RU2651932C2 - Method for dynamic positioning for underwater works - Google Patents

Abstract

FIELD: shipbuilding.

SUBSTANCE: invention relates to the field of shipbuilding and concerns the performance of underwater works using underwater equipment, designed for the search and diagnosis of underwater objects, as well as for installation works. Proposed is a method for dynamic positioning for underwater works, using a carrier vessel, which is equipped with a vertically stabilized turntable with a telescopic horizontal mast, on which a multi-link lever hoist is attached, providing descent and lifting of the suspension with technological equipment, while the drives of the above elements of the stabilization and positioning systems are programmed with the GLONASS system, a block of accelerometers on the turntable and a depth sensor on the suspension, intended for fastening technological equipment.

EFFECT: technical result consists in increasing the accuracy of the positioning of underwater equipment at low speeds and shallow depths with high payloads.

1 cl, 1 dwg

Description

The invention relates to methods for positioning any underwater equipment intended for the search and diagnosis of underwater objects, as well as for installation work.

A known method of positioning underwater equipment relative to the carrier vessel [1] (RF patent No. 2566564). It involves the use of a shielded cable-cable, on which shielded accelerometer blocks are installed at equal distances and the availability of software that processes real-time information from the accelerometer blocks about their position in space, converting it into a real trajectory of the cable-cable in 3D format and determining the actual position of the underwater equipment relative to the carrier ship.

The disadvantage of this method is the low carrying capacity of the positioned technological equipment, since it is placed on a remote-controlled underwater vehicle.

The closest in technical essence and the result obtained is a method for the dynamic positioning of ships, controlling a ship to maintain its position or course through ship propulsion and thrusters [2] (https://ru.m.wikipedia.org).

The main elements of the known method:

- power supply system;

- system of ship propulsion;

- dynamic positioning control system.

The disadvantage of the above method is the high energy consumption due to the need to position the vessel, which has a large mass and inertia. In addition, for some types of work it is necessary to additionally have a stabilization system that eliminates the influence of pitching on the work.

The aim of the invention is to provide a dynamic positioning method for underwater operations, implemented on a carrier vessel that was not originally equipped with such a system. The proposed method will allow you to use any necessary set of equipment that can be mounted on a stable, 3-coordinate system (X, Y, Z), a rigid suspension.

The specified goal is achieved through the use of:

- a stabilized swivel rack with a telescopic horizontal mast, on which a multi-link lever hoist is mounted, which provides for the suspension lifting and lifting with technological equipment;

- drives of the above elements of stabilization and positioning systems, providing specified movement;

- software that controls the drive system and provides a constant suspension distance relative to a specific point of the object being examined, due to the constant processing of information from the GLONASS global satellite navigation system, the depth sensor on the suspension and the unit of the accelerometers of the rotary rack stabilization system.

The essence of the present invention lies in the fact that the claimed method of dynamic positioning for underwater operations, which includes a carrier ship, according to the invention, offers its retrofitting a vertically stabilized rotary column with a telescopic horizontal mast, on which a multi-link lever hoist is mounted, providing a descent suspension lifting with technological equipment, while the drives of the above elements of stabilization and positioning systems are programmatically connected with GLONASS system, a block of accelerometers on a rotary rack and a depth sensor on a suspension, designed to attach technological equipment, the positioning of which relative to a given point will ensure the implementation of the proposed method.

The drawing shows a dynamic positioning method for underwater operations, where:

1 - carrier ship;

2 - rotary rack;

3 - drive;

4 - ball bearing;

5 - drive;

6 - block accelerometers;

7 - telescopic horizontal mast;

8 - drive;

9 - GLONASS block;

10 - multi-link lever lift;

11 - drive;

12 - suspension;

13 - depth sensor;

14 - technological equipment;

15 - rotary table;

16 - control system.

The method is implemented as follows.

On the carrier ship 1, a stabilized rotary stand 2 with a drive 3 is installed, which ensures its rotation around a vertical axis, which relies on its base on three ball bearings 4, two of which are equipped with drives 5, pivotally mounted on the ship's hull. This three-support scheme allows, according to the signal from the accelerometer unit 6, during pitching, to stabilize the rotary column 2, on which the telescopic horizontal mast 7 is mounted, the extension of which is provided by the drive 8. The GLONASS 9 unit is installed on the telescopic horizontal mast 7, its position corresponds to the placement of the multi-link lever elevator 10, the extension of which is provided by the actuator 11. A suspension 12 is mounted on the lower part of the multi-link lever elevator 10 with a depth sensor 13 mounted on it. Suspension 12 is used for mounting on it technological equipment 14, which is necessary for visual inspection, diagnostic examination, or for installation work. Suspension 12, it is advisable to equip the rotary table 15 with a drive that provides its rotation by a predetermined amount.

The control system software 16, constantly processing incoming information from the GLONASS global satellite navigation system, the suspension depth sensor and the accelerometer block of the rotary rack stabilization system, implements the synchronous operation of drives 3, 5, 6, 11, thereby ensuring the dynamic positioning of technological equipment relative to the point survey. The control system 16 can be performed both by wired and wireless technologies.

This method is implemented at depths of up to 50 m, since in this case the rigidity of the kinematic scheme is provided, which consists of a rotary stand 2, a telescopic horizontal mast 7 and a multi-link arm lift 10, which is a spatial rigid structure. The carrier vessel must be anchored.

The proposed method has the following advantages:

- high carrying capacity, allowing to perform not only diagnostic, but also installation work in conjunction with divers;

- the ability to conduct inspection work in motion at low speeds and shallow depths.

Information sources

1. RF patent No. 2566564.

2. https://ru.m.wikipedia.org

Claims (1)

A dynamic positioning method for carrying out underwater operations, which includes a carrier ship, characterized in that it is equipped with a vertically stabilized swinging arm with a telescopic horizontal mast, on which a multi-link lever hoist is mounted, which enables the suspension to be hoisted with technological equipment, drives of the above elements of stabilization and positioning systems are programmatically connected to the GLONASS system, an accelerometer unit on a rotary rack, and depth sensor on the suspension, designed for mounting technological equipment.

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