CN116280117A - Water surface underwater robot system for ship rescue and application method thereof - Google Patents
Water surface underwater robot system for ship rescue and application method thereof Download PDFInfo
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- CN116280117A CN116280117A CN202310335810.1A CN202310335810A CN116280117A CN 116280117 A CN116280117 A CN 116280117A CN 202310335810 A CN202310335810 A CN 202310335810A CN 116280117 A CN116280117 A CN 116280117A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims description 9
- 229920006231 aramid fiber Polymers 0.000 claims description 3
- 239000002657 fibrous material Substances 0.000 claims description 3
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- 238000013461 design Methods 0.000 abstract description 2
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- 238000005259 measurement Methods 0.000 description 2
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention belongs to the field of design of underwater robots on water surfaces, and particularly relates to a ship rescue robot system and a use method thereof. The robot comprises a load section, a battery section, a navigation control section, a thin cable release section, a propulsion section and a communication module. The thin cable release section comprises a thin cable release mechanism, and thin cables in the thin cable release mechanism are led out from a middle hole at the tail part of the rescue robot. When in use, the device can be put on the rescue ship, can also be configured on the rescue ship, and can be deployed on the rescue ship. According to the invention, the ship rescue robot independently sails underwater and drags the thin cable around the ship to be saved for at least one circle, so that the thin cable can be delivered to the target ship and salvaged, and the thin cable drags out the bearing cable. The invention can effectively solve the problems that the existing marine rescue equipment is difficult to meet the requirements of ship rescue and can not accurately throw ropes under severe weather conditions; the rescue effort can be brought into rapid and accurate proximity to the target and deliver tug lines or other rescue items.
Description
Technical Field
The invention belongs to the field of design of underwater robots on water surfaces, and relates to an underwater robot system on water surfaces for ship rescue and a use method thereof.
Technical Field
The marine transportation is an important field of social and economic development of China, the marine rescue is an important component part of a national emergency guarantee system, and the important responsibility of the marine transportation safety guarantee of China is born. Most marine perils occur under severe weather conditions, and the existing equipment such as ships, helicopters, unmanned aerial vehicles and the like are difficult to meet the use requirements under the marine conditions.
For a ship in distress, a common aid is tug. The towing rescue is the most effective method for ensuring simultaneous rescue of personnel and property under the condition that the rescue ship cannot be approached, and accounts for more than 90% of the rescue operation. Traditional towing aid adopts a method for delivering ropes to a ship to be saved through a rope throwing device, and the method has the following limitations: 1) The rope can not be accurately thrown when the wind is heavy and the waves are urgent, so that the probability of throwing the rope to fall on a ship to be saved is low; 2) If the cable falling point is not good, the cable can be quickly taken away by sea waves; 3) The actions of the personnel to be saved are limited, and the probability of capturing the mooring rope is very low.
The existing offshore rescue robot generally adopts servo driving equipment to release the umbilical cable between the rescue robot and the rescue ship, and the servo system can realize accurate position and speed control, but under severe sea conditions, the umbilical cable of the rescue robot is difficult to normally release due to strong interference of waves and currents. In addition, in order to approach the ship to be rescued, the rescue robot is generally provided with a magnetic crawler belt and other devices, and is expected to be adsorbed on the side wall of the ship to be rescued, but the outer surface of the ship body is mostly curved, and the magnetic crawler belt is easy to separate under the action of waves and currents even if being attached to the ship body to be rescued.
In view of the foregoing, there is a need for a more reliable, safe, and efficient way of rescue at sea.
Disclosure of Invention
The invention provides a water surface underwater robot system for ship rescue and a use method thereof, which solve the problem that a cable existing in the current marine streamer rescue is not easy to reach a ship to be saved under the high sea condition.
In order to achieve the purpose of the invention, the invention provides a water surface underwater robot system for ship rescue, which comprises a load section, a battery section, a navigation control section, a thin cable release section, a propulsion section and a communication module, wherein the thin cable release section comprises a cabin shell and a thin cable release mechanism in the cabin shell, the thin cable release mechanism is fixed on the inner wall of the cabin shell and comprises a thin cable, the thin cable is made of aramid fiber materials, the surface of the thin cable is coated with special reflective materials, and one end of the thin cable is led out from a middle hole at the tail part after passing through the propulsion section.
Furthermore, the thin cable is wound from outside to inside, and is drawn out from the middle hole in the releasing process, and is released bidirectionally, so that the delivery of the non-resistance cable can be realized.
Further, the length of the towable thin cable is at least one turn around the ship to be saved, so that the thin cable can be conveniently salvaged from the ship to be saved.
Further, the method for using the underwater robot system on the water surface for ship rescue comprises the following steps: the rescue ship is provided with an underwater rescue robot, the rescue robot is thrown in by the rescue ship, drives to the ship to be rescued and bypasses at least one circle, the tail thin cable of the rescue robot is salvaged by the personnel of the ship to be rescued, the thick cable is pulled out by the thin cable, and the rescue ship is connected with the ship to be rescued by the thick cable.
Further, the application method of the underwater robot system for ship rescue comprises the following steps: the ship to be rescued is provided with an underwater rescue robot, the rescue robot is put in to drive to the rescue ship when the ship to be rescued is in danger, rescue ship personnel salvage a thin cable at the tail of the rescue robot, and subsequent rescue work is implemented.
Further, before the underwater rescue robot executes the task, the direction of the underwater rescue robot to the target is set.
The invention adopts a rescue robot which can navigate and position underwater and navigate autonomously, and the rescue robot drags the thin cable to bypass the ship to be rescued, and the thin cable pulls out the bearing cable connecting the rescue ship and the ship to be rescued, thereby carrying out rescue on the ship to be rescued.
Compared with the prior art, the invention has the following advantages:
1. the rescue robot disclosed by the invention mainly runs under water in the working process and can be suitable for rescue under severe sea conditions.
2. The weight of the bearing cable is very large, in normal rescue, when the pull-out size of the bearing cable is very long, the self weight of the bearing cable is large, the bearing cable is easy to sink into the sea, the bearing cable is difficult to reach a target ground, or the bearing cable is difficult to salvage when the bearing cable is far away from a ship body due to fixed position.
3. According to the thin cable release mechanism, a winding scheme from outside to inside is adopted, one end connector of the thin cable is connected with the bearing cable, the rescue robot drives away from a carrier rescue ship or a accident ship, the thin cable is released from inside to outside, no tensile force is born in the thin cable release process, and the non-resistance high-reliability release and delivery of the thin cable under high sea conditions can be realized.
4. The rescue robot can be put in from a rescue ship, and can also be arranged on a to-be-rescued ship to be put in from the to-be-rescued ship, so that the rescue initiative is improved.
5. The invention can effectively solve the problems that the existing marine rescue equipment such as ships, helicopters, unmanned planes and the like are difficult to meet the requirements of ship rescue under severe weather conditions, and particularly the problem of accurately throwing cables; the rescue effort can be brought into rapid and accurate proximity to the target and deliver tug lines or other rescue items.
Description of the drawings:
FIG. 1 is a schematic view of a marine rescue robot according to the present invention;
FIG. 2 is a workflow diagram of a marine rescue robot launched from a rescue vessel of the present invention; wherein: a is that the rescue robot drives to a ship in distress; b is a circle of rescue robot detouring the distress ship; c is a guide thin cable dragging out a bearing cable; d, carrying out towing type rescue for the rescue ship;
FIG. 3 is a workflow diagram of a marine rescue robot launched from a rescue vessel of the present invention; a is that the rescue robot drives to a rescue ship; b, carrying the guide thin cable back to the rescue boat by the rescue robot; c, dragging out the bearing cable by the rescue workers through the guide thin cable; d, carrying out towing type rescue for the rescue ship.
The specific embodiment is as follows:
the present invention will be described in detail below with reference to the drawings and examples.
As shown in fig. 1, a water surface underwater robot system for ship rescue is composed of a rescue robot and a control terminal. The rescue robot comprises a load section, a battery section, a navigation control section, a thin cable release section, a propulsion section and a communication module.
The load section can be internally provided with a forward-looking sonar, an optical camera, a light source, an infrared camera and other devices, the forward-looking sonar is used for detecting a forward target, the optical camera and the infrared camera are used for detecting a water surface target when approaching the water surface or sailing on the water surface, and the light source is used for lighting at night or in a foggy day. The battery section is internally provided with a storage battery and a power management system, so that power is supplied to internal equipment of the rescue robot, and the capacity of the storage battery can meet the energy consumption requirements of the rescue robot under the conditions of sailing to a to-be-rescued ship, detouring and returning. The propulsion section is provided with a propulsion motor and a propeller to provide power for rescuing the robot to navigate. Steering gears for the gesture control of the rescue robot are also arranged in the propulsion section. The navigation control section is internally provided with a control computer, a navigation positioning module and a communication module, the control computer receives the instruction of the control terminal and the data acquired by the built-in sensor, and generates a rotating speed instruction and a steering instruction of the propulsion motor after processing, so that autonomous navigation of the rescue robot is realized.
The thin cable release section comprises a cabin shell and an internal thin cable release mechanism, wherein the thin cable release mechanism is fixed on the inner wall of the cabin shell and comprises a long-distance thin cable which is wound in advance, the thin cable release mechanism can reach the area where the ship to be rescued is located through underwater autonomous navigation, and the thin cable can be towed at least one circle around the ship to be rescued, so that the thin cable can be conveniently salvaged from the ship to be rescued. The thin cable is made of an aramid fiber material with weak positive buoyancy, the surface of the thin cable is coated with a special reflective material so as to be convenient to identify, the diameter of the thin cable is not more than 1mm, the length of the thin cable is not less than 5km, one end of the thin cable is led out from a central shaft at the tail part of the propulsion section after passing through the propulsion section, and the other end of the thin cable is connected with the thick cable. After the thin cable surrounding the ship to be saved is salvaged, the thick cable connected between the ship to be saved and the rescue ship can be further pulled out.
The thin cable is wound from outside to inside, and is drawn out from the middle hole in the releasing process, and is released bidirectionally, so that the delivery of the non-resistance cable can be realized. Specifically, the end part of the fine cable is led out and released from the middle shaft at the tail part of the aircraft, and the non-resistance cable delivery of the ship rescue robot is realized by adopting a following paying-off technology. The thin cable is connected with the bearing cable on the rescue ship at one end of the rescue ship, and the bearing cable of the rescue ship can be pulled out through the thin cable. The bearing cable has weak positive buoyancy, can connect the rescue ship and the ship to be rescued, and bears the acting force between the two ships.
And the navigation control section is internally provided with an Inertial Measurement Unit (IMU), a Beidou positioning module, a magnetic compass, a depth gauge and a communication module and is used for determining the position and the gesture of the rescue robot. When the water surface is sailing, beidou positioning is adopted; and when the ship is sailing underwater, the underwater positioning is performed by adopting a mode of combining an inertial measurement unit, a depth gauge and a magnetic compass.
The communication module is used for communication between the rescue robot and the control terminal, the antenna of the communication module extends out of the cabin shell of the navigation control section and is arranged in the unshielded box body, and communication between the rescue robot and the control terminal on the rescue ship can be guaranteed. The rescue robot can independently navigate according to a planned path and can be remotely controlled through the control terminal, wherein when the rescue robot is set, the priority of a remote control instruction can be set to be higher, and the control of the robot by the control personnel at any time is ensured.
The control terminal comprises a control computer, communication equipment and a power supply. Before laying, the control computer sends a task setting instruction to the rescue robot to set parameters such as the direction of a target, the navigation depth and the navigation speed of the ship rescue robot. The rescue robot sends the state information and the received target information to the control terminal in the navigation process, so that the control personnel can conveniently intervene in rescue operation.
As shown in fig. 2, after the rescue robot is put in water from the rescue ship, the rescue robot searches the ship to be rescued along the set azimuth autonomously, finds and recognizes the ship to be rescued, drives to the ship to be rescued on the near water surface, and bypasses the ship to be rescued at least one circle after approaching the ship to be rescued, so that a thin cable is wound around the ship to be rescued. The personnel to be saved can salvage the thin cable through the simple device, and then drag out the bearing cable of the rescue boat, thereby realizing the rescue of the rescue boat.
Taking the example of throwing a ship rescue robot from a rescue ship, a typical working procedure is as follows:
1) Referring to fig. 2a, when a dangerous situation occurs, the rescue ship arrives at a predetermined sea area, and the ship rescue robot is in a standby state after self-inspection. After the azimuth of the ship to be saved is acquired, rescue workers set rescue task information on the control terminal.
2) The rescue robot is put into water, and a control person uses the control terminal to remotely control the rescue robot, so that the ship rescue robot drives to a ship to be saved (a ship in distress) towards a target direction. And then switching to an autonomous navigation mode, wherein the rescue robot can stably navigate under water or near water within a long distance. Referring to fig. 2b, when the rescue robot approaches the area where the target is located or when the front view sonar detects the ship to be rescued, the rescue robot is converted into a water surface navigation mode, makes a round after the ship to be rescued is identified, and stands by at the adjacent position of the ship to be rescued.
3) And in the process of sailing the rescue robot to the target and in the process of searching the target, the rescue robot floats upwards at fixed time and is communicated with the control terminal. If necessary, the operator on the rescue boat can intervene in the task execution process by wireless communication or satellite communication means, and the rescue robot is guided to approach the ship to be rescued by remote control.
4) Referring to fig. 2c, the personnel on the ship to be rescued salvage the thin cable, drag out the bearing cable of the rescue ship, and rescue.
5) Referring to fig. 2d, an operator on the rescue boat controls the rescue robot to return to the vicinity of the rescue boat through the control terminal and salvages and recovers the rescue robot.
As shown in the figure 3 of the drawings,
in the figure a, the rescue robot can be arranged on the ship to be rescued, thrown from the ship to be rescued and driven to the rescue ship. In the figure b, rescue boat personnel can use general control frequency and instructions to control the rescue robot thrown in by the boat to drive to the own side, and in a longer distance, the rescue robot guides the thin cable to stably navigate under water or near water. When the rescue robot approaches to the area where the own side is located or when the front view sonar detects the ship to be rescued, the rescue robot is positioned on the side wall of the rescue ship. And c, the personnel on the rescue vessel drag out the bearing cable of the rescue vessel by guiding the personnel to rescue. And (d) controlling the rescue robot by an operator on the rescue boat through the control terminal and salvaging and recycling the rescue robot. Rescue vessels successfully perform tug rescue.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme and the concept of the present invention, and should be covered by the scope of the present invention.
Claims (6)
1. A surface of water underwater robot system for boats and ships rescue comprises rescue robot and control terminal, its characterized in that: the rescue robot comprises a load section, a battery section, a navigation control section, a thin cable release section, a propulsion section and a communication module, wherein the thin cable release section comprises a cabin shell and a thin cable release mechanism in the cabin shell, the thin cable release mechanism is fixed on the inner wall of the cabin shell and comprises a thin cable, the thin cable is made of aramid fiber materials, the surface of the thin cable is coated with special reflective materials, and one end of the thin cable is led out from a middle hole at the tail part after passing through the propulsion section.
2. A surface underwater robot system for marine rescue as defined in claim 1, wherein: the thin cable is wound from outside to inside, and is drawn out from the middle hole in the releasing process, and is released bidirectionally, so that the delivery of the non-resistance cable can be realized.
3. A surface underwater robot system for marine rescue according to claim 1 or 2, characterized in that: the length of the thin cable can be towed at least one turn around the vessel to facilitate salvaging the thin cable from the vessel.
4. A method of using a surface underwater robotic system for marine rescue as defined in claim 1, wherein: the rescue ship is provided with an underwater rescue robot, the rescue robot is thrown in by the rescue ship, drives to the ship to be rescued and bypasses at least one circle, the tail thin cable of the rescue robot is salvaged by the personnel of the ship to be rescued, the thick cable is pulled out by the thin cable, and the rescue ship is connected with the ship to be rescued by the thick cable.
5. A method of using a surface underwater robotic system for marine rescue as defined in claim 1, wherein: the ship to be rescued is provided with an underwater rescue robot, the rescue robot is put in to drive to the rescue ship when the ship to be rescued is in danger, rescue ship personnel salvage a thin cable at the tail of the rescue robot, and subsequent rescue work is implemented.
6. A method of using a surface underwater robot system for marine rescue according to claim 4 or 5, characterized in that: before the underwater rescue robot executes the task, the azimuth of the underwater rescue robot to the target is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310335810.1A CN116280117A (en) | 2023-03-31 | 2023-03-31 | Water surface underwater robot system for ship rescue and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310335810.1A CN116280117A (en) | 2023-03-31 | 2023-03-31 | Water surface underwater robot system for ship rescue and application method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN116280117A true CN116280117A (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310335810.1A Pending CN116280117A (en) | 2023-03-31 | 2023-03-31 | Water surface underwater robot system for ship rescue and application method thereof |
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| CN (1) | CN116280117A (en) |
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- 2023-03-31 CN CN202310335810.1A patent/CN116280117A/en active Pending
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