is direct current, the direct current is directly input to the rectification current-limiting circuit;
(2) the rectifying current-limiting circuit regulates the input current to a proper magnitude; the power supply control module sequentially drives the relays to supply power to the output interfaces of the detection cabins; the DC/DC voltage stabilizing module converts the working voltage of the multiple detection cabins into voltage which can be used by the single chip microcomputer, the serial server, the switch and the network modulator; for example, 3.3V voltage for the single chip microcomputer and 12V voltage for the network modulator supply power to the single chip microcomputer, the serial server, the switch and the network modulator;
(3) the environment parameter detection circuit measures and obtains the temperature, the humidity and the air pressure in the underwater pressure-bearing cabin body in real time, a commercialized temperature, humidity and air pressure module is used for realizing the measurement and the transmission of the temperature, the humidity and the air pressure to the single chip microcomputer, the multi-detection-cabin working state detection circuit detects the working state of each detection cabin in real time and transmits the detected working state of each detection cabin to the single chip microcomputer, and the single chip microcomputer analyzes and processes the temperature, the humidity and the air pressure in the underwater pressure-bearing cabin body and the working state of each detection cabin and then sends feedback information to the HOV/ROV software control platform through the serial server, the switch, the HOV/ROV input interface and the HOV/RO; the HOV/ROV software control platform is software running on a computer in an HOV cabin body or an ROV ship base or a shore base computer, is used for controlling the running states of an underwater carrying platform extended power supply control connection system and a plurality of detection cabins, can read back the temperature, humidity and air pressure data in the cabin body of the underwater carrying platform extended power supply control connection system and the current working states of the detection cabins, and is upper computer operation software of the underwater carrying platform extended power supply control connection system and the plurality of detection cabins; and the HOV/ROV software control platform also sends a control command to the single chip microcomputer through the switch and the serial server in sequence. The method comprises the following steps:
A. the multi-detection-cabin working state detection circuit detects whether the voltage of the power supply line of each detection cabin is the rated working voltage in real time through AD (analog-to-digital) conversion, and if so, the detection cabin is in an open state; entering the step B; if not, the working state of the detection cabin is a closed state;
B. the single chip microcomputer judges whether temperature, humidity and air pressure data in the underwater pressure bearing cabin body exceed a safety range in real time, if the temperature, humidity and air pressure data do not exceed the safety range, the detection cabin starts to operate, measured data are stored in the HOV/ROV software control platform, and if the measured data exceed the safety range, the HOV/ROV software control platform sends alarm information to prompt equipment to leak water and closes each detection cabin.
Claims (7)
1. An extended power supply control connection system of an underwater carrying platform is characterized by comprising an HOV/ROV input interface, an underwater pressure-bearing cabin body, an internal circuit and a plurality of detection cabin output interfaces; an internal circuit is arranged in the underwater pressure-bearing cabin body, the HOV/ROV input interface is connected with the internal circuit, and the internal circuit is also connected with a plurality of detection cabin output interfaces;
the internal circuit comprises a rectifying current-limiting circuit, a switching power supply, a DC/DC voltage stabilizing module, a power supply control module, a single chip microcomputer, a serial server, an environmental parameter detection circuit, a multi-detection-cabin working state detection circuit, a switch and a plurality of network modulators; the switching power supply is connected with the rectifying current-limiting circuit, the rectifying current-limiting circuit is respectively connected with the power supply control module and the DC/DC voltage stabilizing module, the power supply control module is respectively connected with a plurality of detection cabin output interfaces, the power supply control module is also connected with the multi-detection cabin working state detection circuit, the DC/DC voltage stabilizing module is respectively connected with the single chip microcomputer and the serial server, the single chip microcomputer is bidirectionally connected with the environmental parameter detection circuit, the single chip microcomputer is also connected with the multi-detection cabin working state detection circuit, the switch is respectively connected with the serial server and a plurality of network modulators, and the plurality of network modulators are respectively connected with a plurality of detection cabin output interfaces;
the HOV/ROV provides power supply voltage, the power supply voltage is transmitted to the internal circuit through the HOV/ROV input interface, if the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and is input to the rectifying current-limiting circuit, if the input voltage is direct current, the input direct current is input to the rectifying current-limiting circuit, and the rectifying current-limiting circuit adjusts the input current to a proper magnitude; the power supply control module sequentially drives the relays to supply power to the output interfaces of the detection cabins; the DC/DC voltage stabilizing module converts the working voltage of the multiple detection cabins into voltage which can be used by the single chip microcomputer, the serial server, the switch and the network modulator; the environment parameter detection circuit measures and acquires the temperature, humidity and air pressure in the underwater pressure bearing cabin body in real time and transmits the temperature, humidity and air pressure to the single chip microcomputer, the multi-detection cabin working state detection circuit detects the working state of each detection cabin in real time and transmits the detected working state of each detection cabin to the single chip microcomputer, and the single chip microcomputer analyzes and processes the temperature, humidity and air pressure in the underwater pressure bearing cabin body and the working state of each detection cabin and then transmits feedback information to the HOV/ROV software control platform through the serial server, the switch, the HOV/ROV input interface, the HOV/ROV and the HOV/ROV in sequence; and the HOV/ROV software control platform also sends a control command to the single chip microcomputer sequentially through the switch and the serial server.
2. The underwater carrying platform extended power supply control connection system according to claim 1, wherein the multi-detection-cabin working state detection circuit detects whether the voltage on the power supply line of each detection cabin is a rated working voltage in real time through AD analog-to-digital conversion, and if so, the detection cabin is in an open state; if not, the working state of the detection cabin is a closed state.
3. The system of claim 1, wherein the analysis and processing of the temperature, humidity, air pressure in the underwater pressure bearing cabin and the working state of each detection cabin by the single chip microcomputer are performed by: the single chip microcomputer judges whether temperature, humidity and air pressure data in the underwater pressure bearing cabin body exceed a safety range in real time, if the temperature, humidity and air pressure data do not exceed the safety range, the data are only required to be packaged and sent to the HOV/ROV software control platform, if the data exceed the safety range, the single chip microcomputer sends equipment water leakage alarm and specific temperature, humidity and air pressure data to the HOV/ROV software control platform, and the HOV/ROV software control platform reminds an operator to immediately power off the underwater carrying platform extended power supply control connection system and the detection cabins.
4. The underwater carrying platform extended power supply control connection system of claim 1, wherein the DC/DC voltage stabilizing module is LM2596 HVS; the type of the single chip microcomputer is MSP 430; the serial server is of a USR-TCP232-302 model; the type of the switch is OAM-6000-35-5 TX; the model number of the network modulator is DJA-8502.
5. The system of any one of claims 1 to 5, wherein the HOV/ROV is in communication with the switch, one of the output interfaces of the switch is connected to a serial server to realize the communication between the HOV/ROV and the single chip microcomputer of the system, the other output interfaces of the switch are respectively connected to a plurality of network modulators, the output end signal line of each network modulator is respectively connected to the output interfaces of the detection cabins, and the output interfaces of the detection cabins are connected to the detection cabins.
6. The method of any one of claims 1 to 5 for operating an extended power supply controlled docking system for an underwater vehicle platform, wherein the HOV/ROV manipulator is operable to hold the probe pod in alignment with the object to be tested, comprising the steps of:
(1) the HOV/ROV provides power supply voltage, the power supply voltage is transmitted to the internal circuit through the HOV/ROV input interface, if the input voltage is alternating current, the input alternating current is converted into direct current through the switching power supply and then is input to the rectifying current-limiting circuit, and if the input voltage is direct current, the input alternating current is directly input to the rectifying current-limiting circuit;
(2) the rectifying current-limiting circuit regulates the input current to a proper magnitude; the power supply control module sequentially drives the relays to supply power to the output interfaces of the detection cabins; the DC/DC voltage stabilizing module converts the working voltage of the multiple detection cabins into voltage which can be used by the single chip microcomputer, the serial server, the switch and the network modulator;
(3) the environment parameter detection circuit measures and acquires the temperature, humidity and air pressure in the underwater pressure bearing cabin body in real time and transmits the temperature, humidity and air pressure to the single chip microcomputer, the multi-detection cabin working state detection circuit detects the working state of each detection cabin in real time and transmits the detected working state of each detection cabin to the single chip microcomputer, and the single chip microcomputer analyzes and processes the temperature, humidity and air pressure in the underwater pressure bearing cabin body and the working state of each detection cabin and then transmits feedback information to the HOV/ROV software control platform through the serial server, the switch, the HOV/ROV input interface, the HOV/ROV and the HOV/ROV in sequence; and the HOV/ROV software control platform also sends a control command to the single chip microcomputer sequentially through the switch and the serial server.
7. The working method of the underwater vehicle platform extended power supply control connection system according to claim 6, wherein the step (3) comprises the following steps:
A. the multi-detection-cabin working state detection circuit detects whether the voltage of the power supply line of each detection cabin is the rated working voltage in real time through AD (analog-to-digital) conversion, and if so, the detection cabin is in an open state; entering the step B; if not, the working state of the detection cabin is a closed state;
B. the single chip microcomputer judges whether temperature, humidity and air pressure data in the underwater pressure bearing cabin body exceed a safety range in real time, if not, the detection cabin starts to operate, measured data are stored in the HOV/ROV software control platform, and if the measured data exceed the safety range, the HOV/ROV software control platform sends alarm information to prompt equipment to leak water and close the detection cabins.
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