CN113233355A - Control system of rope-driven AUV recovery device mounted on marine crane - Google Patents
Control system of rope-driven AUV recovery device mounted on marine crane Download PDFInfo
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- CN113233355A CN113233355A CN202110408192.XA CN202110408192A CN113233355A CN 113233355 A CN113233355 A CN 113233355A CN 202110408192 A CN202110408192 A CN 202110408192A CN 113233355 A CN113233355 A CN 113233355A
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- 238000011084 recovery Methods 0.000 title claims abstract description 113
- 230000009471 action Effects 0.000 claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000002349 favourable effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a control system of a rope-driven AUV recovery device installed on a marine crane, which specifically comprises: the system comprises a central control unit, a marine crane hydraulic unit and a rope drive type AUV recovery device; the central control unit regulates and controls the lifting actions of a main arm and a folding arm of the marine crane in real time through a variable amplitude loop, and the central control unit regulates and controls the telescopic actions of the telescopic arm of the marine crane in real time through a telescopic loop. The system adopts a wireless remote control mode to control the movement of the rope retracting and releasing positioning module, the radar sensor is used for directionally positioning the AUV so as to determine the lifting of the roller shutter door in four directions, two AUV positioning and orienting schemes can be adopted, the high-efficiency recovery of the AUV is realized through the coarse adjustment of the crane and the fine adjustment of the rope retracting and releasing positioning module, and even if the AUV swings under the action of wind and wave force in the recovery process, the AUV recovery cabin can be always kept in a balanced state through the rope retracting and releasing cooperation of four winches in the rope retracting and releasing positioning module.
Description
Technical Field
The invention relates to the technical field of AUV (autonomous underwater vehicle) control recovery, in particular to a control system of a rope-driven AUV recovery device installed on a marine crane.
Background
With the rapid advance of computer technology, artificial intelligence technology, micro positioning equipment, command and control hardware and logic and software technology, the AUV is developed rapidly, gets rid of the tradition mooring rope, and can be applied to various fields of ocean engineering. Due to the various sensors on the AUV, it is extremely vulnerable to damage by common recycling methods. Secondly receive influence such as positioning accuracy and complicated sea state, for preventing AUV because of the collision damage, current AUV retrieves and mainly adopts artifical manual mode, and general flow is: the AUV automatically cruises or is manually remotely controlled to a sea surface which is at a safe distance from the mother ship, the mother ship is driven by manpower to be close to the AUV after putting down the boat, then the AUV is connected and locked in a mode of manual hooks and the like, and finally the mother ship is hoisted to the ship. The recovery method has extremely low efficiency and cannot meet the recovery requirement of AUV.
Disclosure of Invention
According to the problems in the prior art, the invention discloses a control system of a rope-driven AUV recovery device installed on a marine crane, which comprises the following specific schemes: the system comprises a central control unit, a marine crane hydraulic unit and a rope drive type AUV recovery device;
the central control unit comprises a main control chip, a power supply unit, a wireless remote control unit and an element control unit;
the marine crane hydraulic unit comprises a variable amplitude loop, a telescopic loop and a rotary loop; the central control unit regulates and controls lifting actions of a main arm and a folding arm of the marine crane in real time through a variable amplitude loop, the central control unit regulates and controls stretching actions of the stretching arm of the marine crane in real time through a stretching loop, and the central control unit regulates and controls rotation actions of the tower body through controlling a rotation loop.
The rope-driven AUV recovery device comprises a rope retracting and releasing positioning module and an AUV recovery cabin, wherein the rope retracting and releasing positioning module comprises a sliding table, a winch, a PLC (programmable logic controller) and a GPS (global positioning system) positioning module; the AUV recovery cabin comprises an angle sensor, a pressure sensor, a radar sensor and a camera; the angle sensor is used for detecting angle information of the top of the recovery cabin and a lifting hook used for hanging the AUV, the pressure sensor is used for detecting real-time pressure information of a recovery tank at the bottom of the recovery cabin, the radar sensor is used for detecting specific position information of the AUV and the roller shutter door, and the camera is used for detecting picture information of the running state of the AUV; the AUV recovery cabin transmits detected data information to the central control unit, and the central control unit analyzes the received information to control the work of the corresponding crane hydraulic device and the rope-driven AUV recovery device; the central control unit controls the position of the winch through a sliding table in the remote control rope reeling and unreeling positioning module and moves the AUV recovery cabin to a position which is beneficial to recovery from the AUV by matching with a telescopic arm on the marine crane.
Furthermore, the central control unit remotely controls the opening actions of four rolling doors in the AUV recovery cabin, when the recovery cabin is lowered to a position which is far away from the AUV recovery, the rolling doors are remotely controlled to be opened through the cooperation of the radar sensor and the camera, when the AUV is recovered to the cabin bottom, the camera at the cabin top monitors whether the recovery position of the AUV is correct, and then the AUV is moved to the recovery position through fine adjustment of four winches.
Furthermore, the positioning module for retracting and releasing the rope adopts two schemes to position and recover the AUV:
the method comprises the steps that position information of a recovery cabin, position information of a ship and position information of an AUV (autonomous underwater vehicle) acquired by a GPS (global positioning system) positioning module in a rope-driven AUV recovery device are acquired and analyzed, the central control unit obtains position difference among the position information, the position information of the ship and the position information of the AUV through calculation and analysis, and the central control unit sends a control signal to enable the position between the AUV and the AUV recovery cabin to reach a proper recovery position;
position picture information of the AUV and the rope-driven AUV recovery cabin is monitored in real time through the camera and the radar sensor and is transmitted to the central control unit, and the central control unit regulates and controls the position of the AUV and the rope-driven AUV recovery cabin in real time.
Furthermore, the central control unit controls the sliding block in the rope retracting and releasing positioning module to move, and controls the telescopic action of the telescopic arm of the marine crane through the hydraulic unit of the marine crane, so that the rope-driven AUV recovery device is finely adjusted, and the AUV recovery cabin is controlled to be located at the favorable position for recovering the AUV.
Furthermore, when the AUV recovery cabin is located at the most favorable position for AUV recovery, the central control unit controls the four winches and the slide block in the rope retracting and releasing positioning module to work in cooperation with the marine crane hydraulic unit and controls the telescopic action of the telescopic arm of the marine crane to enable the AUV recovery cabin to retract the AUV into the recovery cabin, and when the AUV recovery position deviates from the recovery groove at the bottom of the recovery cabin, the central control unit controls the four winches to perform fine adjustment so as to adjust the AUV to a proper position.
Due to the adoption of the technical scheme, the control system of the rope-driven AUV recovery device installed on the marine crane, provided by the invention, adopts a wireless remote control mode to control the movement of the rope retracting and releasing positioning module, and directionally positions the AUV through the radar sensor so as to determine the lifting of the roller shutter door in four directions. The invention adopts the central control system to control the work of the hydraulic system of the marine crane, and the rope-driven AUV recovery device system can complete the recovery work of the AUV, so the control system has the technical effects of convenient installation, simple operation and effective improvement of the AUV recovery efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the architecture of the system of the present invention;
FIG. 2 is a logic diagram of the rope-driven AUV recovery device and AUV position determination according to the present invention;
fig. 3 is a cabin top hook angle feedback system of the rope-driven AUV recovery device of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
as shown in fig. 1, the control system of a rope-driven AUV recovery device installed on a marine crane specifically includes: the system comprises a central control unit, a marine crane hydraulic unit and a rope-driven AUV recovery device. The central control unit comprises a main control chip, a power supply unit, a wireless remote control unit and an element control unit; the marine crane hydraulic unit comprises a variable amplitude loop, a telescopic loop and a rotary loop; the rope-driven AUV recovery device comprises a rope retracting and releasing positioning module and an AUV recovery cabin; the rope retracting and releasing positioning module comprises a sliding table, a winch and a PLC controller; the AUV recovery cabin comprises an angle sensor, a GPS positioning module, a rolling door and a power device thereof, a recovery tank, a radar sensor, a camera and a pressure sensor.
The utility model provides a rope drives formula AUV recovery unit control system who installs on marine crane constitutes as shown in figure 1 to main control chip builds control system as main control unit, specifically includes following content:
1) the first hydraulic cylinder and the second hydraulic cylinder are controlled through the amplitude-variable loop, so that amplitude-variable actions of the main arm and the folding arm are realized.
2) The rotation action of the tower body rotary joint is realized through the rotation loop.
3) And the third hydraulic cylinder is controlled by a telescopic loop to realize the telescopic action of the telescopic arm.
4) The wireless control module is adopted to realize the control of the rope retracting and releasing positioning module, and the movement of the sliding block and the sliding table and the retracting and releasing of the winch cable are completed.
5) The position information of the AUV recovery cabin is collected by adopting a GPS positioning module, the position difference between the AUV recovery cabin and the ship is obtained by calculation and analysis of the position information of the ship and the position information of the AUV, and then a central control unit sends a control signal to enable the position between the AUV recovery cabin and the AUV to reach a position suitable for recovery.
6) Adopt radar sensor and surveillance camera head real-time detection AUV's position picture information, will detect information transmission and give central control unit, judge the rolling slats door of which direction through central controller and rise.
7) Adopt pressure sensor real-time detection to retrieve the pressure value of tank bottom portion, transmit monitoring information for central control unit, judge through central controller which direction's anchor clamps rise with AUV fixed.
Further, a position judgment control between the rope drive type AUV recovery device installed on the marine crane and the AUV is shown in fig. 2:
the method comprises the steps of obtaining position information of a ship by adopting a positioning module carried by the ship, obtaining position information of an AUV (autonomous Underwater vehicle) recovery cabin by adopting a GPS (global positioning system) positioning module, obtaining position information of the AUV by adopting the positioning module carried by the AUV, obtaining position difference between the AUV recovery cabin and the ship and position difference between the AUV and the ship, comparing the position difference between the AUV recovery cabin and the ship, adjusting the position of the AUV recovery cabin by matching a retractable rope positioning module and a telescopic arm when the position difference (range difference) between the AUV recovery cabin and the ship is not equal, and stopping the whole system when the position difference between the AUV recovery cabin and the telescopic arm is equal.
The angle feedback system of the recovery cabin of the rope-driven AUV recovery device is shown in figure 3, and the steps can be divided into the following steps:
the angle values of four lifting hooks of a recovery cabin in the rope-driven AUV recovery device are preset at a central control system, so that the recovery cabin is in a balanced state.
The central control system can be used for controlling the winch of the rope winding and unwinding positioning module by taking the wireless remote control unit of the central control system as a controller through wireless signals, and the balance of the recovery cabin is realized through rope winding and unwinding control of the four winches. Even if the recovery cabin swings due to wind waves in the recovery process, the value transmitted back by the angle sensor is compared with the value set in advance, the angle change value transmitted back by the angle sensor is large, the rope receiving and releasing speed can be accelerated by the winch corresponding to the angle change value, otherwise, the rope receiving and releasing speed is slowed, and the recovery cabin can be always kept in a balanced state through the matching of the four winches for the rope receiving and releasing.
The rope winding and unwinding positioning module is controlled wirelessly to complete real-time adjustment of the position of the recovery cabin, so that the rope-driven AUV recovery device has certain capacity of resisting wind waves. Namely, the rope-net type AUV recovery device swings under the action of wind waves in the recovery process, and the feedback system can perform feedback control according to the set angle value to enable the recovery cabin to be always in a balanced state.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. A control system for a rope-driven AUV recovery device mounted on a marine crane, comprising: the system comprises a central control unit, a marine crane hydraulic unit and a rope drive type AUV recovery device;
the central control unit comprises a main control chip, a power supply unit, a wireless remote control unit and an element control unit;
the marine crane hydraulic unit comprises a variable amplitude loop, a telescopic loop and a rotary loop; the central control unit regulates and controls the lifting actions of a main arm and a folding arm of the marine crane in real time through a variable amplitude loop, the central control unit regulates and controls the telescopic action of the telescopic arm of the marine crane in real time through a telescopic loop, and the central control unit regulates and controls the rotation action of the tower body through controlling a rotation loop;
the rope-driven AUV recovery device comprises a rope retracting and releasing positioning module and an AUV recovery cabin, wherein the rope retracting and releasing positioning module comprises a sliding table, a winch, a PLC (programmable logic controller) and a GPS (global positioning system) positioning module; the AUV recovery cabin comprises an angle sensor, a pressure sensor, a radar sensor and a camera; the angle sensor is used for detecting angle information of the top of the recovery cabin and a lifting hook used for hanging the AUV, the pressure sensor is used for detecting real-time pressure information of a recovery tank at the bottom of the recovery cabin, the radar sensor is used for detecting specific position information of the AUV and the roller shutter door, and the camera is used for detecting picture information of the running state of the AUV; the AUV recovery cabin transmits detected data information to the central control unit, and the central control unit analyzes the received information to control the work of the corresponding crane hydraulic device and the rope-driven AUV recovery device; the central control unit controls the position of the winch through a sliding table in the remote control rope reeling and unreeling positioning module and moves the AUV recovery cabin to a position which is beneficial to recovery from the AUV by matching with a telescopic arm on the marine crane.
2. The control system of claim 1, wherein: the central control unit remotely controls the opening actions of four rolling doors in the AUV recovery cabin, when the recovery cabin is placed to a favorable position away from the AUV recovery, the rolling doors are remotely controlled to be opened through the cooperation of the radar sensor and the camera, when the AUV is recovered to the cabin bottom, the camera at the cabin top monitors whether the recovery position of the AUV is correct, and then the AUV is moved to the recovery position through fine adjustment of four winches.
3. The control system of claim 1, wherein: the rope winding and unwinding positioning module adopts two schemes to position and recover the AUV:
the method comprises the steps that position information of a recovery cabin, position information of a ship and position information of an AUV (autonomous underwater vehicle) acquired by a GPS (global positioning system) positioning module in a rope-driven AUV recovery device are acquired and analyzed, the central control unit obtains position difference among the position information, the position information of the ship and the position information of the AUV through calculation and analysis, and the central control unit sends a control signal to enable the position between the AUV and the AUV recovery cabin to reach a proper recovery position;
position picture information of the AUV and the rope-driven AUV recovery cabin is monitored in real time through the camera and the radar sensor and is transmitted to the central control unit, and the central control unit regulates and controls the position of the AUV and the rope-driven AUV recovery cabin in real time.
4. The control system of claim 1, wherein: when the position of the AUV deviates, the central control unit controls the sliding block in the rope retracting and releasing positioning module to move, controls the telescopic action of the telescopic arm of the marine crane through the hydraulic unit of the marine crane, thereby finely adjusting the rope-driven AUV recovery device and controlling the AUV recovery cabin to be located at the favorable position for recovering the AUV.
5. The control system of claim 1, wherein: when the AUV recovery cabin is located at the most favorable position for AUV recovery, the central control unit controls the four winches and the slide block in the rope retracting and releasing positioning module to work in cooperation with the marine crane hydraulic unit and controls the telescopic action of the telescopic arm of the marine crane to enable the AUV recovery cabin to retract the AUV into the recovery cabin, and when the AUV recovery position deviates from the recovery groove at the bottom of the recovery cabin, the central control unit controls the four winches to perform fine adjustment so as to adjust the AUV to a proper position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110408192.XA CN113233355B (en) | 2021-04-15 | 2021-04-15 | Control system of rope-driven AUV recovery device mounted on marine crane |
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| CN202110408192.XA CN113233355B (en) | 2021-04-15 | 2021-04-15 | Control system of rope-driven AUV recovery device mounted on marine crane |
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