CN113233355B - 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
- Publication number
- CN113233355B CN113233355B CN202110408192.XA CN202110408192A CN113233355B CN 113233355 B CN113233355 B CN 113233355B CN 202110408192 A CN202110408192 A CN 202110408192A CN 113233355 B CN113233355 B CN 113233355B
- Authority
- CN
- China
- Prior art keywords
- auv
- recovery
- rope
- control unit
- cabin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011084 recovery Methods 0.000 title claims abstract description 108
- 230000009471 action Effects 0.000 claims abstract description 22
- 238000004804 winding Methods 0.000 claims description 16
- 238000004064 recycling Methods 0.000 claims description 11
- 230000002349 favourable effect Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 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
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- 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 arranged on a marine crane, which specifically comprises the following components: the system comprises a central control unit, a marine crane hydraulic unit and a rope-driven AUV recovery device; the central control unit regulates and controls the lifting actions of the main arm and the folding arm of the marine crane in real time through the amplitude varying loop, and regulates and controls the telescopic actions of the telescopic arm of the marine crane in real time through the telescopic loop. The system adopts a wireless remote control mode to control the movement of the retractable rope positioning module, the AUV is oriented and positioned by the radar sensor to determine the lifting of the four-direction roller shutter door, two schemes of AUV positioning and orientation can be adopted, the AUV is efficiently recovered by coarse adjustment of a crane and fine adjustment of the retractable rope positioning module, and even if the AUV swings due to the action of wind and wave force in the recovery process, the AUV recovery cabin can be always kept in a balanced state by the retractable rope cooperation of four winches in the retractable rope 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 arranged on a marine crane.
Background
With the sudden rapid progress of computer technology, artificial intelligence technology, micro positioning equipment, command and control hardware and logic and software technology, AUV has been developed rapidly, and AUV gets rid of the stumbling of traditional mooring lines, and can be applied to various fields of ocean engineering. Since various sensors are provided on the AUV, the general recycling method is extremely easy to damage. Secondly, the AUV recovery is mainly carried out manually in order to prevent the AUV from being damaged due to collision due to the influences of positioning precision, complex sea conditions and the like, and the general flow is as follows: the AUV automatically cruises or is manually remotely controlled to the sea surface at a safe distance from the mother ship, the mother ship is driven by manpower to approach the AUV after the small ship is put down, then the AUV is connected and locked by a manual hook and the like, and finally the mother ship is hoisted on the ship. The recovery method has extremely low efficiency and cannot meet the recovery requirement of AUV.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a control system of a rope-driven AUV recovery device arranged 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-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 luffing loop, a telescopic loop and a rotary loop; the central control unit regulates and controls the lifting actions of the main arm and the folding arm of the marine crane in real time through the amplitude-variable loop, the central control unit regulates and controls the telescopic action of the telescopic arm of the marine crane in real time through the telescopic loop, and the central control unit regulates and controls the rotation action of the tower body through the rotation loop.
The rope-driven AUV recycling device comprises a winding and unwinding rope positioning module and an AUV recycling cabin, wherein the winding and unwinding rope positioning module comprises a sliding table, a winch, a PLC (programmable logic controller) and a GPS (global positioning system) positioning module; the AUV recycling bin 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 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 the detected data information to the central control unit, and the central control unit analyzes and controls the corresponding crane hydraulic device and rope-driven AUV recovery device to work on the received information; the central control unit controls the position of the winch through a sliding table in the remote control rope winding and unwinding positioning module and is matched with a telescopic arm on the marine crane to move the AUV recycling cabin to a position which is beneficial to recycling from the AUV.
Further, the central control unit remotely controls the opening actions of the four rolling doors in the AUV recovery cabin, when the recovery cabin is lowered to a favorable position for recovery of the AUV, the opening of the rolling doors is remotely controlled through the cooperation of the radar sensor and the camera, and after the AUV is recovered to the bilge, the camera on the cabin top monitors whether the recovery position of the AUV is correct, and the AUV is moved to the recovery position through fine adjustment of the four winches.
Further, the winding and unwinding rope positioning module adopts two schemes to position and recycle the AUV:
the method comprises the steps that a GPS positioning module in a rope-driven AUV recovery device acquires position information of a recovery cabin, position information of the recovery cabin, position information of a ship and position information of an AUV are analyzed, a central control unit obtains position differences among the position information, the position information and the position information of the AUV through calculation and analysis, and the central control unit sends out control signals to enable the position between the AUV and the AUV recovery cabin to reach a position suitable for recovery;
The 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 positions of the AUV and the rope-driven AUV recovery cabin in real time.
Further, the central control unit controls the sliding blocks in the retractable rope 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 positioned at the favorable position for recovering the AUV.
Further, when the AUV recovery cabin is located at the most favorable position for AUV recovery, the central control unit controls the four winches in the rope retraction positioning module and the action of the sliding blocks to cooperate with the work of the hydraulic unit of the marine crane and control 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 cabin bottom of the recovery cabin, the central control unit controls the four winches to conduct fine adjustment to adjust the AUV to a proper position.
By adopting the technical scheme, the control system of the rope-driven AUV recovery device mounted on the marine crane provided by the invention adopts a wireless remote control mode to control the movement of the retractable rope positioning module, the AUV is oriented and positioned by the radar sensor to determine the lifting of the rolling shutter door in four directions, two schemes of AUV positioning and orientation can be adopted, the AUV can be recovered efficiently by coarse adjustment of the crane and fine adjustment of the retractable rope positioning module, and even if the AUV swings due to the action of wind and wave in the recovery process, the AUV recovery cabin can be kept in a balanced state all the time by the retractable rope cooperation of the four winches in the retractable rope positioning module. 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 recovery efficiency of the AUV.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a diagram of the rope-driven AUV recovery device and AUV position judgment logic of the present invention;
Fig. 3 is a cabin roof hook angle feedback system of the rope-driven AUV recovery device of the present invention.
Detailed Description
In order to make the technical scheme and advantages of the present invention more clear, the technical scheme in the embodiment of the present invention is clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention:
The control system of the rope-driven AUV recovery device installed on the marine crane as shown in fig. 1 specifically comprises: 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 luffing loop, a telescopic loop and a rotary loop; the rope-driven AUV recovery device comprises a rope winding and unwinding positioning module and an AUV recovery cabin; the rope winding and unwinding positioning module comprises a sliding table, a winch and a PLC controller; the AUV recycling cabin comprises an angle sensor, a GPS positioning module, a roller shutter door and a power device thereof, a recycling tank, a radar sensor, a camera and a pressure sensor.
The control system of the rope-driven AUV recovery device installed on the marine crane is shown in fig. 1, and is built by taking a main control chip as a main controller, and specifically comprises the following contents:
1) The amplitude variation action of the main arm and the folding arm is realized by controlling the first hydraulic cylinder and the second hydraulic cylinder through the amplitude variation loop.
2) The rotary action of the tower body rotary joint is realized through the rotary loop.
3) And the third hydraulic cylinder is controlled through the telescopic loop, so that the telescopic action of the telescopic arm is realized.
4) The wireless control module is adopted to control the winding and unwinding rope positioning module, so that the movement of the sliding block and the sliding table and winding and unwinding of winch ropes are completed.
5) The GPS positioning module is used for collecting the position information of the AUV recovery cabin, the position difference between the position information of the AUV recovery cabin and the position information of the AUV is obtained through calculation and analysis, and then the central control unit sends out a control signal to enable the position between the AUV recovery cabin and the AUV to reach a position suitable for recovery.
6) The position picture information of the AUV is detected in real time by adopting a radar sensor and a monitoring camera, the detection information is transmitted to a central control unit, and the central control unit is used for judging which direction the rolling door is lifted.
7) The pressure value at the bottom of the recovery tank is detected in real time by adopting a pressure sensor, monitoring information is transmitted to a central control unit, and the central control unit is used for judging which direction the clamp is lifted to fix the AUV.
Further, a position judgment control between the rope-driven AUV recovery device mounted on the marine crane and the AUV is as 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 recovery cabin by adopting a GPS positioning module, obtaining position information of the AUV by adopting the AUV self-carried positioning module, 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 through the cooperation of a retractable rope positioning module and a telescopic arm when the position difference (range difference) between the AUV recovery cabin and the ship is unequal, and stopping the whole system when the position difference between the AUV recovery cabin and the ship 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 of the angle feedback system can be divided into the following steps:
the angle values of four lifting hooks of the recovery cabin in the rope-driven AUV recovery device are preset at the central control system to enable the recovery cabin to be in a balanced state.
The wireless remote control unit of the central control system is used as a controller to control the winch of the rope winding and unwinding positioning module through wireless signals, and the balance of the recovery cabin is realized through the 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 returned by the angle sensor is compared with the value set in advance, the angle change value returned by the angle sensor is large, the winch corresponding to the angle sensor can accelerate the rope winding and unwinding speed, otherwise, the rope winding and unwinding speed is slow, and therefore the recovery cabin can be always kept in a balanced state through the matching of the winding and unwinding ropes of the four winches.
The wireless control of the rope retraction positioning module can complete the real-time adjustment of the position of the recovery cabin, so that the rope-driven AUV recovery device has certain wind wave resistance. Namely, the rope net type AUV recovery device swings under the action of wind and waves in the recovery process, and the feedback system can perform feedback control according to a set angle value so that the recovery cabin always keeps a balanced state.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (1)
1. A control system for a rope-driven AUV recovery apparatus mounted on a marine crane, comprising: 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 luffing loop, a telescopic loop and a rotary loop; the central control unit regulates and controls the lifting actions of the main arm and the folding arm of the marine crane in real time through the amplitude-variable loop, regulates and controls the telescopic action of the telescopic arm of the marine crane in real time through the telescopic loop, and regulates and controls the rotation action of the tower body through the rotary loop;
The rope-driven AUV recycling device comprises a winding and unwinding rope positioning module and an AUV recycling cabin, wherein the winding and unwinding rope positioning module comprises a sliding table, a winch, a PLC (programmable logic controller) and a GPS (global positioning system) positioning module; the AUV recycling bin 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 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 the detected data information to the central control unit, and the central control unit analyzes and controls the corresponding crane hydraulic device and rope-driven AUV recovery device to work on the received information; the central control unit controls the position of the winch through a sliding table in the remote control rope retraction positioning module and moves the AUV recovery cabin to a position which is away from the AUV and is favorable for recovery by matching with a telescopic arm on the marine crane;
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 an advantageous position for recovery of the AUV, the rolling doors are remotely controlled to be opened through the cooperation of the radar sensor and the camera, after the AUV is recovered to the bilge, the camera on 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;
the winding and unwinding rope positioning module adopts two schemes to position and recycle the AUV:
the method comprises the steps that a GPS positioning module in a rope-driven AUV recovery device acquires position information of a recovery cabin, position information of the recovery cabin, position information of a ship and position information of an AUV are analyzed, a central control unit obtains position differences among the position information, the position information and the position information of the AUV through calculation and analysis, and the central control unit sends out control signals to enable the position between the AUV and the AUV recovery cabin to reach a position suitable for recovery;
The position picture information of the AUV and the rope-driven AUV recovery cabin is monitored in real time through a camera and a radar sensor and is transmitted to a central control unit, and the positions of the AUV and the rope-driven AUV recovery cabin are regulated and controlled in real time by the central control unit;
When the position of the AUV is deviated, the central control unit controls the sliding blocks in the retractable rope 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 controls the AUV recovery cabin to be positioned at the favorable position for recovering the AUV;
When the AUV recovery cabin is positioned at the most favorable position for AUV recovery, the central control unit controls the four winches in the rope retraction positioning module and the action of the sliding blocks to cooperate with the work of the hydraulic unit of the marine crane and 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 cabin bottom of the recovery cabin, the central control unit controls the four winches to conduct fine adjustment to adjust the AUV to a proper position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110408192.XA CN113233355B (en) | 2021-04-15 | 2021-04-15 | Control system of rope-driven AUV recovery device mounted on marine crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110408192.XA CN113233355B (en) | 2021-04-15 | 2021-04-15 | Control system of rope-driven AUV recovery device mounted on marine crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113233355A CN113233355A (en) | 2021-08-10 |
| CN113233355B true CN113233355B (en) | 2024-06-07 |
Family
ID=77128221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110408192.XA Active CN113233355B (en) | 2021-04-15 | 2021-04-15 | Control system of rope-driven AUV recovery device mounted on marine crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113233355B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009912A (en) * | 2010-11-12 | 2011-04-13 | 卫华集团有限公司 | Roll reduction container crane and roll reduction mechanism thereof |
| CN104944283A (en) * | 2015-06-17 | 2015-09-30 | 青岛海西重机有限责任公司 | Lifting anti-rolling device for container gantry crane |
| CN205418027U (en) * | 2016-03-17 | 2016-08-03 | 天津海之星海洋科技发展有限公司 | Ship base underwater robot is put in and is retrieved machinery |
| CN107673205A (en) * | 2017-09-30 | 2018-02-09 | 上海建工五建集团有限公司 | The component gravity center posture automatic regulating apparatus and method of prefabricated part hanging |
| CN108147285A (en) * | 2018-01-30 | 2018-06-12 | 上海振华重工电气有限公司 | The deflection angle measurement device and its measuring method of a kind of double lifting bridge cranes |
| CN207550461U (en) * | 2017-11-22 | 2018-06-29 | 国家***第二海洋研究所 | A kind of new A UV accurately lays retracting device |
| CN109131801A (en) * | 2018-10-12 | 2019-01-04 | 上海工业自动化仪表研究院有限公司 | The voluntary recall device and control method of the complete deep unmanned submersible in sea |
| CN109367707A (en) * | 2018-10-26 | 2019-02-22 | 河海大学 | A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable |
| CN208602648U (en) * | 2018-08-14 | 2019-03-15 | 中国科学院沈阳自动化研究所 | The mechanical arm type of underwater robot lays recovery system |
| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| CN111017721A (en) * | 2019-12-19 | 2020-04-17 | 大连海事大学 | Cross four-rope traction hoisting weight-reducing swing-reducing system |
| CN111071927A (en) * | 2020-01-16 | 2020-04-28 | 三一海洋重工有限公司 | Anti-rolling winding device and rubber-tyred container gantry crane |
| CN111572737A (en) * | 2020-05-28 | 2020-08-25 | 大连海事大学 | AUV capturing and guiding method based on acoustic and optical guidance |
| CN111601089A (en) * | 2020-05-28 | 2020-08-28 | 大连海事大学 | AUV recovery platform for monitoring AUV recovery and hoisting process in real time |
| CN112278198A (en) * | 2020-10-29 | 2021-01-29 | 上海交通大学 | Unmanned boat for underwater rescue |
-
2021
- 2021-04-15 CN CN202110408192.XA patent/CN113233355B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009912A (en) * | 2010-11-12 | 2011-04-13 | 卫华集团有限公司 | Roll reduction container crane and roll reduction mechanism thereof |
| CN104944283A (en) * | 2015-06-17 | 2015-09-30 | 青岛海西重机有限责任公司 | Lifting anti-rolling device for container gantry crane |
| CN205418027U (en) * | 2016-03-17 | 2016-08-03 | 天津海之星海洋科技发展有限公司 | Ship base underwater robot is put in and is retrieved machinery |
| CN107673205A (en) * | 2017-09-30 | 2018-02-09 | 上海建工五建集团有限公司 | The component gravity center posture automatic regulating apparatus and method of prefabricated part hanging |
| CN207550461U (en) * | 2017-11-22 | 2018-06-29 | 国家***第二海洋研究所 | A kind of new A UV accurately lays retracting device |
| CN108147285A (en) * | 2018-01-30 | 2018-06-12 | 上海振华重工电气有限公司 | The deflection angle measurement device and its measuring method of a kind of double lifting bridge cranes |
| CN208602648U (en) * | 2018-08-14 | 2019-03-15 | 中国科学院沈阳自动化研究所 | The mechanical arm type of underwater robot lays recovery system |
| CN109131801A (en) * | 2018-10-12 | 2019-01-04 | 上海工业自动化仪表研究院有限公司 | The voluntary recall device and control method of the complete deep unmanned submersible in sea |
| CN109367707A (en) * | 2018-10-26 | 2019-02-22 | 河海大学 | A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable |
| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| CN111017721A (en) * | 2019-12-19 | 2020-04-17 | 大连海事大学 | Cross four-rope traction hoisting weight-reducing swing-reducing system |
| CN111071927A (en) * | 2020-01-16 | 2020-04-28 | 三一海洋重工有限公司 | Anti-rolling winding device and rubber-tyred container gantry crane |
| CN111572737A (en) * | 2020-05-28 | 2020-08-25 | 大连海事大学 | AUV capturing and guiding method based on acoustic and optical guidance |
| CN111601089A (en) * | 2020-05-28 | 2020-08-28 | 大连海事大学 | AUV recovery platform for monitoring AUV recovery and hoisting process in real time |
| CN112278198A (en) * | 2020-10-29 | 2021-01-29 | 上海交通大学 | Unmanned boat for underwater rescue |
Non-Patent Citations (1)
| Title |
|---|
| UUV布放回收技术;曾勇;;水雷战与舰船防护(01);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113233355A (en) | 2021-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10843904B2 (en) | Offshore crane heave compensation control system and method using visual ranging | |
| CN111516806B (en) | Laying and recycling system and method for underwater equipment | |
| CN103979419B (en) | Based on active heave compensation control system and the method for wave Trend judgement | |
| CN107953975B (en) | Marine mechanical arm oscillation stopping mechanism | |
| CN111332411B (en) | Offshore recovery method for underwater robot | |
| CN108622322A (en) | Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation | |
| CN107161882B (en) | A kind of novel Active Compensation loop wheel machine system | |
| CN108862056B (en) | Marine A type portal base of wave compensation | |
| CN116425064B (en) | Active heave compensation and cable arrangement system for electric winch and control method | |
| CN207466910U (en) | Multipurpose based on the big A framves system of boat-carrying only swings device | |
| CN218320448U (en) | Intelligent towed body winding and unwinding system | |
| CN113233355B (en) | Control system of rope-driven AUV recovery device mounted on marine crane | |
| CN106429889B (en) | Automatic retraction device applied to side-scan sonar towfish | |
| CN109052193A (en) | A kind of compensation of undulation A type door frame Special-purpose hanger connector | |
| CN109733538B (en) | Autonomous anchor lifting control method for unmanned ship | |
| CN204385686U (en) | A kind of semi-automatic warping hawser apparatus for wharf | |
| CN115195942B (en) | Unmanned ship winding and unwinding devices with anti-shake function | |
| KR102533392B1 (en) | Apparatus for installing underground well pipe | |
| CN205632915U (en) | Automatic stranded cable heaving pile device | |
| CN113212669A (en) | Overwater operation platform for ROV | |
| CN209024091U (en) | A kind of compensation of undulation A type door frame Special-purpose hanger connector | |
| CN112849341B (en) | Portable folding rope net formula AUV recovery system | |
| CN113800416A (en) | Scientific investigation ship active compensation winch system and use method thereof | |
| CN112875544A (en) | Rope-driven AUV recovery cabin control system mounted on marine crane | |
| CN207347037U (en) | A kind of new Active Compensation loop wheel machine system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |