CN207037100U - Support the scientific investigation ship power positioning system structure of bathyscaph - Google Patents

Abstract

The utility model discloses a kind of scientific investigation ship power positioning system structure for supporting bathyscaph, including sensing system module, control system module, impeller system module, power and power system modules, sensing system module connects the control system module by transfer bus, sensing system module includes position reference sensor system module, and the position reference sensor system module includes two Taibei bucket satellite positioning-terminal, a GPS location terminal, two SeaSTAR DGPS positioning terminals and a SeaPATH GPS location navigation terminal；Control system module, its can drive in the past operation bench, after drive operation bench, independent operation linkage and dynamic positioning operating-controlling mechanism are independent carries out precise assembly to scientific investigation ship, drive before this and the changeable manipulation of selecting switch group be provided with operation bench.The dynamic positioning system structure of this case, each mutual redundancy of positioning terminal, positioning precision is high, positions continuation and stability ensures, can manipulate the positioning of scientific investigation ship from multi-faceted, be advantageous to control positioning precision.

Description

Support the scientific investigation ship power positioning system structure of bathyscaph

Technical field

A kind of dynamic positioning system is the utility model is related to, more particularly to a kind of scientific investigation ship power for supporting bathyscaph positions System architecture.

Background technology

For a long time, ship is all to keep accommodation to exist using the technology of casting anchor during operation in nearly shallow sea and inland waters It is relatively stable on the water surface.When casting anchor, anchor can catch underwater fixed object (continental rise) securely to keep accommodation stable, once anchor After by anchor chain, accommodation is fixed, the puopulsion equipment and its auxiliary equipment and corresponding control system on ship are just out of service, ship Oceangoing ship is completely in power failure, the operating mode stopped oil, stopped the supple of gas or steam.

With the continuous extension of continually developing and explore scope of the people to marine resources, scientific investigation ship, floating storage vessel, The deep ocean work Mooring Arrangements such as drilling platforms are increasingly subject to pay attention to, but as the increase of the depth of water, traditional anchoring approach can not expire These special boats of foot position (DPS in the mooring problem of deep water sea area by the power of ship itself come the mode DPS that positions It is Dynamic Positioning System abbreviation, i.e. dynamic positioning system, also abbreviation DP) it is increasingly becoming deep-sea oil gas life Production, the main selection of scientific investigation.DP alignment systems can meet substantially after experienced the development of DP-1, DP-2 rank of early stage The scientific investigation of in general deep-sea.

But will the scientific investigation under global marine site, scientific investigation ship can be influenceed by more external factors, such as：Political factor, sea Domain environmental factor, satellite position error, latent device dive precision etc., therefore, the safety of the dynamic positioning systems of DP-3 levels to system Property, reliability, stability and continuation are proposed more stringent requirement, but at this stage, the power of most of DP-3 ranks Alignment system can not ensure that the continuation of deep ocean work, Ability of emergency management are low because positioning precision is inadequate, redundancy is insufficient, behaviour The complicated reason such as cumbersome of control, still do not reach can under global marine site scientific investigation requirement.

Utility model content

The purpose of this utility model is to overcome shortcoming and deficiency of the prior art, there is provided a kind of section for supporting bathyscaph Ship power positioning system structure is examined, five sets of positioning terminal positioning precisions that its position reference sensor system module includes are high, and Can mutual redundancy, position continuation and stability it is guaranteed, the scientific investigation ship power alignment system knot of the support bathyscaph of this case Structure can also drive in the past operation bench, after drive these different orientation of operation bench, independent operation linkage and dynamic positioning operating-controlling mechanism To manipulate the location action of scientific investigation ship, be advantageous to control the positioning precision of scientific investigation ship.

The utility model is achieved through the following technical solutions：Support the scientific investigation ship power alignment system knot of bathyscaph Structure, including sensing system module, control system module, power and power system modules, impeller system module, the sensing Device system module, power and power system modules, impeller system module connect the control system by transfer bus respectively Module, the sensing system module include position reference sensor system module, ship appearance sensing system module, gyrocompass System module and wind speed wind direction sensor system module, the position reference sensor system module, ship appearance sensing system mould Block, gyro compass system module and wind speed wind direction sensor system module, pass through transfer bus and the control system mould respectively Block connects, and in the sensing system module, position reference sensor system module provides the positional information of scientific investigation ship, ship appearance sensing Device system module provide scientific investigation ship attitude of ship information, gyro compass system module provide scientific investigation ship bow to and heading device Breath, the real-time wind speed of wind speed wind direction sensor system module offer and wind direction information, these information transfers to control system module, After the central processing unit calculating processing in control system module, export corresponding control instruction and give impeller system module, and Propeller power and direction of propulsion are distributed for each propeller in impeller system module so that scientific investigation ship can automatic straightening displacement Deviation, ensure the stabilization of scientific investigation ship with being accurately positioned.Wherein：

The position reference sensor system module, it includes two Taibei bucket satellite positioning-terminal, a GPS positioning eventually End, (SeaSTAR is producer's model to two SeaSTAR DGPS positioning terminals, and DGPS is English Differential Global Positioning System abbreviation, i.e. DGPS) and a SeaPATH GPS location navigation terminal (SeaPATH is producer's model, and GPS is English Global Positioning System abbreviation, i.e. global positioning system), Wherein two Taibei bucket satellite positioning-terminal shares a signal distribution interface to access the transfer bus, one GPS of others Positioning terminal, two SeaSTAR DGPS positioning terminals and a SeaPATH GPS locations navigation terminal are respectively by respective A signal distribution interface connect the transfer bus, formation shares six positioning terminals, five signal distribution interfaces connections The structure of transfer bus；

The control system module, it is driven operation bench before including being arranged on driver's cabin stem, is arranged on driver's cabin afterbody After drive operation bench, be arranged on the independent operation linkage of the outer port and starboard position of driver's cabin, be arranged in the middle part of driver's cabin and Dynamic positioning operating-controlling mechanism in consultation room, drives before described and selecting switch group is provided with operation bench, so as to preceding drive operation bench, After drive and switch between operation bench, independent operation linkage and dynamic positioning operating-controlling mechanism.

Further, the dynamic positioning operating-controlling mechanism, it includes being arranged on the first dynamic positioning manipulation in the middle part of driver's cabin Platform and the second dynamic positioning operation bench and the 3rd dynamic positioning operation bench being arranged in consultation room, first dynamic positioning behaviour Isolate between control platform, the second dynamic positioning operation bench and the 3rd dynamic positioning operation bench by fire protection criteria A-60 ranks, this first The first control station is provided with dynamic positioning operation bench, the second control station is provided with the second dynamic positioning operation bench, be the 3rd dynamic Be provided with the 3rd control station in power precise assembly platform, first control station, the second control station and the 3rd control station respectively with biography Defeated bus connects and each has independent central processing unit, and the 3rd control station is connected with alarm printer.

Further, the selecting switch group be arranged on it is described before drive on the guidance panel of operation bench, it includes being arranged in order First choice switch, the second selecting switch and the 3rd selecting switch, the first choice switch, it is that five model selections are opened Close, five pattern is：

AUTO patterns：It is automatic control mode；

FU patterns：It is the follow the mode of handwheel control；

NFU patterns：It is the non-follow the mode of handwheel control；

JS patterns：It is independent operation linkage steer mode；

DP patterns：It is dynamic positioning operating-controlling mechanism steer mode.

Further, second selecting switch, it drives the switching switch that operation bench drives operation bench with after before being, second choosing Select switch and be provided with the first gear and the second gear, when the second selecting switch is beaten when on the first gear, scientific investigation ship is by preceding driving behaviour Control platform manipulation positioning；When the second selecting switch is beaten when on the second gear, scientific investigation ship drives operation bench manipulation positioning after.

Further, the 3rd selecting switch, it is either synchronously or asynchronously selecting switch, its for drive before described operation bench or after The manipulation selection of the NFU patterns offer of operation bench either synchronously or asynchronously is provided.

Further, the position reference sensor system module also includes a set of laser total station, a set of ultra-short baseline is determined Position system and a set of gravity block position reference system, the laser total station, ultra short baseline locating system and gravity block position ginseng Test system connects the control system module by controlling bus respectively.

Further, the ultra short baseline locating system, it includes aquatic work station, water surface transmitting receives sound unit, water The acoustic responder that face transducer unit and latent device carry, the aquatic work station are arranged on scientific investigation ship navigation deck, the water surface Transmitting receives the lifter side that sound unit is arranged under main deck, and the water surface transducer unit is arranged under main deck Lifter bottom, and scientific investigation ship hull bottom can be dropped to, the aquatic work station connects the water surface by optical fiber and launches reception sound Ripple unit, the LAN by six class netting twines access scientific investigation ship；The gravity block position reference system, it includes gravity block tensioning Rope basic machine and gravity block boom hoisting control cabinet, the gravity block side tension cords basic machine is arranged on boat deck, described Gravity block boom hoisting control cabinet is arranged in the consultation room in ship storehouse, and the gravity block side tension cords basic machine includes signal and electricity Source junction box, signal and the power supply wiring case are connected to the 3rd dynamic positioning operation bench in consultation room.

Further, the ship appearance sensing system module, it includes：Four sets of vertical reference sensor systems, the vertical ginseng The position of centre of gravity of scientific investigation ship is arranged on according to sensing system, and control system module is connected and to described by transfer bus respectively The rolling of control system module transmission scientific investigation ship, pitching real-time change information；

The gyro compass system module, it includes two sets of gyro compasses and a unjacketed optical fiber compass, and two sets of gyro compasses and one Unjacketed optical fiber compass connects control system module by transfer bus respectively and the boat of scientific investigation ship is transmitted to the control system module To and bow be also connected to information, the optical fiber compass with SeaPATH GPS location navigation terminals so that the bow of optical fiber compass is to letter Cease and compensated each other to information with the bow of SeaPATH GPS location navigation terminals；

The wind speed wind direction sensor system module, it includes three sets of wind speed and direction instrument systems, and three sets of anemoclinographs System connects control system module by transfer bus respectively and transmits scientific investigation ship by external environment to the control system module The information that wind speed and wind direction influence.

Further, the power and power system modules include：

Generator and prime mover group, it include a 250KW noise-reduced diesel generator, two 1650KW axle generators, Three 605KW diesel-driven generators；

Panel, it includes a set of auxiliary panel and a set of emergency switchboard；

Back-up source, it shares three sets, and three sets of back-up sources are powered by auxiliary panel and emergency switchboard respectively；

Power management system, it is dynamic that it by transfer bus connects described in the Dynamic Positioning Control System mechanism and management and control the firstth The working power of power precise assembly platform, the second dynamic positioning operation bench and the 3rd dynamic positioning operation bench.

Further, the impeller system module, it includes two sets of bow sideways-acting propellers, two sets of sterns laterally promote Device, two sets of main thrusters, propeller control equipment and hand propeller controller, the bow sideways-acting propeller are arranged on scientific investigation Ship bow part both sides, the stern sideways-acting propeller are arranged on scientific investigation ship stern both sides, and the main thruster is arranged on scientific investigation ship stern The port and starboard in portion, the propeller control equipment and hand propeller controller connect the control by transfer bus System module.

Compared to prior art, the beneficial effect of this case is：

1. the scientific investigation ship power positioning system structure of the support bathyscaph of this case, its position reference sensor system module bag Include two Taibei bucket satellite positioning-terminal, a GPS location terminal, two SeaSTAR DGPS positioning terminals and a SeaPATH GPS location navigation terminal, five sets of independent location positioning systems of six positioning terminal compositions, each positioning terminal can be mutually superfluous It is remaining, ensure the continuity and reliability of the positioning of scientific investigation ship power, and positioning precision, up to 0.4m~1.6m, positioning precision is high, can Meet that scientific investigation ship can meet an urgent need folding and unfolding bathyscaph to carry out scientific investigation operation under world-wide, Pyatyi sea situation；

2. the position reference sensor system module of this case also includes a set of laser total station, a set of ultra-short baseline positioning system System and a set of gravity block position reference system, laser total station, ultra short baseline locating system and gravity block position reference system with The above-mentioned same-action of positioning terminal one, site error mutually compensate for, and can repeatedly correct the positional precision of scientific investigation ship so that power is fixed Position precision further reaches centimetre or grade；

3. gyro compass system module includes two sets of gyro compasses in this case and a unjacketed optical fiber compass, wherein optical fiber compass also connect The SeaPATH GPS location navigation terminals in the reference sensor system module of position are connect, gyro compass and optical fiber compass do not pass The shortcomings that magnetic compass of system is by earth magnetic effect, and the bow of optical fiber compass is to information and SeaPATH GPS location navigation terminals Bow mutually compensates for information, is easy to accurately control scientific investigation ship amendment offset deviation, further improves positioning precision；

4. this case realizes manipulation position and manipulation by setting selecting switch group on the guidance panel for preceding driving operation bench The switching of mode, driven before switching to operation bench, after drive operation bench, independent operation linkage and dynamic positioning operating-controlling mechanism this four Different dimensional orientations is organized to manipulate the autopilot of scientific investigation ship and propeller, for example during latent device folding and unfolding, manipulation is driven after being switched to Platform manipulates, and so just has the broader visual field to observe the folding and unfolding posture of latent device, manipulation switching is flexible, simple to operate, is more beneficial for Control the positioning precision of scientific investigation ship；

5. the sensing system module of this case, control system module, power and power system modules and impeller system mould Block is provided with redundancy backup, the first dynamic positioning operation bench, the second dynamic positioning operation bench and the 3rd dynamic positioning operation bench Between isolate, isolation level reaches fire protection criteria A-60 ranks, avoid due to the contingencies such as fire occur and influence scientific investigation ship Normal operation, whole system reached the DP-3 class criterias in dynamic positioning system standard.

In order to be able to apparent understanding the utility model, illustrated below with reference to brief description of the drawings of the present utility model preferable Embodiment.

Brief description of the drawings

Fig. 1 is the structured flowchart of the scientific investigation ship power positioning system structure of the support bathyscaph of this case；

Fig. 2 is the structured flowchart of ultra short baseline locating system in Fig. 1；

Fig. 3 is the structured flowchart of gravity block position reference system in Fig. 1；

Fig. 4 is the position view of Fig. 1 dynamic positioning operating-controlling mechanisms；

Fig. 5 is the structural representation of selecting switch group；

Fig. 6 is the manipulation logical schematic of control system module manipulation；

Fig. 7 is impeller system modular structure schematic diagram in Fig. 1.

Embodiment

Please refer to Fig. 1 to Fig. 7, a kind of scientific investigation ship power positioning system structure for supporting bathyscaph of this case, including： Sensing system module 10, control system module 20, power and power system modules 30, impeller system module 40, the biography Described in sensor system module 10, power and power system modules 30, impeller system module 40 are connected by transfer bus respectively Control system module 20.

The sensing system module 10, it includes position reference sensor system module 11, ship appearance sensing system mould Block 12, gyro compass system module 13 and wind speed wind direction sensor system module 14, the position reference sensor system module 11st, ship appearance sensing system module 12, gyro compass system module 13 and wind speed wind direction sensor system module 14 pass through respectively Transfer bus is connected with the control system module 20.

The position reference sensor system module 11, it includes five sets of GPSs, a set of laser whole station Instrument 116, a set of ultra short baseline locating system 117 and a set of gravity block position reference system 118.

Five sets of GPSs, it includes two Taibei bucket 110, GPS location terminals of satellite positioning-terminal 111st, (SeaSTAR is producer's model to two SeaSTAR DGPS positioning terminals 112, and DGPS is English Differential Global Positioning System abbreviation, i.e. DGPS) and a SeaPATH GPS locations navigation (SeaPATH is producer's model to terminal 113, and GPS is English Global Positioning System abbreviation, i.e. global location System).Wherein two Taibei bucket 110 mutual redundancy of satellite positioning-terminal simultaneously shares a signal distribution interface to connect the biography Defeated bus, 111, two SeaSTAR DGPS positioning terminals 112 of remaining GPS location terminal and a SeaPATH GPS Positioning navigation terminal 113 accesses the transfer bus by respective signal distribution interface respectively, and formation shares six positioning eventually End, the structure of five signal distribution interfaces connection transfer bus, this five sets of GPSs are by accurate positional information The control system module 20 is transferred to by the transfer bus.

Two Taibei struggle against satellite positioning-terminal 110, its mutual redundancy, so as to used in the unusual time (unusual time refer to due to Political factor influences, the foreign GPS of rental disabled period), ensure the continuity and reliability of dynamic positioning, its positioning accurate Spend for 0.4m~1.6m.

Two SeaSTAR DGPS positioning terminals 112, it is the Differential positioning terminal introduced from Norway, and it is arranged on scientific investigation It is connected with the transfer bus on ship and by the signal distribution interface of itself, while is also docked with the American satellite of rental, is made 0.4m~the 1m for obtaining positioning precision from routine narrows down to 10~20cm, then coordinates laser total station 116, ultra short baseline locating system 117 and gravity block position reference system 118 after, its positioning precision will narrow down to below 10cm.

SeaPATH GPS locations navigation terminal 113, its be arranged on scientific investigation ship on and by the signal distribution interface of itself with The transfer bus connection, while it is also connected with the vertical reference sensor system in the ship appearance sensing system module 12 (MRU) the optical fiber compass and in gyro compass system module 13, and its relative position is measured using two gps antennas of itself, Generate polar plot, determine scientific investigation stem to, plan navigation circuit, its compensation as traditional magnetic compass, SeaPATH GPS locations Navigation terminal 113 avoids the shortcomings that traditional magnetic compass is by earth magnetic effect, further improves the location navigation precision of scientific investigation ship.

Laser total station 116, it is arranged on scientific investigation ship and passes through the signal distribution interface of itself and the transfer bus Connection, to be modified to the signal of the SeaSTAR DGPS positioning terminals 112, further improve the positioning accurate of scientific investigation ship Degree.When the blue water with object of reference carries out scientific investigation work, scientific investigation ship and object of reference are measured using laser total station 116 Between different time offset variable, and the offset variable signal of ship is transferred to by control system by RS232 interface Central processing unit in module 20.

Refer to Fig. 1, Fig. 2, ultra short baseline locating system 117, it include aquatic work station 117-1 (containing display terminal), The acoustic responder 117-4 that water surface transmitting receives that sound unit 117-2, water surface transducer unit 117-3 and latent device carry, it is described Aquatic work station 117-1 is arranged on scientific investigation ship navigation deck, and water surface transmitting receives sound unit 117-2 and is arranged under main deck Lifter side, the water surface transducer unit 117-3 is arranged on the lifter bottom under main deck, and can drop to scientific investigation Ship hull bottom, the acoustic responder 117-4 follow latent device to dive into the water.The major function of ultra short baseline locating system 117 be When set deep-sea marine site carries out scientific investigation, the sound wave that the water surface transmitting receives sound unit 117-2 transmittings is taken with latent device The acoustic responder 117-4 of band forms loop, is converted into data signal through flow surface transducer unit 117-3 and passes to institute Aquatic work station 117-1 is stated, so as to obtain offset variable of the scientific investigation ship in different time, this offset variable is fed to described Central processing unit in control system module 20 carries out the compensation of site error.In the present embodiment, the aquatic work station 117-1 Model MP8200 work stations, it is connected with display, keyboard, mouse, external data storage hard disk and UPS (back-up source), And the water surface transmitting is connected by optical fiber and receives sound unit 117-2, the LAN by six class netting twines access scientific investigation ship, together When aquatic work station 117-1 also there is signal distribution interface, signal distribution interface access transfer bus is simultaneously connected to described Control system module 20.

Fig. 1, Fig. 3 are referred to, gravity block position reference system (TATUT WIRE) 118, it includes gravity block side tension cords machine Tool body and gravity block boom hoisting control cabinet, the gravity block side tension cords basic machine are arranged on boat deck, the gravity Block boom hoisting control cabinet is arranged in the consultation room in ship storehouse.The gravity block side tension cords basic machine includes servomotor 118- 1st, resolver 118-2, blower motor 118-3, hydraulic pump motor 118-4, signal and power supply wiring case 118-5 and arm, tensioning The lifting terminal such as rope, gravity block, winch 118-6；The gravity block boom hoisting control cabinet includes servo controller 118-7, end End row 118-8, contactor 118-9, the servomotor 118-1 connection servo controllers 118-7, the resolver 118- 2 connection terminal row 118-8, the blower motor 118-3 connect contactor 118-9, the letter with hydraulic pump motor 118-4 Number and power supply wiring case 118-5 be connected to the 3rd dynamic positioning operation bench 24-3 in consultation room.Gravity block position reference system 118 positioning principle is：An arm is stretched out on the quarter, and is played a gravity block with a side tension cords and be put into the sea, side tension cords It is wrapped in after the pulley on arm on the roller of winch, the tension force of side tension cords keeps stable, the discharge length of such side tension cords Degree, the subtended angle of side tension cords just change with the motion of scientific investigation ship hull (due to scientific investigation ship across the sea, and gravity block in seawater In, scientific investigation ship is influenceed to produce certain position skew between meeting and gravity block by environmental factor), on pulley and roller Sensing head gathers the data such as the vertical angle of side tension cords, length, and is transferred to control system module 20, the center of control system module 20 Processor can calculate offset variable of the scientific investigation ship relative to gravity block, and the benefit of site error is carried out to existing position Repay, in the present embodiment, during bathyscaph folding and unfolding on scientific investigation ship, bathyscaph can slip into the sea as gravity block, pass through gravity block position Put the can of frame of reference 118 and obtain offset variable of the scientific investigation ship relative to bathyscaph.

In above-mentioned position reference sensor system module 11, because SeaSTAR DGPS positioning terminals 112 are Differential positionings Terminal, the accurate coordinates information of scientific investigation ship, but SeaSTAR can be obtained by SeaSTAR DGPS positioning terminals 112 The rent star of DGPS positioning terminals 112 is costly, and big-dipper satellite positioning terminal 110, GPS location terminal 111, SeaPATH The coordinate information that GPS location navigation terminal 113 obtains can serve as referring to, and be provided simultaneously with the effect of mutual redundancy.Meanwhile swash Light total powerstation 116, ultra short baseline locating system 117 and gravity block position reference system 118 can provide scientific investigation ship and offset by setting The offset variable of coordinate, error compensation and amendment further are carried out to the coordinate information of scientific investigation ship so that scientific investigation ship can be boundless and indistinct Big sea can correct offset deviation, and then be accurately positioned.Meanwhile in above-mentioned position reference sensor system module 11, except Laser total station 116 needs to measure outside by fixed object of reference, and remaining sensing system can work independently, and effectively protect Demonstrate,prove the continuity and reliability of scientific investigation ship positionning.

The ship appearance sensing system module 12, it includes：

Four sets of vertical reference sensor systems (MRU) 121, the vertical reference sensor system 121 are arranged on scientific investigation ship Position of centre of gravity, and control system module 20 is connected by transfer bus respectively, vertical reference sensor system 121 is measured and provided Rolling, pitching real-time change information and the central processing unit being transferred in control system module 20 of scientific investigation ship, the present embodiment In, in the four sets of vertical reference sensor systems 121 installed on scientific investigation ship, wherein having a set of for being SeaPATH GPS locations Navigation terminal 113 provides calibration information；

Gyro compass system module 13, it includes two sets of gyro compasses and a unjacketed optical fiber compass, two sets of gyro compasses and a set of Optical fiber compass connects control system module 20 by transfer bus respectively and transmits scientific investigation ship to the control system module 20 Course and bow are also connected to information, wherein optical fiber compass with SeaPATH GPS locations navigation terminal 113, the bow of optical fiber compass to Information and the bow of SeaPATH GPS locations navigation terminal 113 compensate each other to information, are easy to accurately control scientific investigation ship amendment displacement Deviation, further improve positioning precision；

Wind speed wind direction sensor system module 14, it includes three sets of wind speed and direction instrument systems 141, and three sets of anemoclinographs System 141 connects control system module 20 by transfer bus respectively, and wind speed and direction instrument system 141 is control system module 20 The information that scientific investigation ship is influenceed by the wind speed and wind direction of external environment is provided, while wind speed and direction instrument system 141 is also accessed on scientific investigation ship More velocity of wave water depth detection systems, provide wind speed and direction sensing data for more velocity of wave water depth detection systems.

In the sensor system module 10, position reference sensor system module 11 provides the positional information of scientific investigation ship, Ship appearance sensing system module 12 provides the attitude of ship information of scientific investigation ship, and gyro compass system module 13 provides the bow of scientific investigation ship To and course information, wind speed wind direction sensor system module 14 real-time wind speed and wind direction information are provided, these information transfers are extremely Control system module 20, by control system module 20 central processing unit calculating processing after, export corresponding control instruction to Impeller system module 40, and propeller power and direction of propulsion are distributed for each propeller in impeller system module 40, make Scientific investigation ship can automatic straightening offset deviation, ensure scientific investigation ship stabilization with being accurately positioned.

The control system module 20, referring to Fig. 1, Fig. 4, it include being arranged on drive before driver's cabin stem operation bench 21, The independent operation linkage for be arranged on and operation bench 22 is driven after driver's cabin afterbody, being arranged on the outer port and starboard position of driver's cabin 23rd, it is arranged on the dynamic positioning operating-controlling mechanism 24 in the middle part of driver's cabin and in consultation room.Driven before described and choosing is provided with operation bench 21 Select switches set, so as to preceding drive operation bench 21, after drive operation bench 22, independent operation linkage 23 and dynamic positioning operating-controlling mechanism Switch between 24 so that driver can drive in the past operation bench 21, after drive operation bench 22, independent operation linkage 23 and dynamic positioning This four groups of different dimensional orientations of operating-controlling mechanism 24 carry out the independently autopilot to scientific investigation ship and propeller carries out precise assembly, so Design is more beneficial for controlling the positioning precision of scientific investigation ship, for example during latent device folding and unfolding, operation bench 22 is driven after and is manipulated, is so just had The folding and unfolding posture of latent device is observed in the broader visual field.Driven before in the present embodiment operation bench 21 and after to drive operation bench 22 entirely electrical Isolation, does not interfere with each other.

The independent operation linkage 23, it includes the larboard independent operation bar socket 23-1 for being arranged on the outer larboard of driver's cabin Be arranged on the starboard independent operation bar socket 23-2 that sails outdoor starboard.

The dynamic positioning operating-controlling mechanism 24, it includes being arranged on the first dynamic positioning operation bench 24-1 in the middle part of driver's cabin With the second dynamic positioning operation bench 24-2 and the 3rd dynamic positioning operation bench 24-3 being arranged in consultation room, first power Isolate between precise assembly platform 24-1, the second dynamic positioning operation bench 24-2 and the 3rd dynamic positioning operation bench 24-3, isolation level Do not reach fire protection criteria A-60 ranks, avoid influenceing the normal operation of scientific investigation ship because the contingencies such as fire occur, this The first control station is provided with one dynamic positioning operation bench 24-1, is provided with the second control in the second dynamic positioning operation bench 24-2 Stand, be provided with the 3rd control station in the 3rd dynamic positioning operation bench 24-3.

First control station, the second control station and the 3rd control station are connected with transfer bus and each had independent respectively Central processing unit, the 3rd control station therein is connected with alarm printer, and real time print motor oil pressure is low, coolant Temperature is high, adjustable propeller hydraulic fluid pressure is low and high, oil temperature is low and high, propeller electromotor overload, high temperature, system exceed operation model Enclose, the warning message such as sensor fault.In the present embodiment, the first control station, the second control station and the 3rd control station model are KPOS-3.The control system module 20 collect the position sensing information that the position reference sensor system module 11 transmission comes, Ship appearance sensing system module 12 transmission come ship appearance heat transfer agent, gyro compass system module 13 transmission come bow to and course Information, the real-time wind speed and wind direction information that the transmission of wind speed wind direction sensor system module 14 comes, and compared with preset accommodation Compared with, and calculation process is carried out in the first control station, the second control station or the 3rd control station, so as to which the DP patterns for obtaining appropriate refer to (DP patterns refer to the steer mode that autopilot and propeller are manipulated by dynamic positioning operating-controlling mechanism) is made, the DP mode instructions can be certainly Move and different propeller power and direction of propulsion are distributed for each propeller in impeller system module 40.

Driven before described operation bench 21, after drive and be provided with pilot on operation bench 22 and dynamic positioning operating-controlling mechanism 24, should Pilot provides passive contact signal to control the magnetic valve on autopilot oil pipe line, so as to change oil by pilot control panel The size on road causes autopilot left avertence or right avertence, in the present embodiment, pilot model HLD-SC200.

Driven before described and selecting switch group is additionally provided with the guidance panel of operation bench 21, it is the autopilot of control scientific investigation ship There is provided mode selection switch, the selecting switch group includes the first choice that is arranged in order and switchs the 26, second selecting switch 27 and the Three selecting switch 28, in the present embodiment, the model HLD-SW200-5 of first choice switch 26, the second selecting switch 27 and The model HLD-SW200-3 of 3rd selecting switch 28.

The first choice switch 26, it is five mode selection switch, and five pattern is：

AUTO patterns：For automatic control mode；

FU patterns：The follow the mode of handwheel control, autopilot rudder angle follows the anglec of rotation of handwheel under the pattern；

NFU patterns：The non-follow the mode of handwheel control, autopilot rudder angle can either synchronously or asynchronously follow handwheel under the pattern The anglec of rotation；

JS patterns：Independent operation linkage steer mode, the independent operation scientific investigation ship of independent operation linkage 23 under the pattern Positioning；

DP patterns：Dynamic positioning operating-controlling mechanism steer mode, under the pattern, the dynamic positioning operating-controlling mechanism 24 is collected The ship appearance that position sensing information, the ship appearance sensing system module 10 of the offer of position reference sensor system module 10 provide Heat transfer agent, gyro compass system module 13 provide scientific investigation ship bow to and course information, wind speed wind direction sensor system module 14 provide real-time wind speed and wind direction information, and constantly compared with preset accommodation, and in the first control station, the second control Calculation process is carried out in system station or the 3rd control station, is each in impeller system module 40 so as to obtain appropriate instruction Propeller distributes different propeller power and direction of propulsion.Meanwhile dynamic positioning operating-controlling mechanism 24 sends request control pilot Instruction, after the response for obtaining pilot instructs, control pilot that dynamic positioning operating-controlling mechanism 24 can be manually or automatically, Having reached just can purpose that is manual or automatically controlling pilot and propeller in dynamic positioning operating-controlling mechanism 24.

Second selecting switch 27, it drives the switching switch that operation bench drives operation bench with after before being, second selection is opened Pass is provided with the first gear (FRONT) and the second gear (AFT), when the second selecting switch is beaten when on the first gear, scientific investigation ship By preceding driving operation bench manipulation positioning；When the second selecting switch is beaten when on the second gear, it is fixed that scientific investigation ship drives operation bench manipulation after Position.

3rd selecting switch 28, it is synchronous asynchronous selecting switch, its for drive before described operation bench 21 or after drive behaviour The NFU patterns for controlling platform 22 provide synchronous and asynchronous manipulation and selected, when the 3rd selecting switch 28 is beaten when on synchronous gear, Autopilot rudder angle synchronously follows the anglec of rotation of handwheel；When the 3rd selecting switch 28 is beaten when on asynchronous gear, autopilot The asynchronous anglec of rotation for following handwheel of rudder angle.

In the present embodiment, the steering flow of scientific investigation ship autopilot is：

1st, selected first by second selecting switch 27 by driving operation bench 22 after preceding driving operation bench 21 still to manipulate Autopilot；

As driven the steering of operation bench 21 before have selected in step 1, then 26 are switched by the first choice

(mode switch of AUTO/FU/NFU/DP/JS five) selects steering pattern：

Under AUTO patterns, autopilot can automatic system control, also can by more control, more control control when, it is preceding to drive manipulation Three NFU handles of platform any one can be with emergency steering；

Under FU patterns, autopilot is controlled by handwheel, autopilot rudder angle follows the anglec of rotation of handwheel；

Under NFU patterns, autopilot rudder angle can either synchronously or asynchronously follow the anglec of rotation of handwheel, can pass through the described 3rd selection 28 are switched to select synchronous steering or asynchronous steering；

Under JS patterns, autopilot is controlled by independent operation linkage 23；

Under DP patterns, autopilot is controlled by dynamic positioning operating-controlling mechanism 24；

2nd, the steering of operation bench 22 is driven after such as have selected in step 1, then is same to select by the 3rd selecting switch 28 Walk steering or asynchronous steering, and after drive operation bench 22 and do not support more to control steering.

The power and power system modules 30, it is the sensing system module 10, control system module 20, pushed away Enter device system module 40 and power is provided, the power and power system modules 30 include：

Generator and prime mover group 31, it includes a 250KW noise-reduced diesel generator, two 1650KW shaft generators Machine, three 605KW diesel-driven generators, in the state of dynamic positioning by a noise-reduced diesel generator, an axle generator, Two diesel-driven generators work simultaneously, by an axle generator and a diesel-driven generator while work under standby function state Make, push away equipment and the power supply of main puopulsion equipment to scientific investigation stem stern side respectively；

Panel 32, it includes a set of auxiliary panel (the auxiliary panels of ASB) and a set of emergency switchboard, and (ESB meets an urgent need distribution Plate), such configuration ensures in the case of any reason dead electricity, can have the available horsepower of abundance to basic daily of scientific investigation ship Load and important service load are powered, and keep scientific investigation ship position stable；

Back-up source (UPS) 33, it is three sets altogether, and often the battery capacity of set back-up source can support 30 minutes emergent Operation, three sets of back-up sources are powered by the auxiliary panels of ASB and ESB emergency switchboards respectively；

Distribution system, it includes cable laying and route choosing, and the wiring of the cable of the distribution system has redundancy, ensures to supply The reliability of electricity；

Power management system (PMS), it causes generator to start and stop with the variation of load, when not enough During the powerful load of energetic start up, the startup of powerful device can be prevented, and starts stand-by generator on request, Ran Houzai Load required for starting, the sensing system module 10, the control system that are configured to scientific investigation ship of the power management system Module 20, the steady operation of impeller system module 40 provide the redundancy and high reliability of abundance, while the power management system System also connects the Dynamic Positioning Control System mechanism 24 and the first dynamic positioning operation bench 24-1 described in management and control, the by transfer bus Two dynamic positioning operation bench 24-2 and the 3rd dynamic positioning operation bench 24-3 working power, the failure due to power supply is avoided to lead Cause control station loss of data.

The impeller system module 40, is shown in Fig. 7, and it includes two sets of bow sideways-acting propellers 41 (hereinafter referred to as：Bow side Push away), two sets of stern sideways-acting propellers 42 (hereinafter referred to as：Stern side pushes away), two sets of main thrusters 43, propeller control equipment and Hand propeller controller, the bow side push away 41 and are arranged on scientific investigation ship bow part both sides, and the stern side pushes away 42 and is arranged on scientific investigation ship stern Portion both sides, the main thruster 43 are arranged on the port and starboard of scientific investigation ship stern.The propeller control equipment and push away manually Enter device controller and the control system module 20 is connected by transfer bus, when scientific investigation ship carries out dynamic positioning, control system Central processing unit in module 20 calculate bow side push away 41, stern side push away 42 and main thruster 43 needed for distribution propeller power and push away Enter direction, and issue a command to the propeller control equipment and hand propeller controller to control main thruster 43, bow side to push away 41 and stern side push away 42 normal works, ensure that scientific investigation ship energy ship can correct offset deviation, and then be accurately positioned.

The utility model is not limited to above-mentioned embodiment, if do not taken off to various changes of the present utility model or deformation From spirit and scope of the present utility model, if these changes and deformation belong to the claims and equivalents of the utility model Within the scope of, then the utility model is also intended to comprising these changes and deformation.

Claims (10)

1. the scientific investigation ship power positioning system structure of bathyscaph is supported, including sensing system module, control system module, power And power system modules, impeller system module, sensing system module, power and the power system modules, propeller system System module connects the control system module by transfer bus respectively, and the sensing system module includes position with reference to sensing Device system module, ship appearance sensing system module, gyro compass system module and wind speed wind direction sensor system module, institute's rheme Put reference sensor system module, ship appearance sensing system module, gyro compass system module and wind speed wind direction sensor system Module is connected by transfer bus with the control system module respectively, it is characterised in that：

The position reference sensor system module, it includes two Taibei bucket satellite positioning-terminal, GPS location terminal, two Platform SeaSTAR DGPS positioning terminals and a SeaPATH GPS location navigation terminal, the satellite positioning-terminal wherein two Taibei are struggled against A signal distribution interface is shared to access the transfer bus, other GPS location terminals, two SeaSTAR DGPS Described in positioning terminal and a SeaPATH GPS locations navigation terminal are connected by a respective signal distribution interface respectively Transfer bus, formed and share six positioning terminals, five signal distribution interfaces connect the structure of transfer bus；

The control system module, it drives operation bench before including being arranged on driver's cabin stem, be arranged on driver's cabin afterbody after Operation bench is driven, the independent operation linkage of the outer port and starboard position of driver's cabin is arranged on, is arranged in the middle part of driver's cabin and holds a conference or consultation Indoor dynamic positioning operating-controlling mechanism, drives before described and selecting switch group is provided with operation bench, so as to preceding drive operation bench, after drive Switch between operation bench, independent operation linkage and dynamic positioning operating-controlling mechanism.

2. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 1, it is characterised in that：The power Precise assembly mechanism, it include being arranged on the first dynamic positioning operation bench in the middle part of driver's cabin and the second dynamic positioning operation bench and The 3rd dynamic positioning operation bench being arranged in consultation room, the first dynamic positioning operation bench, the second dynamic positioning operation bench with Isolate between 3rd dynamic positioning operation bench by fire protection criteria A-60 ranks, the is provided with the first dynamic positioning operation bench The second control station is provided with one control station, the second dynamic positioning operation bench, is provided with the 3rd in the 3rd dynamic positioning operation bench Control station, first control station, the second control station and the 3rd control station are connected with transfer bus and each had independent respectively Central processing unit, the 3rd control station is connected with alarm printer.

3. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 2, it is characterised in that：The selection Switches set be arranged on it is described before drive on the guidance panel of operation bench, its first choice for including being arranged in order switch, the second selection Switch and the 3rd selecting switch, the first choice switch, it is five mode selection switch, and five pattern is：

AUTO patterns：It is automatic control mode；

FU patterns：It is the follow the mode of handwheel control；

NFU patterns：It is the non-follow the mode of handwheel control；

JS patterns：It is independent operation linkage steer mode；

DP patterns：It is dynamic positioning operating-controlling mechanism steer mode.

4. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 3, it is characterised in that：Described second Selecting switch, its driven before being operation bench and after drive operation bench switching switch, second selecting switch be provided with the first gear and Second gear, when the second selecting switch is beaten when on the first gear, scientific investigation ship is by preceding driving operation bench manipulation positioning；When the second selection Switch is beaten when on the second gear, and scientific investigation ship drives operation bench manipulation positioning after.

5. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 4, it is characterised in that：Described 3rd Selecting switch, it is either synchronously or asynchronously selecting switch, its for drive before described operation bench or after drive the NFU patterns of operation bench and provide together Step or asynchronous manipulation selection.

6. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 5, it is characterised in that：The position Reference sensor system module also includes a set of laser total station, a set of ultra short baseline locating system and a set of gravity block position ginseng Test system, the laser total station, ultra short baseline locating system and gravity block position reference system are connected by controlling bus respectively Connect the control system module.

7. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 6, it is characterised in that：It is described ultrashort Baseline alignment system, it includes aquatic work station, water surface transmitting receives what sound unit, water surface transducer unit and latent device carried Acoustic responder, the aquatic work station are arranged on scientific investigation ship navigation deck, and water surface transmitting receives sound unit and is arranged on master Underdeck lifter side, the water surface transducer unit is arranged on the lifter bottom under main deck, and can drop to section Ship hull bottom is examined, the aquatic work station connects the water surface transmitting by optical fiber and receives sound unit, by the access of six class netting twines The LAN of scientific investigation ship；The gravity block position reference system, it includes gravity block side tension cords basic machine and gravity block lifting Device control cabinet, the gravity block side tension cords basic machine are arranged on boat deck, the gravity block boom hoisting control cabinet peace In the consultation room in ship storehouse, the gravity block side tension cords basic machine includes signal and power supply wiring case, the signal and electricity Source junction box is connected to the 3rd dynamic positioning operation bench in consultation room.

8. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 6, it is characterised in that：

The ship appearance sensing system module, it includes：Four sets of vertical reference sensor systems, the vertical reference sensor system Installed in the position of centre of gravity of scientific investigation ship, and control system module is connected and to the control system module by transfer bus respectively Transmit rolling, the pitching real-time change information of scientific investigation ship；

The gyro compass system module, it includes two sets of gyro compasses and a unjacketed optical fiber compass, and two sets of gyro compasses and a set of light Fine compass respectively by transfer bus connect control system module and to the control system module transmit scientific investigation ship's head and Bow is also connected to information, the optical fiber compass with SeaPATH GPS location navigation terminals so that the bow of optical fiber compass to information with The bow of SeaPATH GPS location navigation terminals compensates each other to information；

The wind speed wind direction sensor system module, it includes three sets of wind speed and direction instrument systems, and three sets of wind speed and direction instrument systems Control system module is connected by transfer bus respectively and transmits wind speed of the scientific investigation ship by external environment to the control system module And the information that wind direction influences.

9. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 6, it is characterised in that：The power And power system modules include：

Generator and prime mover group, it include a 250KW noise-reduced diesel generator, two 1650KW axle generators, three 605KW diesel-driven generators；

Panel, it includes a set of auxiliary panel and a set of emergency switchboard；

Back-up source, it shares three sets, and three sets of back-up sources are powered by auxiliary panel and emergency switchboard respectively；

Power management system, it connects the Dynamic Positioning Control System mechanism and the first dynamic positioning described in management and control by transfer bus The working power of operation bench, the second dynamic positioning operation bench and the 3rd dynamic positioning operation bench.

10. the scientific investigation ship power positioning system structure of bathyscaph is supported as claimed in claim 6, it is characterised in that：It is described to push away Enter device system module, it includes two sets of bow sideways-acting propellers, two sets of stern sideways-acting propellers, two sets of main thrusters, propellers Control device and hand propeller controller, the bow sideways-acting propeller are arranged on scientific investigation ship bow part both sides, the stern side Scientific investigation ship stern both sides are arranged on to propeller, the main thruster is arranged on the port and starboard of scientific investigation ship stern, described to push away Enter device control device and the control system module is connected by transfer bus with hand propeller controller.