CN112208717A - Multifunctional intelligent salvage system on sea - Google Patents
Multifunctional intelligent salvage system on sea Download PDFInfo
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- CN112208717A CN112208717A CN202011255072.2A CN202011255072A CN112208717A CN 112208717 A CN112208717 A CN 112208717A CN 202011255072 A CN202011255072 A CN 202011255072A CN 112208717 A CN112208717 A CN 112208717A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Abstract
The invention provides a multifunctional intelligent salvage system on the sea, which comprises: the system comprises a water surface control platform, a crane, an umbilical cable winch, an ROV carrier, a buoyancy adjusting device and a capturing device; the water surface control platform is connected with and controls the crane and the umbilical cable winch; the umbilical cable winch is connected with the ROV carrier through an umbilical cable; the buoyancy adjusting device comprises a buoyancy material, a buoy, a seawater pump and a control valve group, underwater buoyancy and buoyancy are adjusted through the seawater pump, and the attitude control is carried out on the ROV carrier; the catching device is connected with the ROV carrier and used for grabbing the salvaged objects and sending the salvaged objects to the ROV carrier. The invention is suitable for salvaging and recovering objects such as UUV (unmanned Underwater vehicle) which are in a floating state in water, is also suitable for searching and salvaging seabed fixed objects, and can be used as a comprehensive underwater operation platform to realize detection, maintenance and rescue of an underwater ship body or the seabed.
Description
Technical Field
The invention relates to the technical field of oceans, in particular to a multifunctional intelligent salvage system on the sea. In particular to a multifunctional intelligent salvage and recovery system on the sea by adopting an ROV technology.
Background
At present, objects such as UUV on the sea are salvaged and recovered mainly by a traditional manual salvage mode, the operation difficulty is high, the efficiency is low, the objects are difficult to recover under severe sea conditions, and salvaged object damage or casualties are easily caused. With the continuous increase of ocean resource development, offshore defense and military requirements, the number and the use frequency of operating equipment such as UUV, buoys and the like are increased sharply, corresponding offshore recovery tasks are increased day by day, an automatic salvage device is urgently needed to be developed, and the problems of low salvage efficiency, poor safety and the like which are highlighted day by day are solved.
Patent document CN109515655A (application number: 201811465089.3) discloses a multifunctional six-track underwater robot, which comprises a main floating body longitudinally inertial to the head and the tail, main driving tracks arranged at the inner sides of the bottoms of left and right side plates, and two rocker arms arranged at the head and the tail, respectively, symmetrically arranged left and right, and capable of freely rotating in 360 degrees, wherein when the main driving tracks rotate, the upper tracks of the rocker arms are driven to rotate, so that the rocker arms have climbing and obstacle crossing capabilities; the head of the robot is provided with a left mechanical arm and a right mechanical arm, the left mechanical arm can realize a grabbing function, and the right mechanical arm is a hydraulic self-carrying hand garage type mechanical arm and can complete functions of drilling, cutting and the like, so that the underwater operation efficiency is greatly improved; meanwhile, an intelligent environment monitoring system is carried.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an offshore multifunctional intelligent fishing system.
The invention provides an offshore multifunctional intelligent fishing system, which comprises: the system comprises a water surface control platform, a crane, an umbilical cable winch, an ROV carrier, a buoyancy adjusting device and a capturing device;
the water surface control platform is connected with and controls the crane and the umbilical cable winch;
the umbilical cable winch is connected with the ROV carrier through an umbilical cable;
the buoyancy adjusting device comprises a buoyancy material, a buoy, a seawater pump and a control valve group, underwater buoyancy and buoyancy are adjusted through the seawater pump, and the attitude control is carried out on the ROV carrier;
the catching device is connected with the ROV carrier and used for grabbing the salvaged objects and sending the salvaged objects to the ROV carrier.
Preferably, the surface control station comprises an ROV operation panel, an ROV control computer, a display unit, a visual guidance system and a power supply and distribution unit;
the ROV operation panel and the vision guidance system are connected with an ROV control computer through a data communication line;
the display unit is connected with the ROV control computer through a video communication line;
the power supply and distribution unit is connected with the water surface control console and the umbilical cable input end through a power supply cable.
Preferably, the ROV control computer receives and processes the sensor data transmitted by the ROV carrier and displays the sensor data in the form of a user interface, and the control data transmitted by the ROV operation panel and the visual guidance system are processed and then transmitted to the ROV carrier in the form of control instructions.
Preferably, the operation panel is provided with a button, a knob and an operation rod for operating the ROV carrier;
the display unit is a display, a touch screen or a data instrument and is used for displaying a user software interface, a video picture or sensor data;
the power supply and distribution unit provides power supply and protection functions for each device, has the functions of boosting, frequency conversion, filtering and insulation protection, and provides a user operation and display interface.
Preferably, the catching device comprises a grabbing manipulator, a locking device and a guiding device;
the grabbing manipulator is a multi-degree-of-freedom joint arm driven by hydraulic pressure or a motor and is provided with a motion joint with horizontal swing, expansion, wrist rotation and paw opening and closing functions; the opening and closing size of the paw is matched with the peripheral size of the salvaged object, and the paw actively approaches and snatchs the salvaged object under the assistance of the posture control of the underwater body;
the locking device is positioned at the root of the paw and adopts a bolt type, a ratchet type or a connecting rod type, and the paw is automatically locked after being closed to prevent a salvaged object from falling off due to misoperation;
the guide devices are positioned on two sides of the grabbing manipulator, cover the movement range of the manipulator, adopt a conical surface or a retracted curved surface form, enlarge the butt joint range and guide the salvaged object to enter a designated position.
Preferably, the water surface console adopts an integral integrated type or a convenient installation type;
the integral integration type water surface control console is integrally integrated in a small box body, the box body is operated, and a layout space is reserved on a deck;
the convenient installation type is characterized in that an operation panel of the water surface control console is fixedly installed on a deck or a cabin according to requirements.
Preferably, the ROV carrier comprises a body structure, a propeller system, a hydraulic system, an underwater control system, a holder system and an underwater video system;
the thruster system, the hydraulic system, the underwater control system, the holder system and the underwater video system are all connected with the body structure;
the propeller system and the holder system are driven by hydraulic pressure or electric power;
the hydraulic driving type propulsion system and the tripod head system are connected with the hydraulic system through hydraulic pipelines, and the electric driving type propulsion system and the tripod head system are connected with the underwater control system through cables;
the underwater video system is connected with the underwater control system through a data communication cable;
and the underwater control system receives an instruction of the water surface console, controls the propeller system, the hydraulic system and the holder system, simultaneously receives sensor data of each system, and sends the data to the ROV control computer through the umbilical cable.
Preferably, the loop wheel machine is the lifting device of body structure for drop after putting the body structure and predetermineeing safe distance outside mother's ship, the body structure restarts the motion function and salvages the operation of object capture after going into water, catches and retrieve the body structure to the deck with salvage the whole with the object by the loop wheel machine again after succeeding in.
Preferably, the umbilical cable winch is used for storing and releasing umbilical cables, is driven by a hydraulic motor or a motor and comprises a main structure, a sliding ring, a junction box and an electric control cabinet; according to the requirements of working conditions, the umbilical cable winch is provided with an automatic cable arrangement device and a heave compensation function.
Preferably, different grabbing modules are selected according to the specifications and the floating state conditions of the salvaged objects, and alignment, capture, carrying and returning and lifting recovery of the salvaged objects are completed through remote control of underwater body actions under the assistance of visual or visual guidance systems.
Compared with the prior art, the invention has the following beneficial effects:
1. the underwater floating type underwater rescue device is suitable for salvaging and recovering objects such as UUV (unmanned Underwater vehicle) which are in a floating state in water, is also suitable for searching and salvaging seabed fixed targets, and can be used as a comprehensive underwater operation platform to realize detection, maintenance, rescue and the like of an underwater ship body or the seabed;
2. the gripping tool has stronger error adaptability on the whole, and the control precision requirement of the capturing body is reduced by adopting a guide device and the like; the part of the fishing rod in contact with the fishing object is provided with a buffer material or a structure, so that scratches or damages left after the fishing object is extruded or touched are prevented;
3. the ROV carrier has a convenient capture tool mounting interface, good water surface and underwater motion performance and wind and wave resistance, a comprehensive and clear video monitoring and guiding system and the like;
4. the buoyancy adjusting device comprises a buoyancy material, a buoy, a seawater pump and a control valve group, can provide enough buoyancy under water to meet the requirement of the floating force of a salvaged object, and can adjust the underwater buoyancy and the floating state through the seawater pump to adapt to the requirement of attitude control of an underwater body.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a system composition diagram;
FIG. 2 is a block diagram of the subsea fishing component;
FIG. 3 is a general layout of an underwater body;
FIG. 4 is a view of the structure of the underwater body in operation;
fig. 5 is a schematic structural view of the multifunctional grabbing manipulator.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1:
referring to fig. 1, the multifunctional intelligent salvage system at sea provided by the invention comprises:
the intelligent salvage and recovery system adopts an ROV remote control operation mode to realize the salvage and recovery of underwater or water surface objects. The system can be divided into an above-water system and an underwater system, wherein: the water system consists of a water surface control platform, a crane, a winch and the like; the underwater body system comprises an ROV carrier, a capture tool module and the like.
The water surface control platform comprises an ROV operation panel, an ROV control computer, a display unit, a vision guide system and a power supply and distribution unit;
the ROV operation panel and the vision guiding system are connected with an ROV control computer through data communication lines (network cables, CAN buses or serial communication lines and the like), the display units (possibly a plurality of the display units) are connected with the control computer through video communication lines, and the power supply and distribution units are connected with each device of the water surface console and the input end of the underwater umbilical cable through power supply cables.
The ROV control computer is a core unit of the water surface control system and is responsible for main monitoring and control tasks of the system, such as receiving and processing sensor data transmitted by the underwater system, displaying the sensor data in a user interface mode, processing control data transmitted by the operation panel and the vision guidance computer, and then sending the processed control data to the underwater system in a control instruction mode; the operation panel is provided with buttons, knobs, operation levers and the like, and is a main input interface for a user to operate the ROV system; the display unit is a display, a touch screen or a data instrument and the like and is mainly used for displaying a user software interface, a video image or sensor data and the like; the power supply and distribution unit provides power supply and protection functions for the water surface and underwater systems, has the functions of boosting, frequency conversion, filtering, insulation protection and the like, and provides a user operation and display interface.
The salvage object recovery operation mode is divided into a manual control mode and an automatic recovery mode: the manual control is mainly realized by the water surface operator actively operating the ROV carrier and the catching tool thereof by combining underwater video and monitoring information to finish the whole salvaging object recovery process; and the autonomous recovery adopts an acoustic and visual guide method, the key part of the salvaged object is identified by an acoustic and visual system to obtain effective azimuth and state information of the salvaged object, the ROV carrier realizes autonomous prepositioning of recovery operation according to the information, and an operator is assisted to finish the final recovery operation.
During fishing operation, the underwater body is laid in water by the crane, the underwater body is manually operated to swim to the fishing object until the underwater body and the fishing object all enter the acoustic or visual detection range, the underwater body and the fishing object are effectively identified in the detection range, and the large-range relative position and the large-range relative orientation information of the underwater body and the fishing object are obtained.
Under the guidance of acoustic or visual information, an operator operates the underwater body to continuously approach the salvage object, adjusts the buoyancy and floating state of the underwater body after reaching the salvage object for a certain distance, and starts a propeller system to stabilize the posture of the underwater body to a proper state and then gradually approach the salvage object; the operation manipulator integrally extends out of the salvaging object until the bottom of the jaw contacts the salvaging object, and then the paw is closed and locked; readjusting the buoyancy and the floating state of the underwater body to keep the stable motion control state of the body; the underwater body carries the fishing object to swim to the lower part of the crane, and the winch is used for recovering the umbilical cable to integrally recover the underwater body and the fishing object.
Example 2:
the invention provides a multifunctional intelligent salvage and recovery system on the sea by adopting an ROV technology aiming at the requirements. The system adopts a remote control operation mode, realizes underwater or near-water surface grabbing and mechanical salvage recovery of salvaged objects such as UUV and the like, and can solve the problems of high efficiency and safe recovery under high sea conditions. The intelligent salvage recovery system can select different grabbing modules according to the specifications and the floating state conditions of the salvage objects, and under the assistance of visual or acoustic and visual guide systems of operators, a series of operation processes of aligning, capturing, carrying, returning, hoisting, recovering and the like of the salvage objects are completed. The system is suitable for salvaging and recovering objects which are in a floating state in water, and is also suitable for searching and salvaging seabed fixed targets; and can be used as a comprehensive underwater operation platform to realize detection, maintenance, rescue and the like of an underwater ship body or the seabed. The method has wide application prospect in the aspects of salvaging and rescuing the UUV or the specific target object in the deep sea.
The invention is realized by the following technical scheme: the intelligent salvage and recovery system adopts an ROV remote control operation mode to realize the salvage and recovery of underwater or water surface objects. The system can be divided into an above-water system and an underwater system, wherein: the water system consists of a water surface control platform, a crane, a winch and the like; the underwater body system comprises an ROV carrier, a capture tool module and the like. During fishing, the crane and the winch are matched to release the underwater body to a safe water area, and after the underwater body enters an operation area, under the visual action of an operator or the assistance of a water surface and underwater visual system, the underwater body is remotely controlled to move to complete a series of operation processes such as alignment, capture, carrying and return, lifting and recovery of a fishing object.
As shown in fig. 2, fig. 3 and fig. 4, the underwater body system at least comprises a body structure, a buoyancy adjusting device, a capturing or grabbing tool, a propeller system, an underwater control system and the like, and a matched hydraulic system, a pan-tilt system, an underwater video system and the like. In order to meet the needs of fishing operation, the ROV carrier has a convenient capture tool installation interface, good water surface and underwater motion performance and wind and wave resistance, a comprehensive and clear video monitoring and guiding system and the like.
The catching or gripping tool at least comprises a gripping manipulator, a locking device, a guiding device and the like. The whole tool has stronger error adaptability, and the control precision requirement of the capturing body is reduced by adopting a guide device and the like; and the contact part with the fishing object is provided with a buffer material or a structure, so that scratches or damages left after extrusion or touch on the fishing object are prevented.
The buoyancy adjusting device at least comprises a buoyancy material, a buoy, a seawater pump, a control valve group and the like, can provide enough buoyancy under water to meet the floating requirement of carrying a salvaged object, and can adjust the underwater buoyancy and the floating state through the seawater pump to adapt to the attitude control requirement of the underwater body.
As shown in fig. 5, the grasping manipulator is a multi-degree-of-freedom joint arm driven by hydraulic pressure or a motor, and has motion joints such as horizontal swing, expansion and contraction, wrist rotation, paw opening and closing and the like. The paw size of opening and shutting suits the peripheral dimensional requirement of salvage object, and the paw can have the power and feel the function, under the assistance of body attitude control under water, can approach and snatch the salvage object voluntarily.
The water surface control station at least comprises a control panel, a control computer, a display unit, an underwater power supply and distribution unit and the like for personnel control. The water surface control console can adopt an integral type and can also adopt a convenient installation type. The integral water surface control console is integrally integrated in a small box body, and personnel can operate and control the box body, but enough arrangement space needs to be reserved on a deck; the system unit can be installed at a proper position of a deck or a cabin according to needs in a convenient installation manner, and has no high requirement on the whole installation space, but is inconvenient to move or disassemble.
The crane is a lifting device of the underwater body, and is mainly used for lifting the underwater body to the outside of the mother ship for a certain safe distance and then placing the underwater body, starting a motion function to perform salvage object capture operation after the underwater body enters water, and recovering the underwater body and the salvage object to a deck by the crane after the salvage operation is successful.
The winch is used for storing and releasing umbilical cables, is driven by a hydraulic motor or a motor and mainly comprises a main structure, a sliding ring, a junction box, an electric control cabinet and the like. According to the requirements of working conditions, the winch can be matched with an automatic cable arrangement device and a heave compensation function.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a multi-functional intelligent salvage system at sea which characterized in that includes: the system comprises a water surface control platform, a crane, an umbilical cable winch, an ROV carrier, a buoyancy adjusting device and a capturing device;
the water surface control platform is connected with and controls the crane and the umbilical cable winch;
the umbilical cable winch is connected with the ROV carrier through an umbilical cable;
the buoyancy adjusting device comprises a buoyancy material, a buoy, a seawater pump and a control valve group, underwater buoyancy and buoyancy are adjusted through the seawater pump, and the attitude control is carried out on the ROV carrier;
the catching device is connected with the ROV carrier and used for grabbing the salvaged objects and sending the salvaged objects to the ROV carrier.
2. The offshore multifunctional intelligent fishing system of claim 1, wherein the surface console comprises an ROV operating panel, an ROV control computer, a display unit, a visual guidance system and a power supply and distribution unit;
the ROV operation panel and the vision guidance system are connected with an ROV control computer through a data communication line;
the display unit is connected with the ROV control computer through a video communication line;
the power supply and distribution unit is connected with the water surface control console and the umbilical cable input end through a power supply cable.
3. The offshore multifunctional intelligent fishing system of claim 1, wherein the ROV control computer receives and processes sensor data transmitted by the ROV carrier and displays the sensor data in a form of a user interface, and the control data transmitted by the ROV operation panel and the visual guidance system are processed and then transmitted to the ROV carrier in a form of control instructions.
4. The offshore multifunctional intelligent fishing system of claim 1, wherein the operating panel is provided with buttons, knobs and levers for manipulating the ROV carrier;
the display unit is a display, a touch screen or a data instrument and is used for displaying a user software interface, a video picture or sensor data;
the power supply and distribution unit provides power supply and protection functions for each device, has the functions of boosting, frequency conversion, filtering and insulation protection, and provides a user operation and display interface.
5. The offshore multifunctional intelligent fishing system of claim 1, wherein the capturing device comprises a grabbing manipulator, a locking device and a guiding device;
the grabbing manipulator is a multi-degree-of-freedom joint arm driven by hydraulic pressure or a motor and is provided with a motion joint with horizontal swing, expansion, wrist rotation and paw opening and closing functions; the opening and closing size of the paw is matched with the peripheral size of the salvaged object, and the paw actively approaches and snatchs the salvaged object under the assistance of the posture control of the underwater body;
the locking device is positioned at the root of the paw and adopts a bolt type, a ratchet type or a connecting rod type, and the paw is automatically locked after being closed to prevent a salvaged object from falling off due to misoperation;
the guide devices are positioned on two sides of the grabbing manipulator, cover the movement range of the manipulator, adopt a conical surface or a retracted curved surface form, enlarge the butt joint range and guide the salvaged object to enter a designated position.
6. The offshore multifunctional intelligent fishing system of claim 1, wherein the surface console is of an integrated or conveniently installed type;
the integral integration type water surface control console is integrally integrated in a small box body, the box body is operated, and a layout space is reserved on a deck;
the convenient installation type is characterized in that an operation panel of the water surface control console is fixedly installed on a deck or a cabin according to requirements.
7. The offshore multifunctional intelligent fishing system of claim 1, wherein the ROV carrier comprises a body structure, a thruster system, a hydraulic system, an underwater control system, a pan-tilt system and an underwater video system;
the thruster system, the hydraulic system, the underwater control system, the holder system and the underwater video system are all connected with the body structure;
the propeller system and the holder system are driven by hydraulic pressure or electric power;
the hydraulic driving type propulsion system and the tripod head system are connected with the hydraulic system through hydraulic pipelines, and the electric driving type propulsion system and the tripod head system are connected with the underwater control system through cables;
the underwater video system is connected with the underwater control system through a data communication cable;
and the underwater control system receives an instruction of the water surface console, controls the propeller system, the hydraulic system and the holder system, simultaneously receives sensor data of each system, and sends the data to the ROV control computer through the umbilical cable.
8. The offshore multifunctional intelligent fishing system of claim 7, wherein the crane is a lifting device of the body structure, and is used for lifting the body structure to a preset safe distance outside the mother ship and then lowering the body structure, starting a motion function to capture a fishing object after the body structure enters water, and recovering the body structure and the fishing object to a deck integrally by the crane after the body structure and the fishing object are captured successfully.
9. The offshore multifunctional intelligent fishing system of claim 1, wherein the umbilical winch is used for storing and retrieving umbilicals, is driven by a hydraulic motor or a motor, and comprises a main structure, a slip ring, a junction box and an electric control cabinet; according to the requirements of working conditions, the umbilical cable winch is provided with an automatic cable arrangement device and a heave compensation function.
10. The offshore multifunctional intelligent fishing system of claim 1, wherein different grabbing modules are selected according to the specifications and floating state conditions of the fishing objects, and under the assistance of a visual or visual guidance system, the fishing objects are aligned, caught, carried back and lifted and recovered by remotely controlling the underwater body to move.
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| CN113788129A (en) * | 2021-08-06 | 2021-12-14 | 郑州大学 | Underwater combined search and rescue robot and system |
| CN113978666A (en) * | 2021-10-27 | 2022-01-28 | 中国船舶科学研究中心 | Auxiliary capture device for submarine target and operation method |
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