CN116599993B - Working method of movable underwater observation system based on control of Internet of things - Google Patents
Working method of movable underwater observation system based on control of Internet of things Download PDFInfo
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- CN116599993B CN116599993B CN202310595656.1A CN202310595656A CN116599993B CN 116599993 B CN116599993 B CN 116599993B CN 202310595656 A CN202310595656 A CN 202310595656A CN 116599993 B CN116599993 B CN 116599993B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 152
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims description 8
- 244000089409 Erythrina poeppigiana Species 0.000 claims description 6
- 235000009776 Rathbunia alamosensis Nutrition 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 238000011161 development Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000009360 aquaculture Methods 0.000 description 2
- 244000144974 aquaculture Species 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
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- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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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
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/04—Pulley blocks or like devices in which force is applied to a rope, cable, or chain which passes over one or more pulleys, e.g. to obtain mechanical advantage
- B66D3/06—Pulley blocks or like devices in which force is applied to a rope, cable, or chain which passes over one or more pulleys, e.g. to obtain mechanical advantage with more than one pulley
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/30—Control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computing Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides a movable underwater observation system based on control of the Internet of things and a working method thereof, which comprise an intelligent transmission winch A, underwater observation equipment, a marine special cable, an intelligent winch, an intelligent transmission winch B, a transmission rope and a fixed pulley, wherein horizontal movement of the underwater observation equipment is realized through combined control of the intelligent transmission winch A and the intelligent transmission winch B, longitudinal movement of the underwater observation equipment is realized through control of the intelligent winch, depth data of the underwater observation equipment can be read through a background, and fixed point observation, horizontal and three-dimensional profile observation and cruising observation of the underwater observation equipment are controlled through remote setting. Through the technical scheme of the invention, the modularized equipment is easy to install and use; the automation degree is high, and remote control is realized based on the Internet of things; unmanned operation can be realized; the whole system can combine the observation equipment data to perform program optimization; and storing a history observation record file.
Description
Technical Field
The invention relates to the technical field of underwater observation, in particular to a movable underwater observation system based on control of the Internet of things and a working method thereof.
Background
The developed world mainly in coastal countries now pay great attention to the development of ocean economy, and ocean development is implemented as a national warfare. "O ff shore aquaculture" (offshore or deep sea farming) was recognized by the Federal technical evaluation office as a potential fishery growth mode in 1995. In 2010, the national food and agricultural organization researches out that the effective sea area suitable for deep water cage culture in the global scope is approximately 19 multiplied by 10 4 Square kilometers. In the 80 s of the 20 th century, some developed countries began to try technical exploration and application in deep open sea farming. At present, twenty or more countries and regions actively participate in deep-open sea cultivation through experiments, researches and investment in risks, and relatively complete systems are established in Norway, japan and other countries. Under the support of modern industrial technology, the developed state deep and open sea cultivation equipment and technology develop quickly, the automation degree and the production efficiency are obviously improved, the production process is effectively controlled, the informatization level is continuously improved, and the main way to be explored at present is to construct a large-scale cultivation net cage and a closed offshore cultivation system.
At present, the observation requirement of the deep-open sea cultivation industry on water bodies in a cultivation area is urgent, and a multi-point and resident underwater observation system is needed, and due to the influences of the geographical position and the climate conditions of the deep-open sea, unattended operation is a necessary development trend. Therefore, the invention fully combines the requirements of social development, industry progress and the like, and the mobile underwater observation system based on the control of the Internet of things is developed by the company. The invention relates to a water movable carrier, underwater observation equipment, a control principle and a control method thereof, which basically comprise the following implementation forms: based on the control technology of the Internet of things, the fixed point observation is performed at an expected observation point by controlling the action of the water equipment and providing power for changing the position of the underwater equipment, and the timing and fixed point cruising observation is realized by program control.
In the prior art, most of underwater observation systems are fixed-type and fixed-point observation, even if mobile observation is realized by taking underwater vehicles such as ROV and the like as carriers of observation units, the defects of the above technical forms are obvious, the defects of the fixed-type observation are obvious, the fixed-type observation can only be monitored at a single place and can not realize the large-area/multi-point irregular monitoring, the all-weather monitoring can not be realized by taking the ROV and the like as the carriers of the observation mode, and the current-stage vehicles all need to be manually controlled to reach the expected positions for observation, and the requirements on the volume and the weight of the observation instrument are higher, so that the all-weather underwater real-time observation of multiple sensors, large weight and large volume equipment can not be adapted.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides a movable underwater observation system based on control of the Internet of things and a working method thereof.
The invention is realized by the following technical scheme: the movable underwater observation system based on the control of the Internet of things comprises an intelligent transmission winch A, underwater observation equipment, a marine special cable, an intelligent winch, an intelligent transmission winch B, a transmission rope and a fixed pulley, wherein the intelligent transmission winch A and the intelligent transmission winch B are oppositely arranged, the intelligent transmission winch A and the intelligent transmission winch B have the same structure, the movable underwater observation system comprises a winch, a tensioning wheel adjuster, a rack and a power component, the power component is fixedly arranged at the left part of the rack, the winch is fixedly arranged at the right part of the rack, the tensioning wheel is arranged below the winch, and the tensioning wheel adjuster is arranged on the tensioning wheel;
the winch of transmission rope on intelligent transmission winch A twines a plurality of circles, the upper end cable of transmission rope directly goes out the line and arrives at intelligent transmission winch B, transmission rope pulls to twine a plurality of circles in the winch on intelligent transmission winch B (5), the transmission rope with intelligent transmission winch A and intelligent transmission winch B's winch below line position is qualified for next round of competitions the position and is passed from the take-up pulley top respectively, fixed pulleys are installed to two link ends of transmission rope, be connected with underwater observation equipment after the one end of ocean special cable passes the fixed pulleys, the other end of ocean special cable is connected on intelligent winch.
As an optimal scheme, a limit switch is also arranged on the stand.
As the preferred scheme, intelligent winch includes unwrapping wire structure, winch main part, power component, wire reel, gyration subassembly, and unwrapping wire structure installs in the left portion of winch main part, and the wire reel is installed in the right portion of winch main part, installs power component in the wire reel in the epaxial power component that installs, and gyration subassembly is installed to the bottom of winch main part.
A working method of a movable underwater observation system based on control of the Internet of things specifically comprises the following steps:
s1, connecting an intelligent transmission winch A, an intelligent transmission winch B and an intelligent winch to form an Internet of things linkage control system through a network;
s2, a main control unit of the Internet of things linkage control system calculates the cable winding and unwinding lengths of the three winches by collecting the values of the intelligent transmission winch A, the intelligent transmission winch B and the intelligent winch encoder, accurately positions the hoisting position and the laying depth of the underwater observation equipment, and realizes the control of the underwater observation equipment;
s3, inverting the shaking range of the underwater attitude in the underwater by monitoring the triaxial attitude of the underwater observation equipment, and evaluating the safety of the operation by combining the horizontal positioning information;
s4, through setting the inspection track of the underwater observation equipment, the intelligent transmission winch A, the intelligent transmission winch B and the intelligent winch are in linkage fit, so that the underwater observation equipment can automatically cruise and observe according to a planned path.
Preferably, the step S2 specifically includes the following steps:
s2-1, initializing an intelligent transmission winch A, an intelligent transmission winch B and an intelligent winch encoder value M=0.00;
s2-2, calculating the length of each winch reeling and unreeling cable according to a formula
L=M/10000/c*π*d (1)
L is the length of a winch cable to be wound and unwound; m is the number of encoder points; c is the transmission ratio; d is the diameter of the roller;
s2-3, horizontal position of underwater observation equipment:
D x =L 1 （L 1 <D 15 ） (2)
L 1 paying off the intelligent transmission winch A by a wire length; d (D) 15 The distance between the intelligent transmission winch A and the intelligent transmission winch B is the distance between the intelligent transmission winch A and the intelligent transmission winch B;
s2-3, vertical position of underwater observation equipment
D y =L 3 -L 1 (3)
L 1 Paying off the intelligent transmission winch A by a wire length; is L 3 (intelligent winch payoff distance);
preferably, the step S3 specifically includes the following steps:
s3-1, an intelligent transmission winch A, an intelligent transmission winch B and an intelligent winch movement speed:
V 1 =V 2 *R 1 *n 1 /R 2 *n 2 (4)
V 1 the motion speed of the winch A is intelligently transmitted; r is R 1 The radius of the drum A of the intelligent transmission winch is the radius of the drum A; n is n 1 The rotating speed of the winch A drum is intelligently transmitted; v (V) 2 The motion speed of the intelligent winch; r is R 2 The radius of the drum is the radius of the intelligent winch drum; n is n 2 The rotating speed of the intelligent winch drum is;
s3-2, according to the current underwater observation equipment position coordinates (x 0 ,y 0 ) And a movement setting target (x 1 ,y 1 ) According to the formula:
(x 1 -x 0 )/V 1 =(x 1 -x 0 +y 1 -y 0 )/V 2 （5）
bring into formula (4)V 1 =V 2 *R 1 *n 1 /R 2 *n 2
n 1= （x 1 -x 0 +y 1 -y 0 ）R 2 *n 2 /(x 1 -x 0 )R 1 （6）
R 1 The radius of the drum A of the intelligent transmission winch is the radius of the drum A; n is n 1 The rotating speed of the winch A drum is intelligently transmitted; r is R 2 The radius of the drum is the radius of the intelligent winch drum; n is n 2 The rotating speed of the intelligent winch drum is;
and the rotation speeds of the cylinders of the constraint intelligent winch, the intelligent transmission winch A and the intelligent transmission winch B are matched, so that linkage uniform speed control is realized.
Preferably, the step S4 specifically includes the following steps:
the horizontal position of the underwater observation equipment is added with the inclination distance to be compared with the distance between the intelligent transmission winch A and the intelligent transmission winch B, so that the safe running distance of linkage control is limited:
D x + D y *sinA<D 15 （7）
with formula (1), formula (2), formula (3)
M 1 *π*d 1 /10000/c 1 +(M 2 *π*d 2 /10000/c 2 -M 1 *π*d 1 /10000/c 1 )*sinA<D 15 （8）
M1 is the number of points of an encoder A of the intelligent transmission winch; d, d 1 The diameter of the roller A of the intelligent transmission winch is the diameter of the roller A of the intelligent transmission winch; c 1 Intelligent transmission winch a transmission ratio; m2 is the number of points of the intelligent winch encoder; d, d 2 The diameter of the intelligent winch drum is; c 2 Intelligent winch transmission ratio; a is the triaxial monitoring inclination angle of the underwater observation equipment.
The invention adopts the technical proposal, and compared with the prior art, the invention has the following beneficial effects: the invention realizes various resident underwater observation functions such as profile observation, fixed point observation, cruising observation and the like of the underwater observation system through the combination of the control technology of the Internet of things and the automatic control technology, has high weight and volume acceptance of the underwater observation equipment, reduces the observation limitation of the underwater observation equipment, can perform unmanned operation and real-time in-situ observation, greatly improves the observation capability of the underwater environment, and provides a brand new observation system for the deep and open sea cultivation industry. The system can be effectively deployed to acquire multi-form underwater data, enrich the data types of marine observation data, promote the development and innovation of the whole observation industry, and further promote the rapid development of the deep-open sea aquaculture industry in China. The modularized equipment is easy to install and use; the automation degree is high, and remote control is realized based on the Internet of things; unmanned operation can be realized; the whole system can combine the observation equipment data to perform program optimization; and storing a history observation record file.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of a front view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic perspective view of the intelligent transmission winch A/B;
FIG. 4 is a schematic diagram of the main structure of the intelligent winch;
fig. 5 is a logic diagram of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
The movable underwater observation system based on the control of the internet of things and the working method thereof according to the embodiment of the invention are specifically described below with reference to fig. 1 to 5.
As shown in fig. 1 to 4, the invention provides a movable underwater observation system based on control of the internet of things, which comprises an intelligent transmission winch A1, underwater observation equipment 2, a marine special cable 3, an intelligent winch 4, an intelligent transmission winch B5, a transmission rope 6 and a fixed pulley 7, and is characterized in that the intelligent transmission winch A1 and the intelligent transmission winch B5 are oppositely arranged, the intelligent transmission winch A1 and the intelligent transmission winch B5 have the same structure, and comprise a winch 8, a tension pulley 9, a tension pulley adjuster 10, a rack 12 and a power assembly 13, wherein the power assembly 13 is fixedly arranged at the left part of the rack 12, the winch 8 is fixedly arranged at the right part of the rack 12, the tension pulley 9 is arranged below the winch 8, and the tension pulley adjuster 10 is arranged on the tension pulley 9; the frame 12 is also provided with a limit switch 11. The intelligent winch 4 comprises a paying-off structure 14, a winch main body 15, a power assembly 16, a wire spool 17 and a rotary assembly 18, wherein the paying-off structure 14 is arranged at the left part of the winch main body 15, the wire spool 17 is arranged at the right part of the winch main body 15, the power assembly 16 is arranged on the inner shaft of the wire spool 17, and the rotary assembly 18 is arranged at the bottom of the winch main body 15.
The transmission rope 6 winds a plurality of circles on a winch 8 on the intelligent transmission winch A1, the upper end cable of the transmission rope 6 is directly led out to reach the winch 8 on the intelligent transmission winch B5 to wind a plurality of circles, the transmission ropes 6 at the wire outlet positions below the winches 8 of the intelligent transmission winch A1 and the intelligent transmission winch B5 respectively penetrate through the upper parts of the tensioning wheels 9, the transmission ropes 6 are connected through fastener wire clamps and the like, the ropes are required to be guaranteed to be in a tensioning state in the connecting process, the fixed pulleys 7 are installed at two connecting ends of the transmission ropes 6, one end of the marine special cable 3 penetrates through the fixed pulleys 7 and then is connected with the underwater observation equipment 2, and the whole transmission rope 6 stretches under the action of gravity of the underwater observation equipment 2, so that the position of the fixed pulleys 7 can be displaced downwards, at the moment, the tensioning purpose of the tensioning wheels 9 is achieved by adjusting the wheel adjusters 10 of the intelligent transmission winch A1 and the intelligent transmission winch B5, the transmission ropes 6 can be further tensioned, and meanwhile the tensioning of the pulleys 7 can be prevented from being excessively displaced in the vertical direction. The other end of the ocean special cable 3 is connected to an intelligent winch 4.
The horizontal movement of the underwater observation equipment 2 is realized through the combined control of the intelligent transmission winch A1 and the intelligent transmission winch B5, the longitudinal movement of the underwater observation equipment 2 is realized through the control of the intelligent winch 4, the depth data of the underwater observation equipment 2 can be read through a background, and the fixed-point observation, the horizontal and three-dimensional profile observation and the cruising observation of the underwater observation equipment 2 are controlled through remote setting.
After the steps are completed, the hardware composition of the system is completed, and the state data of the three winches are read through the internet of things technology to modify the operation parameters and set the operation parameters.
As shown in fig. 5, in the working method of the movable underwater observation system based on the control of the internet of things, as the system uses three winches and the intelligent transmission winch A1 and the intelligent transmission winch B5 are connected with the same transmission rope 6, the risk of non-constant speed is easy to occur, the following logic is adopted to avoid the risk during operation:
when the underwater observation device 2 moves from the intelligent transmission winch A1 to the intelligent transmission winch B5, the servo motor of the intelligent transmission winch A1 is set to be in a position mode, namely constant rotation speed output is adopted, so that the underwater observation device 2 has constant horizontal speed, and the transmission winch B5 can be in a torque mode, namely constant output torque is adopted, so that the realization of the stable horizontal speed of the underwater observation device 2 is assisted. The intelligent winch 4 is set to be in a position mode, even if the underwater observation device 2 has a constant vertical speed, the real motion direction and speed of the underwater observation device 2 can be obtained through vector synthesis, and then ideal fixed-point and profile observation can be realized by combining data fed back by the underwater observation device 2 through the setting of a function program, and vice versa. The method specifically comprises the following steps:
s1, connecting an intelligent transmission winch A1, an intelligent transmission winch B5 and an intelligent winch 4 through a network to form an Internet of things linkage control system;
s2, a main control unit of the Internet of things linkage control system calculates the length of a cable wound and unwound by the three winches by collecting encoder values of the intelligent transmission winch A1, the intelligent transmission winch B5 and the intelligent winch 4, accurately positions the hoisting position and the laying depth of the underwater observation equipment 2, and realizes the control of the underwater observation equipment 2; the method specifically comprises the following steps:
s2-1, initializing an intelligent transmission winch A1, an intelligent transmission winch B5 and an intelligent winch 4 encoder value M=0.00;
s2-2, calculating the length of each winch reeling and unreeling cable according to a formula
L=M/10000/c*π*d (1)
L is the length of a winch cable to be wound and unwound; m is the number of encoder points; c is the transmission ratio; d is the diameter of the roller;
s2-3, horizontal position of underwater observation equipment 2:
D x =L 1 （L 1 <D 15 ） (2)
L 1 paying off the intelligent transmission winch A1; d (D) 15 The distance between the intelligent transmission winch A1 and the intelligent transmission winch B5 is the distance;
s2-3, vertical position of underwater observation device 2
D y =L 3 -L 1 (3)
L 1 Paying off the intelligent transmission winch A1; is L 3 (intelligent winch 4 payoff distance);
s3, inverting the shaking range of the underwater attitude in the underwater by monitoring the three-axis attitude of the underwater observation equipment 2, and evaluating the safety of operation by combining horizontal positioning information to avoid the equipment from colliding with surrounding structures; the method specifically comprises the following steps:
s3-1, intelligent transmission winch A1, intelligent transmission winch B5 and intelligent winch 4 movement speed:
V 1 =V 2 *R 1 *n 1 /R 2 *n 2 (4)
V 1 the motion speed of the winch A1 is intelligently transmitted; r is R 1 The radius of the roller of the intelligent transmission winch A1 is the same as that of the roller of the intelligent transmission winch; n is n 1 For intelligently transmitting the rotating speed of the winch A1 roller；V 2 The motion speed of the intelligent winch 4; r is R 2 The radius of the drum is the radius of the intelligent winch 4; n is n 2 The rotating speed of the drum is the rotating speed of the intelligent winch 4;
s3-2, according to the current position coordinates (x 0 ,y 0 ) And a movement setting target (x 1 ,y 1 ) According to the formula:
(x 1 -x 0 )/V 1 =(x 1 -x 0 +y 1 -y 0 )/V 2 （5）
carry into formula (4) V 1 =V 2 *R 1 *n 1 /R 2 *n 2
n 1= （x 1 -x 0 +y 1 -y 0 ）R 2 *n 2 /(x 1 -x 0 )R 1 （6）
R 1 The radius of the roller of the intelligent transmission winch A1 is the same as that of the roller of the intelligent transmission winch; n is n 1 The rotating speed of the drum of the winch A1 is intelligently transmitted; r is R 2 The radius of the drum is the radius of the intelligent winch 4; n is n 2 The rotating speed of the drum is the rotating speed of the intelligent winch 4;
and the rotation speeds of the rollers of the constraint intelligent winch 4, the intelligent transmission winch A1 and the intelligent transmission winch B5 are matched, so that linkage uniform speed control is realized.
S4, setting a patrol track of the underwater observation equipment 2, and enabling the intelligent transmission winch A1, the intelligent transmission winch B5 and the intelligent winch 4 to be in linkage fit, so that the underwater observation equipment can automatically cruise and observe according to a planned path. The method specifically comprises the following steps:
the horizontal position of the underwater observation device 2 is compared with the distance between the intelligent transmission winch A1 and the intelligent transmission winch B5 by adding the inclination distance, so that the safe running distance of linkage control is limited:
D x + D y *sinA<D 15 （7）
with formula (1), formula (2), formula (3)
M 1 *π*d 1 /10000/c 1 +(M 2 *π*d 2 /10000/c 2 - M 1 *π*d 1 /10000/c 1 )*sinA<D 15 （8）
M1 is the number of points of an encoder of the intelligent transmission winch A1; d, d 1 The diameter of the roller of the intelligent transmission winch A1; c 1 The transmission ratio of the intelligent transmission winch A1; m2 is the number of points of the encoder of the intelligent winch 4; d, d 2 The diameter of the drum is the diameter of the intelligent winch 4; c 2 The transmission ratio of the intelligent winch 4; a is the three-axis monitoring inclination angle of the underwater observation device 2.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The working method of the movable underwater observation system based on the control of the Internet of things comprises an intelligent transmission winch A (1), underwater observation equipment (2), a marine special cable (3), an intelligent winch (4), an intelligent transmission winch B (5), a transmission rope (6) and a fixed pulley (7), and is characterized in that the intelligent transmission winch A (1) and the intelligent transmission winch B (5) are oppositely arranged, the intelligent transmission winch A (1) and the intelligent transmission winch B (5) are identical in structure, the movable underwater observation system comprises a winch (8), a tensioning wheel (9), a tensioning wheel adjuster (10), a rack (12) and a power component (13), the power component (13) is fixedly arranged at the left part of the rack (12), the winch (8) is fixedly arranged at the right part of the rack (12), the tensioning wheel (9) is arranged below the winch (8), and the tensioning wheel adjuster (10) is arranged on the tensioning wheel (9);
the transmission rope (6) is wound on a winch (8) on the intelligent transmission winch A (1) for a plurality of circles, an upper end cable of the transmission rope (6) is directly led out to reach a winch (8) on the intelligent transmission winch B (5), the transmission rope (6) is pulled into the winch (8) on the intelligent transmission winch B (5) for a plurality of circles, the transmission ropes (6) at the wire outlet positions below the winches (8) of the intelligent transmission winch A (1) and the intelligent transmission winch B (5) respectively penetrate through the upper parts of the tensioning wheels (9), fixed pulleys (7) are arranged at two connecting ends of the transmission rope (6), one end of the ocean special cable (3) penetrates through the fixed pulleys (7) and then is connected with the underwater observation equipment (2), and the other end of the ocean special cable (3) is connected to the intelligent winch (4);
the method specifically comprises the following steps:
s1, connecting an intelligent transmission winch A (1), an intelligent transmission winch B (5) and an intelligent winch (4) through a network to form an Internet of things linkage control system;
s2, a main control unit of the Internet of things linkage control system calculates the cable winding and unwinding lengths of three winches by collecting encoder values of an intelligent transmission winch A (1), an intelligent transmission winch B (5) and an intelligent winch (4), accurately positions the hoisting position and the laying depth of the underwater observation equipment (2), and realizes the control of the underwater observation equipment (2);
s3, inverting the shaking range of the underwater attitude in the water by monitoring the triaxial attitude of the underwater observation equipment (2), and evaluating the safety of the operation by combining the horizontal positioning information;
s4, through setting the inspection track of the underwater observation equipment (2), the intelligent transmission winch A (1), the intelligent transmission winch B (5) and the intelligent winch (4) are in linkage fit, so that the underwater observation equipment can automatically cruise and observe according to a planned path.
2. The working method of the movable underwater observation system based on the control of the internet of things according to claim 1, wherein a limit switch (11) is further arranged on the frame (12).
3. The working method of the movable underwater observation system based on the control of the internet of things according to claim 1, wherein the intelligent winch (4) comprises a paying-off structure (14), a winch main body (15), a power assembly (16), a wire spool (17) and a rotary assembly (18), the paying-off structure (14) is installed at the left part of the winch main body (15), the wire spool (17) is installed at the right part of the winch main body (15), the power assembly (16) is installed on the inner shaft of the wire spool (17), and the rotary assembly (18) is installed at the bottom of the winch main body (15).
4. The working method of the movable underwater observation system based on the control of the internet of things according to claim 1, wherein the step S2 specifically comprises the following steps:
s2-1, initializing an intelligent transmission winch A (1), an intelligent transmission winch B (5) and an intelligent winch (4) encoder value M=0.00;
s2-2, calculating the length of each winch reeling and unreeling cable according to a formula
L=M/10000/c*π*d (1)
L is the length of a winch cable to be wound and unwound; m is the number of encoder points; c is the transmission ratio; d is the diameter of the roller;
s2-3, horizontal position of underwater observation equipment (2):
D x =L 1 （L 1 <D 15 ） (2)
L 1 paying off the intelligent transmission winch A (1) by a paying-off length; d (D) 15 The distance between the intelligent transmission winch A (1) and the intelligent transmission winch B (5) is the distance;
s2-3, vertical position of underwater observation equipment (2)
D y =L 3 -L 1 (3)
L 3 The paying-off distance for the intelligent winch (4).
5. The working method of the movable underwater observation system based on the control of the internet of things according to claim 4, wherein the step S3 specifically comprises the following steps:
s3-1, an intelligent transmission winch A (1), an intelligent transmission winch B (5) and an intelligent winch (4) in moving speed:
V 1 =V 2 *R 1 *n 1 /R 2 *n 2 (4)
V 1 the motion speed of the winch A (1) is intelligently transmitted; r is R 1 The radius of the roller of the intelligent transmission winch A (1) is the same as that of the roller of the intelligent transmission winch A; n is n 1 The rotating speed of the roller of the intelligent transmission winch A (1) is the rotating speed of the roller; v (V) 2 The motion speed of the intelligent winch (4); r is R 2 The radius of the roller of the intelligent winch (4); n is n 2 The rotating speed of the roller of the intelligent winch (4);
s3-2, according to the position coordinates (x) of the current underwater observation device (2) 0 ,y 0 ) And a movement setting target (x 1 ,y 1 ) According to the formula:
(x 1 -x 0 )/V 1 =(x 1 -x 0 +y 1 -y 0 )/V 2 （5）
carry into formula (4) V 1 =V 2 *R 1 *n 1 /R 2 *n 2
n 1= （x 1 -x 0 +y 1 -y 0 ）R 2 *n 2 /(x 1 -x 0 )R 1 （6）
The roller rotating speeds of the constraint intelligent winch (4), the intelligent transmission winch A (1) and the intelligent transmission winch B (5) are matched, so that linkage uniform speed control is realized.
6. The working method of the mobile underwater observation system based on the control of the internet of things according to claim 5, wherein the step S4 specifically comprises the following steps:
the horizontal position of the underwater observation equipment (2) is added with the inclination distance to be compared with the distance between the intelligent transmission winch A (1) and the intelligent transmission winch B (5), so that the safe running distance of linkage control is limited:
D x + D y *sinA<D 15 （7）
with formula (1), formula (2), formula (3)
M 1 *π*d 1 /10000/c 1 +(M 2 *π*d 2 /10000/c 2 -M 1 *π*d 1 /10000/c 1 )*sinA<D 15 （8）
M 1 Counting the number of the encoder of the intelligent transmission winch A (1); d, d 1 The diameter of a roller of the intelligent transmission winch A (1) is the diameter of the roller; c 1 The transmission ratio of the intelligent transmission winch A (1); m2 is the number of points of an encoder of the intelligent winch (4); d, d 2 The diameter of the roller of the intelligent winch (4); c 2 The transmission ratio of the intelligent winch (4); a is the triaxial monitoring inclination angle of the underwater observation device (2).
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