CN115981190A - ROV (remote operated vehicle) distribution and recovery device remote control method and system based on unmanned ship - Google Patents
ROV (remote operated vehicle) distribution and recovery device remote control method and system based on unmanned ship Download PDFInfo
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- CN115981190A CN115981190A CN202211500413.7A CN202211500413A CN115981190A CN 115981190 A CN115981190 A CN 115981190A CN 202211500413 A CN202211500413 A CN 202211500413A CN 115981190 A CN115981190 A CN 115981190A
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Abstract
The invention discloses a remote control method for an ROV (remote operated vehicle) deployment and recovery device based on an unmanned ship, which comprises the following steps: acquiring an ROV (remote operated vehicle) deployment and recovery instruction of a remote control end through a wireless private network; and controlling the cooperative operation of the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism based on the ROV deployment and recovery instruction so as to realize the deployment and recovery of the ROV on the unmanned ship. The method overcomes the defect that the ROV deployment and recovery device in the prior art requires that a detection ship must be attended by personnel by remotely controlling the ROV deployment and recovery device arranged on the unmanned ship, expands the application range of the ROV deployment and recovery device, can be applied to more dangerous and worse water area environments, and ensures the safety of operating personnel.
Description
Technical Field
The invention relates to the technical field of unmanned equipment, in particular to a remote control method and a remote control system for an ROV (remote operated vehicle) arrangement and recovery device based on an unmanned ship.
Background
Various hydraulic buildings such as bridges, dams, artificial islands and the like have complicated and various underwater structure forms, higher turbidity in a near water area and more urgent water flow, so that the underwater detection difficulty is high. However, the conventional underwater diver detection mode has low efficiency and high operation risk under the turbulent flow condition, and cannot meet the requirements of high efficiency and high precision of detection in a high-speed turbulent flow water area. The underwater robot can accurately detect the appearance of underwater structure parts of various hydraulic buildings such as bridges, dams, artificial islands and the like under the condition of high-speed turbulence. In order to complete deployment and recovery of the underwater robot, a Remote control method or system for an ROV (Remote Operated Vehicle, which is an underwater robot for underwater observation, inspection and construction) deployment and recovery device is required.
However, the main flow of the conventional ROV deployment and recovery method is that an operator drives a ship to load an underwater robot to a detection area, then the ROV is deployed underwater through a deployment and recovery device to perform operation, the ROV is pulled out of the water surface after the ROV operation is finished, and then the detection data acquired in the ROV is downloaded and analyzed. The protection degree of the umbilical cable in the conventional ROV laying and recovering process is low, and the umbilical cable is easy to rub or damage in the operation process. In the conventional deployment and recovery process of an ROV, when the ROV is operated underwater, the cable is generally laid in a long enough portion under the water, so that the cable is easily wound together, and the redundant cable is easily caught by an underwater reef or wound into a propeller of the ROV to cause damage to the cable or even damage to the ROV.
Disclosure of Invention
The invention provides an ROV deployment and recovery device remote control method and system based on an unmanned ship, aiming at overcoming the defect that the ROV deployment and recovery device in the prior art requires that a detection ship must be attended by personnel, expanding the application range of the ROV deployment and recovery device, enabling the ROV deployment and recovery device to be applied to more dangerous and severe water environments and further ensuring the safety of operators.
In order to achieve the above object, in a first aspect, the present invention provides a method for remotely controlling an ROV deployment and recovery device based on an unmanned ship, including:
acquiring an ROV (remote operated vehicle) deployment and recovery instruction of a remote control end through a wireless private network;
controlling the cooperative operation of a storage winch, a cable arrangement mechanism, a cable feeding mechanism and a lifting mechanism based on the ROV deployment and recovery instruction so as to realize the deployment and recovery of the ROV on the unmanned ship;
the ROV laying and recycling device based on the unmanned ship is arranged on the unmanned ship and comprises a storage winch, a cable arrangement mechanism, a cable feeding mechanism and a lifting mechanism; the remote control end is arranged at a position away from the unmanned ship by a preset distance so as to realize remote control of the ROV arrangement and recovery device.
Further, the cable is an optical cable;
the optical cable can simultaneously realize the return of the detection data or the running state data of the ROV in the process of laying, underwater detection or recovery of the ROV.
Further, the storage winch is a storage carrier of the optical cable;
the cable arranging mechanism is arranged on the storage winch, and the auxiliary storage winch is used for orderly winding the optical cables on a drum wheel of the storage winch so as to prevent the optical cables from being damaged by extrusion;
the cable feeding mechanism is used for transiting and conveying the optical cable in the ROV laying or recycling process;
the lifting mechanism provides power for the ROV to be laid and recovered through a high-tension cable.
Further, the cable feeding mechanism gives the opposite-direction torque to the optical cable in the recovery process of the ROV, and the cable feeding mechanism gives the same-direction torque to the optical cable in the laying process of the ROV, so that the optical cable keeps constant tension in the laying or recovery process of the ROV.
Further, the running speed of the ROV and the deployment and recovery speed of the optical cable are matched based on the linear distance between the ROV and the unmanned ship and the water flow speed, so that the tension of the optical cable between the unmanned ship and the ROV is kept in a first preset tension range.
Further, the ROV is subjected to quick locking in the laying and recycling process, so that the tension of the optical cable in the process is kept in a second preset tension range.
Further, the running of the corresponding parts of the ROV deployment and recovery device is controlled to stop or reverse by detecting the occurrence of a preset critical event.
Further, before the obtaining the ROV deployment and recovery instruction of the remote control end through the wireless private network, the method further includes:
and transmitting the working state data of all the parts of the ROV distribution and recovery device to the remote control end so as to eliminate possible faults of all the parts of the ROV distribution and recovery device.
Furthermore, a one-key operation mode is adopted for the ROV laying and recovery, the ROV laying or recovery function is selected by one key, and the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism are controlled to cooperatively operate so as to realize the one-key operation for the ROV laying or recovery.
In order to achieve the above object, in a second aspect, the present invention provides an unmanned ship-based remote control system for an ROV deployment and recovery device, the system including a remote control end, a wireless private network, a storage winch, a cable arrangement mechanism, a cable feeding mechanism, and a lifting mechanism, and being capable of implementing any one of the above remote control methods.
In general, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:
(1) The ROV distribution and recovery device is arranged on the unmanned ship through remote control, the defect that the ROV distribution and recovery device in the prior art requires that a detection ship needs to be attended is overcome, the application range of the ROV distribution and recovery device is expanded, the ROV distribution and recovery device can be applied to a more dangerous and worse water area environment, and the safety of operating personnel is guaranteed.
(2) The optical cable connected with the ROV together with the high-tension cable is arranged, so that the download analysis of the detection data can be performed while the ROV is lowered, detected or pulled back, and the efficiency of acquiring the detection data and detecting and analyzing is improved.
(3) The cable feeding device adopts a torque mode, so that the umbilical cable between the cable feeding device and the drum wheel mechanism always keeps certain tension, the sudden change of the tension of the cable is avoided, and the protection of the umbilical cable is increased.
(4) The invention carries out quick locking and locking on the ROV in the distribution and recovery process, at the moment, the lifting mechanism is used as a main stress mechanism, and the umbilical cable hardly bears tension, thereby increasing the protection on the umbilical cable.
(5) The invention matches the running speed of the ROV with the laying and recovery speed of the optical cable based on the linear distance between the ROV and the unmanned ship and the water flow speed, so that the umbilical cable between the ROV and the unmanned ship is always in a nearly straight state, and the situations that the umbilical cable is easily wound together due to overlong underwater length of the umbilical cable, the umbilical cable is caught by an underwater submerged reef or the umbilical cable is wound on an ROV propeller blade to cause equipment damage and the like are avoided as much as possible.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a remote control method for an ROV deployment and recovery device based on an unmanned ship according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an ROV deployment and recovery device based on an unmanned ship according to an embodiment of the present invention; in fig. 2, 1 is a storage winch, 2 is a cable arrangement mechanism, 3 is a cable feeding mechanism, and 4 is a lifting mechanism;
fig. 3 is a schematic block diagram of an architecture of an ROV deployment and recovery device remote control system based on an unmanned ship according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The terms "first," "second," or "third," etc. in the description, claims, or drawings described above are used for distinguishing between different elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 2 and 3, in one embodiment, an ROV deployment and recovery device remote control system based on an unmanned ship mainly includes components such as a shore-end server and communication equipment, a ship-end server and communication equipment, a switch, a wireless private network, a deployment and recovery device controller, an ROV integrated controller, a monitoring device, a storage winch 1, a cable arrangement mechanism 2, a cable feeding mechanism 3 and a lifting mechanism 4.
Laying recovery unit host computer software and installing at the ship end server, lay the recovery unit controller, ROV integrated control ware and supervisory equipment are connected on the ship end switch, the ship end server passes through wireless private network and bank end server communication, operating personnel can issue operating command at bank end server to the laying recovery unit host computer software on the ship end server, laying recovery unit host computer software analysis bank end control cabinet instruction and control the laying recovery unit controller action and retrieve in order to realize the laying of ROV, it does to lay the recovery unit controller and transmits the running state data of equipment to bank end server through laying recovery unit host computer software real time. The system is based on unmanned ship operation, so that the requirement on a construction ship is reduced, the dependence on professional technicians on the construction ship is reduced, the remote control of the laying and recovering device based on the unmanned ship is realized, and the operation cost is reduced.
Preferably, the ROV performs data interaction with the ROV integrated controller through an umbilical cable (short: optical cable). The optical cable connected with the ROV together with the high-tension cable can download and analyze the detection data when the ROV is lowered, detected or pulled back, so that the efficiency of acquiring the detection data and detecting and analyzing is improved.
The storage winch is a storage carrier of the umbilical cable and can provide certain recovery power for the ROV.
The winding displacement mechanism is installed on the storage winch, assists the storage winch to work, and winds the umbilical cables on a drum wheel of the storage winch in order to prevent the umbilical cables from being extruded mutually to damage the optical cables.
The cable feeding mechanism is used for transiting and conveying the optical cable in the ROV laying or recycling process.
The lifting mechanism is arranged at the stern of the unmanned ship, and the ROV is lowered to the water from the unmanned ship or lifted to the unmanned ship from the water by a metal or alloy cable capable of bearing large tension by adopting an A-shaped frame of a hydraulic device.
The storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism are all arranged on the central line of the unmanned ship.
Monitoring cameras can be installed on the four mechanisms to monitor the running conditions of the mechanisms, and the ship-end server can transmit monitoring data to the shore-end server in real time through the wireless private network.
The storage winch, the cable arrangement mechanism and the cable feeding mechanism can be powered by a servo driving motor, and working parameters of the mechanisms can be remotely controlled by a server at the bank end.
Due to the characteristic of easy damage of the umbilical cable, preferably, the cable feeding device adopts a torque mode, the torque in the opposite direction of the umbilical cable is given to the umbilical cable in the recovery process of the umbilical cable, and the torque in the same direction of the umbilical cable is given to the umbilical cable in the release process, so that the umbilical cable always keeps constant tension in the release and recovery processes, the tension of the umbilical cable is prevented from being suddenly reduced, and the protection of the umbilical cable is increased.
Preferably, a quick lock mechanism is arranged on the lifting mechanism, when the lifting mechanism is in the process of deployment and recovery, the joint at the upper end of the ROV is quickly locked by the lifting mechanism, and the lifting mechanism completes the process of lifting the ROV from the water to the ship and lowering the ROV from the ship to the water, so that the umbilical cable is hardly stressed in the process, or the tension of the umbilical cable in the process is in a proper tension range.
The ROV and the unmanned ship can be provided with a positioning device, position information can be reported to a bank end server during ROV operation, the bank end server calculates the linear distance between the ROV and the unmanned ship according to the position information, the crawling speed of the ROV is matched with the releasing and recovering speed of the distribution and recovery device according to the linear distance and the ocean current speed between the ROV and the unmanned ship, so that the umbilical cable between the ROV and the unmanned ship is always in an approximately straightened state, or the tension of the optical cable is always in a proper range, and the condition that the umbilical cable is easily wound together due to overlong underwater length or is easily wound on rotary blades of an ROV propeller to cause ROV damage is avoided as much as possible.
Preferably, a lifting and descending sensor can be arranged on the lifting mechanism, and the distribution and recovery device controller automatically sends a lifting mechanism stop instruction after detecting a reaching signal.
Preferably, a cable receiving and releasing position sensor can be arranged on the cable sending mechanism, and the cable sending mechanism stop instruction is automatically sent after the cable distributing and releasing recovery device controller detects the in-position signal.
Preferably, left and right in-place sensors are arranged on two sides of the cable arrangement mechanism, and a controller of the laying and recycling device automatically sends a steering instruction after detecting in-place signals, so that the cable arrangement mechanism is reversed.
Preferably, a tension sensor can be installed on the lifting mechanism, and when the tension value is greater than a preset threshold value, the controller of the distribution and recovery device automatically issues a lifting mechanism stop instruction and reports fault information.
Preferably, an angle sensor can be installed on the lifting mechanism, the maximum value and the minimum value of the numerical value of the angle sensor correspond to the ascending and descending position sensor, and when the position sensor is still not in place when the angle sensor reaches the maximum value or the minimum value, the controller of the distribution and recovery device automatically issues a lifting mechanism stop instruction.
Preferably, the controller of the deployment and recovery device, the upper computer software of the deployment and recovery device and the shore-side server adopt a heartbeat mechanism for communication, if the communication interruption equipment is automatically reconnected, if the network cannot be connected, the controller of the deployment and recovery device automatically issues a stop instruction, and the deployment and recovery device stops running.
Preferably, the distribution and recovery functions are operated by one key, and all mechanisms work cooperatively, so that the operation difficulty is reduced, and the automatic high-concentration operation is realized.
The invention has the advantages of good safety, low cost and high efficiency, can remotely control the distribution and recovery capacity, and can meet the operation requirements of various places such as bridges, dams, artificial islands and the like where underwater structures of hydraulic buildings are complex and diverse in form, the turbidity of a near water area is higher, and the water flow is more urgent.
Referring to fig. 1, in another embodiment, a method for remotely controlling an ROV deployment and recovery apparatus based on an unmanned ship mainly includes:
and acquiring an ROV deployment and recovery instruction of the remote control end through a wireless private network.
And controlling the cooperative operation of the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism based on the ROV deployment and recovery instruction so as to realize the deployment and recovery of the ROV on the unmanned ship.
More specifically, the method comprises the following steps:
step 1, a laying and recovery device controller, laying and recovery device upper computer software and shore-end server software perform self-checking, if communication is abnormal, a communication fault is prompted, if communication is normal, the laying and recovery device controller reports collected working state data of a storage winch, a cable arrangement mechanism, a cable feeding mechanism and a lifting mechanism and signals of various sensors to the laying and recovery device upper computer software in real time, and the laying and recovery device upper computer software reports the data to the shore-end server. And if the state of each mechanism is normal, reporting the normal state, and if the mechanism has a fault, reporting the fault type, and continuously executing the task after an operator needs to remove the fault.
And 2, the shore-side server issues an operation instruction to upper computer software of the ship-side laying and recycling device through a wireless private network, the upper computer software is issued to a laying and recycling device controller, and the laying and recycling device controller independently adjusts the states of the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism to enable the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism to have cooperative operation capacity.
And 3, adopting one-key operation for the laying and recycling function, and when the laying or recycling operation is started, cooperatively operating the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism. The stepping speed of the cable arranging mechanism is consistent with the cable arranging speed of the storage winch, and the direction of the cable arranging mechanism is converted when the cable arranging mechanism receives an in-place signal, so that the umbilical cables can be orderly arranged in the storage winch. Preferably, the cable feeding mechanism adopts a torque mode, the cable feeding mechanism gives the optical cable with torque in the opposite direction during the recovery process of the ROV, and the cable feeding mechanism gives the optical cable with torque in the same direction during the deployment process of the ROV, so that certain tension is kept between the storage winch and the cable feeding mechanism. When the arrival sensor reports an arrival signal or the angle of the A frame reaches the minimum value, the controller of the laying and recycling device issues a stop instruction, at the moment, all mechanisms stop working, and laying is finished. Preferably, a quick lock mechanism is provided at the lifting mechanism, and when the lifting mechanism is in the deploying and retrieving process, the joint at the upper end of the ROV is locked by the quick lock mechanism, and the lifting mechanism completes the process of lifting the ROV from the water to the ship and lowering the ROV from the ship to the water, so that the umbilical cable is hardly stressed in the process, or the tension of the umbilical cable in the process is in a proper tension range.
And 4, carrying out an underwater exploration task by the ROV, feeding underwater detection data and self running state data back to a shore-end server by the ROV, and issuing a corresponding speed instruction to the laying and recovery device by the shore-end server according to the crawling state of the ROV, so that the optical cable between the unmanned ship and the ROV keeps a certain tension, and the situations of underwater winding, submerged reef stumbling and the like of the umbilical cable are avoided by monitoring the tension condition of the umbilical cable in real time. The ROV and the unmanned ship can be provided with positioning devices, position information can be reported to a bank end server during ROV operation, the bank end server calculates the linear distance between the ROV and the unmanned ship through the position information, the crawling speed of the ROV is matched with the releasing and recovering speed of the distribution and recovery device according to the linear distance between the ROV and the unmanned ship and the ocean current speed, so that the umbilical cord optical cable between the ROV and the unmanned ship is always in an approximately straight state, or the tension of the optical cable is always in a proper range, and the condition that the umbilical cord optical cable is easily wound together due to overlong underwater length or is easily caught by an underwater submerged reef or is damaged by the ROV due to winding on a rotary blade of an ROV propeller as far as possible is avoided.
And 5, after the ROV surveying task is finished, the ROV crawls underwater to the stern of the unmanned ship by means of self power, and at the moment, the bank-end server sets a recovery speed for the arrangement and recovery device according to the movement state of the ROV, so that the crawling speed of the ROV is matched with the recovery speed of the umbilical cable, and the optical cable between the unmanned ship and the ROV keeps certain tension.
And 6, similarly to the step 3, the bank-end server issues a recovery instruction, and the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism work cooperatively. When the in-place sensor reports an in-place signal or the angle of the A frame reaches the maximum value, the distribution and recovery device controller issues a lifting mechanism stop instruction, at the moment, the lifting mechanism stops working, and the ROV is lifted to the unmanned ship. When the in-place signal reported by the position sensor is received, the laying and recycling device controller issues a storage winch, a cable arrangement mechanism and a cable feeding mechanism stop instruction, and recycling is completed. The operation state data of each mechanism can be fed back to the shore end server through the wireless private network in real time, and the shore end server can check the operation state of each mechanism in real time through the video monitoring picture.
And controlling the running stop or reversing of the corresponding part of the ROV deployment and recovery device by detecting the occurrence of a preset critical event. More specifically, preferably, a lifting/lowering sensor may be mounted on the lifting mechanism, and the controller of the distribution and recovery device automatically issues a lifting mechanism stop instruction after detecting the in-place signal. Preferably, a cable receiving and releasing position sensor can be arranged on the cable sending mechanism, and the cable sending mechanism stop instruction is automatically sent after the cable distributing and releasing recovery device controller detects the in-position signal. Preferably, left and right in-place sensors are arranged on two sides of the cable arrangement mechanism, and the controller of the laying and recovering device automatically sends a steering command after detecting an in-place signal, so that the cable arrangement mechanism is reversed. Preferably, a tension sensor can be installed on the lifting mechanism, and when the tension value is greater than a preset threshold value, the controller of the distribution and recovery device automatically issues a lifting mechanism stop instruction and reports fault information. Preferably, an angle sensor can be installed on the lifting mechanism, the maximum value and the minimum value of the numerical value of the angle sensor correspond to the ascending and descending position sensor, and when the position sensor is still not in place when the angle sensor reaches the maximum value or the minimum value, the controller of the distribution and recovery device automatically issues a lifting mechanism stop instruction.
Preferably, the ROV is deployed and recovered in a one-key operation mode, the ROV deployment or recovery function is selected by one key, and the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism are controlled to cooperatively operate so as to realize the one-key operation on the ROV deployment or recovery. The laying and recovery functions are operated by one key, and all mechanisms work cooperatively, so that the operation difficulty is reduced, and the automatic high-concentration operation is realized.
The above description is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure should not be limited thereby. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A remote control method for an ROV (remote operated vehicle) laying and recycling device based on an unmanned ship is characterized by comprising the following steps:
acquiring an ROV (remote operated vehicle) deployment and recovery instruction of a remote control end through a wireless private network;
controlling the cooperative operation of a storage winch, a cable arrangement mechanism, a cable feeding mechanism and a lifting mechanism based on the ROV deployment and recovery instruction so as to realize the deployment and recovery of the ROV on the unmanned ship;
the ROV laying and recycling device based on the unmanned ship is arranged on the unmanned ship and comprises a storage winch, a cable arrangement mechanism, a cable feeding mechanism and a lifting mechanism; the remote control end is arranged at a position away from the unmanned ship by a preset distance so as to realize remote control of the ROV laying and recovering device.
2. The remote control method of claim 1, wherein the cable is an optical cable;
the optical cable can simultaneously realize the return of the detection data or the running state data of the ROV in the process of laying, underwater detection or recovery of the ROV.
3. The remote control method of claim 2,
the storage winch is a storage carrier of the optical cable;
the cable arranging mechanism is arranged on the storage winch, and the auxiliary storage winch is used for orderly winding the optical cables on a drum wheel of the storage winch so as to prevent the optical cables from being damaged by extrusion;
the cable feeding mechanism is used for transiting and conveying the optical cable in the ROV laying or recycling process;
the lifting mechanism provides power for the ROV to be laid and recovered through a high-tension cable.
4. A remote control method as claimed in claim 3, wherein the cable is given torque in opposite directions by the cable feeding mechanism during the deployment of the ROV, and the cable is given torque in the same direction by the cable feeding mechanism during the deployment of the ROV, so that the cable is kept under constant tension during the deployment or retrieval of the ROV.
5. The remote control method according to claim 3 or 4, wherein the running speed of the ROV and the deployment and retrieval speed of the optical cable are matched based on the linear distance between the ROV and the unmanned ship and the water flow speed so that the tension of the optical cable between the unmanned ship and the ROV is maintained within a first preset tension range.
6. A remote control method as claimed in claim 3 or 4, wherein the ROV is snap-locked during deployment and retrieval to maintain the tension of the cable in the process within a second predetermined tension range.
7. The remote control method according to any one of claims 1 to 4, wherein the operation of the respective components of the ROV deployment and retrieval device is controlled to be stopped or reversed by detecting the occurrence of a predetermined threshold event.
8. The remote control method according to any one of claims 1 to 4, wherein before the obtaining the ROV deployment and recovery command of the remote control end through the wireless private network, the method further comprises:
and transmitting the working state data of all the parts of the ROV distribution and recovery device to the remote control end so as to eliminate possible faults of all the parts of the ROV distribution and recovery device.
9. The remote control method according to any one of claims 1 to 4, wherein a one-key operation mode is adopted for the laying and recovery of the ROV, one key selects the ROV laying or recovery function, and the storage winch, the cable arrangement mechanism, the cable feeding mechanism and the lifting mechanism are controlled to cooperatively operate so as to realize the one-key operation for the laying or recovery of the ROV.
10. A remote control system for an ROV (remote operated vehicle) laying and recycling device based on an unmanned ship is characterized by comprising a remote control end, a wireless private network, a storage winch, a cable arrangement mechanism, a cable feeding mechanism and a lifting mechanism, and the remote control method can be realized according to any one of claims 1-9.
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|---|---|---|---|
| CN202211500413.7A CN115981190A (en) | 2022-11-28 | 2022-11-28 | ROV (remote operated vehicle) distribution and recovery device remote control method and system based on unmanned ship |
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| CN202211500413.7A CN115981190A (en) | 2022-11-28 | 2022-11-28 | ROV (remote operated vehicle) distribution and recovery device remote control method and system based on unmanned ship |
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