CN1515460A - Location coordinate system for ocean work rising and sinking compensation and its location method - Google Patents
Location coordinate system for ocean work rising and sinking compensation and its location method Download PDFInfo
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- CN1515460A CN1515460A CNA031135099A CN03113509A CN1515460A CN 1515460 A CN1515460 A CN 1515460A CN A031135099 A CNA031135099 A CN A031135099A CN 03113509 A CN03113509 A CN 03113509A CN 1515460 A CN1515460 A CN 1515460A
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Abstract
The present invention relates to a location coordinate system capable of retaining position stable marine work lifting-sinking compensation in underwater predefined depth and its location method. The system includes pressure sensor and transducer, controller, density change device, quickly in-position and reset device, power supply device and outer shell. The location coordinate system can utilize the control of density change device and quickly in-position and reset device to make it can autonomously drive and rise in the sea-water, and can dynamically be retained in predefined depth, location method is fast in response speed, short in transition time and quick and accurate in location.
Description
1, technical field:
The present invention relates to the positioning coordinate system and the localization method thereof of the stable ocean operation heave compensation in a kind of desired depth under water holding position.The innovative technology that belongs to underwater hiding-machine.
2, background technology:
When ocean operation, usually need positioning coordinate system as gauge reference target, as in the deep-sea mining field, mining system is carried out dynamic heave compensation need obtain mining dredger heave movement signal, need the elements of a fix as gauge reference target; In the marine environmental monitoring field,, also need the elements of a fix that gauge reference target is provided for obtaining strictness locating data under water accurately.The existing registration device in existing these fields has following polytype: 1, GPS (Global Position System) (GPS), but can only be used for the object localization of the water surface; 2, have the subsurface buoy under water of anchor, can only be used for its constant depth and fixed area; 3, the sea bed based system is fixed on the seabed, can only work in its fixed area; 4, platform based system utilizes offshore platform also can only work in marine site around it.And because that sound, light, electric signal are decayed in water is bigger, back three kinds of devices in the off-lying sea, ocean or marine site, deep-sea all be difficult to employing.
3, summary of the invention:
The objective of the invention is to overcome above-mentioned shortcoming and a kind of can be in seawater autonomous dive and come-up are provided, the positioning coordinate system of the sea water advanced ocean operation heave compensation as the static reference coordinate in ocean that can accurately be positioned to be scheduled to.The present invention can be used for the measurement coordinate of floating ocean operation heave movement, both has been applicable to that the shallow sea also was applicable to the deep-sea; Also can be used for marine environmental monitoring, living resources monitoring field and obtain the strict coordinate of gravity direction accurately.
Another object of the present invention is to provide a kind of positioning coordinate system of above-mentioned ocean operation heave compensation that makes accurately to be positioned predetermined sea water advanced method.This method speed of response is fast, and traverse time is short, and is fast and accurate for positioning.
Structural representation of the present invention as shown in drawings, include pressure sensor and transmitter (1), controller (2), density modifier (3), put in place fast and reset attachment (4), energy source device (6) and shell (7), wherein pressure sensor and transmitter (1), controller (2), density modifier (3), put in place fast and reset attachment (4), energy source device (6) all is packed on the shell (7), the energy of energy source device (6) is supplied with controller (2) respectively, density modifier (3), put in place fast and reset attachment (4), and the mouth of pressure sensor and transmitter (1) is connected with the input end of controller (2), the mouth of controller (2) respectively with density modifier (3), put in place fast and be connected with reset attachment (4).
Above-mentioned density modifier (3) includes elastic sealing element (31), housing (32), piston (33), transmission device (34), servomotor (35), servo-driver (36), wherein the input end of servo-driver (36) is connected with controller (2), mouth is connected with servomotor (35), servomotor (35) is connected with the input end of transmission device (34), the mouth of transmission device (34) is connected with piston (33) on being bearing in housing (32), elastic sealing element (31) is located at the outer end of piston (33), and its outer (31A) is packed on the housing (32) by attaching parts, and is tightly connected with housing (32).
Above-mentioned transmission device (34) includes gear driving pair (34A), ball screw transmission (34B), wherein the driving wheel of gear driving pair (34A) is connected with the output shaft of servomotor (35), flower wheel is connected with the screw mandrel of ball screw transmission (34B), piston (33) is connected with the nut of ball screw transmission (34B), and nut is connected with piston (33).
Said gear transmission (34A), ball screw transmission (34B) and piston (33), elastic sealing element (31) can be provided with some covers, and symmetry is installed on the housing (32).
Above-mentioned putting in place fast and reset attachment (4) employing propelling unit, propelling unit can drive by electric powerplant or fluid pressure drive device.
Also be fixed with signal on the above-mentioned shell (7) and receive and reflective devices (5), signal receives and is connected with controller (2) with reflective devices (5).
Above-mentioned energy source device (6) can be direct supply, source of AC, hydrogen raw material battery, lithium cell or nuclear power source.
The localization method of the positioning coordinate system of ocean operation heave compensation of the present invention includes following steps:
1) measures positioning coordinate system single-piece volume earlier, make its average density equal the density of water according to buoyancy theorem adjustment positioning coordinate system overall volume or quality then;
2) measure the pressure of positioning coordinate system by pressure sensor at actual grade, and the pressure ratio of this pressure and set depth drawn pressure difference signal, make density modifier (3) make respective change, and by putting in place fast and reset attachment (4) makes the positioning coordinate system dynamic stability in setting depth of water place.
Following two kinds of situations are arranged above-mentioned steps 2):
1) when actual pressure value during greater than the limit set, start and put in place fast and reset attachment (4), make it to produce the thrust that makes progress, make positioning coordinate system arrive or return to the desired location fast; Vice versa; To realize the coarse adjustment of position;
2) when the force value of reality during greater than setting value, the piston in the density modifier (3) is extrapolated, increases volume, thereby the average density of positioning coordinate system is reduced, and buoyancy is greater than its gravity, and positioning coordinate system rises; Vice versa; Just can realize the accurate adjustment of position after repeatedly through several times.
The positioning coordinate system of ocean operation heave compensation of the present invention makes it autonomous dive and come-up in seawater by propelling unit and the variation of controlling its volume, therefore, what the present invention can accurately be positioned to be scheduled to is sea water advanced as the static reference coordinate in ocean, both has been applicable to that the shallow sea also was applicable to the deep-sea; Also can be used for marine environmental monitoring, living resources monitoring field and obtain the strict coordinate of gravity direction accurately.It is the shortcoming that coordinate is measured that the present invention overcomes with the seabed, deep-sea, need not the support of other platform (as offshore platform or satellite), for ocean operation provides economic, practical novel reference coordinate.In addition, localization method speed of response of the present invention is fast, and traverse time is short, and is fast and accurate for positioning.
4, description of drawings:
Fig. 1 is the structural representation of ocean operation heave compensation positioning coordinate system of the present invention;
Fig. 2 is the structural representation of ocean operation heave compensation positioning coordinate system density modifier of the present invention (3);
Fig. 3 is the work control flow chart of ocean operation heave compensation positioning coordinate system of the present invention;
Fig. 4 is the control principle block diagram of ocean operation heave compensation positioning coordinate system of the present invention;
Fig. 5 is the circuit diagram of controller of the present invention (2).
5, the specific embodiment:
Embodiment:
Structural representation of the present invention as shown in Figure 1, include pressure sensor and transmitter (1), controller (2), density modifier (3), put in place fast and reset attachment (4), energy source device (6) and shell (7), wherein pressure sensor and transmitter (1), controller (2), density modifier (3), put in place fast and reset attachment (4), energy source device (6) all is packed on the shell (7), the energy of energy source device (6) is supplied with controller (2) respectively, density modifier (3), put in place fast and reset attachment (4), and the mouth of pressure sensor and transmitter (1) is connected with the input end of controller (2), the mouth of controller (2) respectively with density modifier (3), put in place fast and be connected with reset attachment (4).Pressure sensor among the present invention can use the commercially available prod.
Above-mentioned density modifier (3) includes elastic sealing element (31), housing (32), piston (33), transmission device (34), servomotor (35), servo-driver (36), wherein the input end of servo-driver (36) is connected with controller (2), mouth is connected with servomotor (35), servomotor (35) is connected with the input end of transmission device (34), the mouth of transmission device (34) is connected with piston (33) on being bearing in housing (32), elastic sealing element (31) is located at the outer end of piston (33), and its outer (31A) is packed on the housing (32) by attaching parts, and is tightly connected with housing (32).Elastic sealing element (31) is used for waterproof, piston motion realizes changing volume, this structure is because elastic sealing element (31) is close to piston, piston has born the hydraulic pressure that elastic sealing element (31) transmits, so can use thin elastic sealing film, change the response characteristic of volume with raising, and can realize the accurate adjustment of volume.
Above-mentioned transmission device (34) includes gear driving pair (34A), ball screw transmission (34B), wherein the driving wheel of gear driving pair (34A) is connected with the output shaft of servomotor (35), flower wheel is connected with the screw mandrel of ball screw transmission (34B), piston (33) is connected with the nut of ball screw transmission (34B), and nut is connected with piston (33).
Said gear transmission (34A), ball screw transmission (34B) and piston (33), elastic sealing element (31) can be respectively equipped with some covers, and symmetry is installed on the housing (32).In the present embodiment, gear driving pair (34A), ball screw transmission (34B) and piston (33), elastic sealing element (31) can be respectively equipped with two covers, and symmetry is installed on the housing (32).
For making ocean operation heave compensation positioning coordinate system of the present invention can arrive or be returned to desired depth fast, above-mentioned put in place fast and reset attachment (4) adopts propelling unit.In the present embodiment, propelling unit is a screw propeller.
Above-mentioned propelling unit can pass through electric powerplant or fluid pressure drive device.In the present embodiment, angle of rake actuating device is a DC speed-reducing.
Also be fixed with signal on the above-mentioned shell (7) and receive and reflective devices (5), signal receives and is connected with controller (2) with reflective devices (5).Signal receives and reflective devices (5) can adopt ultrasonic reception and parasite, also can adopt long wave device etc., to realize the detection of heave movement.In the present embodiment, signal receives and reflective devices (5) adopts ultrasonic reception and parasite.
Above-mentioned energy source device (6) can be direct supply, source of AC, hydrogen raw material battery, lithium cell or nuclear power source.In the present embodiment, energy source device (6) is a dry storage battery.
The localization method of the positioning coordinate system of above-mentioned ocean operation heave compensation includes following steps:
1) measures positioning coordinate system single-piece volume earlier, make its average density equal the density of water according to buoyancy theorem adjustment positioning coordinate system overall volume or quality then;
2) measure the pressure of positioning coordinate system by pressure sensor at actual grade, and the pressure ratio of this pressure and set depth drawn pressure difference signal, make density modifier (3) make respective change, and by putting in place fast and reset attachment (4) makes the positioning coordinate system dynamic stability in setting depth of water place.
Following two kinds of situations are arranged above-mentioned steps 2):
1) when actual pressure value during greater than the limit set, start and put in place fast and reset attachment (4), make it to produce thrust upwards, make positioning coordinate system arrive (or recovery) fast to the desired location; Vice versa; To realize the coarse adjustment of position;
2) when the force value of reality during greater than setting value, the piston in the density modifier (3) is extrapolated, increases volume, thereby the average density of positioning coordinate system is reduced, and buoyancy is greater than its gravity, and positioning coordinate system rises; Vice versa; Just can realize the accurate adjustment of position after repeatedly through several times.
Work control flow chart of the present invention as shown in Figure 3, after energy source device (6) is opened, controller (2), and the execution initialize routine makes system initialization, follow the pressure sensor detected pressures, pretreater detects the electric signal that the pressure signal that obtains is converted to be needed to pressure sensor, this signal is sent into controller and obtain actual force value after sampling processing, then this actual pressure value and setting value are compared, then make corresponding computing according to the size of differential pressure signal, draw controlling valu, and carry out following task:
1), then carries out and put in place fast as if the pressure value of going beyond the limit of;
2) if not excess of export of pressure limit is then carried out following task:
(1), and continues to detect actual pressure if pressure in tolerance band, keeps density constant;
(2), and continue to detect actual pressure if pressure not in tolerance band, changes density.
After the some circulations of experience, the ocean operation heave compensation elements of a fix can dynamically be stable at set depth.
The working process of the density modifier (3) among the present invention is: servo-driver (36) makes its velocity variations according to the control signal driving servomotor (35) of controller; Servomotor drives piston (33) through transmission device (34) and changes volume, realizes the adjusting of density.Elastic sealing film (31) is used for waterproof access to plant inside, and while and piston (33) are finished the function that changes volume, and this structure can realize the accurate adjustment of volume.
Signal among the present invention receives and reflective devices (5) can be realized the function of underwater survey benchmark, as is used to be received in the sound wave that the ship that carries out ocean operation etc. is sent, and reflects back then, with the detection of realization to the heave degree of depth of ship etc.
The control principle block diagram of ocean operation heave compensation positioning coordinate system of the present invention as shown in Figure 4, the circuit diagram of controller (2) includes 89C52 central process unit (U1), 62256 static RAM (SRAM)s (U4), 74LS373 latch (U2), AD574 A and D converter (U6), 8155 parallel port extenders (U5), MAX2 32PC serial communication interface (U7) and other interface device as shown in Figure 5.Wherein 62256 static RAM (SRAM)s, 74LS373 latch are used to constitute the 89C52 extension memory; Because 89C52 parallel I/O is limited, 8155 are used to expand parallel I/O; MAX232PC is used for construction system and the outside interface that carries out serial communication, and J16 draws by joint; J15 is used to connect pressure sensor and pretreater; J14 is used to connect ultrasonic controller; J13 is used for connecting the mechanism that puts in place fast; J12 is used for the servo-driver that Connection Density is regulated; Switch SW 2re is used for start control, and switch SW 2re cuts off with magnet before following water conservancy project is done with normally closed dry-reed tube, takes off the magnet contactor connection during following water, and system starts working; Switch SW 3 is humidity sensitive switches, is used for detection and location frame of axis humidity inside, when humidity transfinites, sends out interrupt signal to the 89C52 central processor CPU, makes the 89C52 central processor CPU send alerting signal to the outside; Switch SW 2 is used for detection and location frame of axis in-to-in pistons work stroke, when stroke transfinites, to 89C52 central processor CPU give a signal, makes the 89C52 central processor CPU take corresponding processing; Among the present invention, the switch of similar SW2 function can be provided with several.
Claims (9)
1, a kind of positioning coordinate system of ocean operation heave compensation, it is characterized in that including pressure sensor and transmitter (1), controller (2), density modifier (3), put in place fast and reset attachment (4), energy source device (6) and shell (7), wherein pressure sensor and transmitter (1), controller (2), density modifier (3), put in place fast and reset attachment (4), energy source device (6) all is packed on the shell (7), the energy of energy source device (6) is supplied with controller (2) respectively, density modifier (3), put in place fast and reset attachment (4), and the mouth of pressure sensor and transmitter (1) is connected with the input end of controller (2), the mouth of controller (2) respectively with density modifier (3), put in place fast and be connected with reset attachment (4).
2, the positioning coordinate system of ocean operation heave compensation according to claim 1, it is characterized in that above-mentioned density modifier (3) includes elastic sealing element (31), housing (32), piston (33), transmission device (34), servomotor (35), servo-driver (36), wherein the input end of servo-driver (36) is connected with controller (2), mouth is connected with servomotor (35), servomotor (35) is connected with the input end of transmission device (34), the mouth of transmission device (34) is connected with piston (33) on being bearing in housing (32), elastic sealing element (31) is located at the outer end of piston (33), and its outer (31A) is packed on the housing (32) by attaching parts, and is tightly connected with housing (32).
3, the positioning coordinate system of ocean operation heave compensation according to claim 2, it is characterized in that above-mentioned transmission device (34) includes gear driving pair (34A), ball screw transmission (34B), wherein the driving wheel of gear driving pair (34A) is connected with the output shaft of servomotor (35), flower wheel is connected with the screw mandrel of ball screw transmission (34B), piston (33) is connected with the nut of ball screw transmission (34B), and nut is connected with piston (33).
4, the positioning coordinate system of ocean operation heave compensation according to claim 3, it is characterized in that said gear transmission (34A), ball screw transmission (34B) and piston (33), elastic sealing element (31) can be provided with some covers, symmetry is installed on the housing (32).
5, the positioning coordinate system of ocean operation heave compensation according to claim 1 is characterized in that above-mentioned putting in place fast and reset attachment (4) employing propelling unit, and propelling unit can drive by electric powerplant or fluid pressure drive device.
6, the positioning coordinate system of ocean operation heave compensation according to claim 5 is characterized in that also being fixed with on the above-mentioned shell (7) signal and receives and reflective devices (5), and signal receives and is connected with controller (2) with reflective devices (5).
7, the positioning coordinate system of ocean operation heave compensation according to claim 1 is characterized in that above-mentioned energy source device (6) can be direct supply, source of AC, hydrogen raw material battery, lithium cell or nuclear power source.
8, the localization method of the positioning coordinate system of the described ocean operation heave compensation of a kind of claim 1 is characterized in that including following steps:
1) measures positioning coordinate system single-piece volume earlier, make its average density equal the density of water according to buoyancy theorem adjustment positioning coordinate system overall volume or quality then;
2) measure the pressure of positioning coordinate system by pressure sensor at actual grade, and the pressure ratio of this pressure and set depth drawn pressure difference signal, make density modifier (3) make respective change, and by putting in place fast and reset attachment (4) makes the positioning coordinate system dynamic stability in setting depth of water place.
9, the localization method of the positioning coordinate system of ocean operation heave compensation according to claim 8 is characterized in that above-mentioned steps 2) in following two kinds of situations are arranged:
1) when actual pressure value during greater than the limit set, start and put in place fast and reset attachment (4), make it to produce the thrust that makes progress, make positioning coordinate system arrive or return to the desired location fast; Vice versa; To realize the coarse adjustment of position;
2) when the force value of reality during greater than setting value, the piston in the density modifier (3) is extrapolated, increases volume, thereby the average density of positioning coordinate system is reduced, and buoyancy is greater than its gravity, and positioning coordinate system rises; Vice versa; Just can realize the accurate adjustment of position after repeatedly through several times.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031135099A CN1307497C (en) | 2003-01-06 | 2003-01-06 | Location coordinate system for ocean work rising and sinking compensation and its location method |
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| CNB031135099A CN1307497C (en) | 2003-01-06 | 2003-01-06 | Location coordinate system for ocean work rising and sinking compensation and its location method |
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| CN1515460A true CN1515460A (en) | 2004-07-28 |
| CN1307497C CN1307497C (en) | 2007-03-28 |
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Cited By (13)
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| CN1313323C (en) * | 2004-11-03 | 2007-05-02 | 上海大学 | Micro-miniature butterfly shaped underwater robot |
| CN100432639C (en) * | 2006-11-21 | 2008-11-12 | 国营武昌造船厂 | System and method for inspecting liquid level of buoy |
| US7562634B2 (en) | 2006-08-29 | 2009-07-21 | Industrial Technology Research Institute | Diving device |
| CN1967618B (en) * | 2005-11-14 | 2011-06-29 | 中国船舶重工集团公司第七一○研究所 | Real-time transmission buoy device |
| US8509972B2 (en) | 2006-08-29 | 2013-08-13 | Industrial Technology Research Institute | Electronic pet and pet interaction system thereof |
| CN103895847A (en) * | 2014-04-02 | 2014-07-02 | 中国船舶重工集团公司第七○二研究所 | Automatic longitudinal inclination or transverse inclination adjusting device for mobile deep sea workstation |
| CN104554674A (en) * | 2014-12-25 | 2015-04-29 | 中国海洋大学 | Reciprocating motion control mechanism for extension cable |
| CN104670445A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Submersible ultra-deep protective device and method |
| CN108116631A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of buoyancy self-adjusting control method of buoyancy regulating device |
| CN108189990A (en) * | 2018-01-18 | 2018-06-22 | 冯亿坤 | Submarine navigation device butt-joint locking device |
| CN108357646A (en) * | 2018-01-08 | 2018-08-03 | 中国船舶工业集团公司第七0八研究所 | One kind is for keeping deck smoothly marine highway buoyancy compensation device |
| CN108622346A (en) * | 2017-07-31 | 2018-10-09 | 乐清市华尊电气有限公司 | A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all |
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| US4007505A (en) * | 1975-11-10 | 1977-02-15 | The United States Of America As Represented By The Secretary Of The Navy | Flexible stabilizer for underwater vehicle |
| US4183316A (en) * | 1977-12-05 | 1980-01-15 | The United States Of America As Represented By The Secretary Of The Navy | Variable volume depth control |
| JP3197141B2 (en) * | 1994-02-18 | 2001-08-13 | 三菱重工業株式会社 | Underwater robot depth setting device |
| US6142092A (en) * | 1997-06-13 | 2000-11-07 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Depth control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1313323C (en) * | 2004-11-03 | 2007-05-02 | 上海大学 | Micro-miniature butterfly shaped underwater robot |
| CN1967618B (en) * | 2005-11-14 | 2011-06-29 | 中国船舶重工集团公司第七一○研究所 | Real-time transmission buoy device |
| US7562634B2 (en) | 2006-08-29 | 2009-07-21 | Industrial Technology Research Institute | Diving device |
| US8509972B2 (en) | 2006-08-29 | 2013-08-13 | Industrial Technology Research Institute | Electronic pet and pet interaction system thereof |
| CN100432639C (en) * | 2006-11-21 | 2008-11-12 | 国营武昌造船厂 | System and method for inspecting liquid level of buoy |
| CN104670445A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Submersible ultra-deep protective device and method |
| CN104670445B (en) * | 2013-11-30 | 2017-02-15 | 中国科学院沈阳自动化研究所 | Submersible ultra-deep protective device and method |
| CN103895847B (en) * | 2014-04-02 | 2016-02-03 | 中国船舶重工集团公司第七○二研究所 | The vertical/horizontal self-checking device that inclines of a kind of portable deep-sea workstation |
| CN103895847A (en) * | 2014-04-02 | 2014-07-02 | 中国船舶重工集团公司第七○二研究所 | Automatic longitudinal inclination or transverse inclination adjusting device for mobile deep sea workstation |
| CN104554674A (en) * | 2014-12-25 | 2015-04-29 | 中国海洋大学 | Reciprocating motion control mechanism for extension cable |
| CN104554674B (en) * | 2014-12-25 | 2016-03-30 | 中国海洋大学 | A kind of along cable crank motion control mechanism |
| CN108116631A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of buoyancy self-adjusting control method of buoyancy regulating device |
| CN108116631B (en) * | 2016-11-30 | 2019-06-11 | 中国科学院沈阳自动化研究所 | A kind of buoyancy self-adjusting control method of buoyancy regulating device |
| CN108622346A (en) * | 2017-07-31 | 2018-10-09 | 乐清市华尊电气有限公司 | A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all |
| CN108357646A (en) * | 2018-01-08 | 2018-08-03 | 中国船舶工业集团公司第七0八研究所 | One kind is for keeping deck smoothly marine highway buoyancy compensation device |
| CN108357646B (en) * | 2018-01-08 | 2019-12-10 | 中国船舶工业集团公司第七0八研究所 | Offshore highway buoyancy compensation device for keeping deck stable |
| CN108189990A (en) * | 2018-01-18 | 2018-06-22 | 冯亿坤 | Submarine navigation device butt-joint locking device |
| CN108189990B (en) * | 2018-01-18 | 2019-05-31 | 冯亿坤 | Submarine navigation device butt-joint locking device |
| CN115092367A (en) * | 2022-04-24 | 2022-09-23 | 西北工业大学 | Small-size AUV's buoyancy adjusting device |
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