CN207292352U - A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current - Google Patents
A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current Download PDFInfo
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- CN207292352U CN207292352U CN201721314271.XU CN201721314271U CN207292352U CN 207292352 U CN207292352 U CN 207292352U CN 201721314271 U CN201721314271 U CN 201721314271U CN 207292352 U CN207292352 U CN 207292352U
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- rov
- propeller
- underwater robots
- vertical
- oscillation current
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Abstract
The utility model discloses a kind of quick dynamic positioning systems of the ROV for being adapted to vertical oscillation current, the both ends of ROV underwater robots are mounted on video camera, the both sides of ROV underwater robots are respectively arranged with the starboard propeller and larboard propeller being horizontally mounted, and the both sides of ROV underwater robots are mounted on vertical pusher and sideways-acting propeller, flow sensor is installed in vertical direction on ROV underwater robots, the inside of ROV underwater robots is provided with the fuzzy PD sensor, the fuzzy PD sensor respectively with video camera, vertical pusher, starboard propeller, larboard propeller, flow sensor and sideways-acting propeller electricly connect.The control integrated system that the underwater robot that the utility model optimization is adapted to vertical oscillation current quickly dynamically positions.In the future, both horizontally and vertically collaboration integration is extended to, so as to be controlled applied to automatic attitude orientation of the underwater robot in various complex flowfields, improves the operation stability of ROV.
Description
Technical field
A kind of quick dynamic positioning systems of ROV are the utility model is related to, more particularly to one kind is adapted to vertical oscillation current
The quick dynamic positioning systems of ROV, belong to location systems art field.
Background technology
Dynamic positioning of vessels (dynamic positioning, DP) system is a kind of closed-loop control system, it passes through control
System drive marine propeller acts on external force of environment on ship to offset wind, wave, stream etc., so that ship is maintained at sea level
On certain desired position.DP constantly detects the physical location of ship and the deviation of target location by measuring system, further according to ring
The influence of power overseas calculates the size that ship of sening as an envoy to returns to thrust needed for target location, and then each propeller of full ship is carried out
Thrust is distributed, and each propeller is produced corresponding thrust to overcome the interference of the external force of environment such as wind, wave, stream, is maintained at ship
Certain determines position or is navigated by water along certain preset flight path.
With reference to the basic principle of fuzzy control, deep-controlled the fuzzy PD controller is designed, is obscured using in MATLAB
Control editing machine establishes simulation model, and has carried out emulation experiment, obtains simulation curve.It can be seen by the simulation experiment result
Arrive, for underwater robot it is vertical on Depth control, the control method of the fuzzy PD can obtain preferable control effect.
In the case that there are vertical oscillation current in environment under water, the depth of the depthkeeping function foundation of underwater robot itself
Sensor can produce the error in cycle, can so extend the cycle of underwater robot depthkeeping stabilization.After current disappearance is vibrated, water
Holding position for lower robot needs the longer cycle, so as to cause the loss of observation object or detection data to produce mistake.
Utility model content
The technical problems to be solved in the utility model is overcome in the case that vertical oscillation current occurs in environment under water, water
The depth transducer of the depthkeeping function foundation of lower robot itself can produce the error in cycle, can so extend underwater robot and determine
The stable cycle deeply.After current disappearance is vibrated, holding position for underwater robot needs the longer cycle, so as to cause to observe
The defects of loss or detection data of object produce mistake, there is provided a kind of ROV for being adapted to vertical oscillation current is quickly dynamically fixed
Position system.
In order to solve the above-mentioned technical problem, the utility model provides following technical solution：
The utility model provides a kind of quick dynamic positioning systems of the ROV for being adapted to vertical oscillation current, including ROV water
Lower robot, the both ends of the ROV underwater robots are mounted on video camera, and the both sides of the ROV underwater robots are set respectively
The starboard propeller and larboard propeller being horizontally mounted are equipped with, and the both sides of the ROV underwater robots are mounted on vertically pushing away
Into device and sideways-acting propeller, flow sensor is installed in vertical direction on the ROV underwater robots, the ROV is underwater
The inside of robot is provided with the fuzzy PD sensor, the fuzzy PD sensor respectively with the video camera, vertical pusher, the right side
Side of a ship propeller, larboard propeller, flow sensor and sideways-acting propeller electricly connect.
As a kind of optimal technical scheme of the utility model, the inside of the ROV underwater robots is provided with electronics and refers to
Compass.
As a kind of optimal technical scheme of the utility model, the both ends of the ROV underwater robots are mounted on transparent
Protective cover.
As a kind of optimal technical scheme of the utility model, headlamp is installed above the video camera.
As a kind of optimal technical scheme of the utility model, the vertical pusher, starboard propeller, larboard propeller
It is rotating spiral propeller with sideways-acting propeller.
The beneficial effect that the utility model is reached is：The utility model optimization is adapted to the underwater of vertical oscillation current
The control integrated system that robot quickly dynamically positions.In the future, both horizontally and vertically collaboration integration is extended to, so that should
Controlled for automatic attitude orientation of the underwater robot in various complex flowfields, improve the operation stability of ROV.
Brief description of the drawings
Attached drawing is used to provide a further understanding of the present invention, and a part for constitution instruction, with this practicality
New embodiment is used to explain the utility model together, does not form the limitation to the utility model.In the accompanying drawings：
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the side view of the utility model；
Fig. 3 is the module map of the utility model；
Fig. 4 is the schematic diagram of the utility model；
In figure：1st, ROV underwater robots；2nd, headlamp；3rd, video camera；4th, vertical pusher；5th, starboard propeller；6th, it is left
Side of a ship propeller；7th, transparent shield；8th, flow sensor；9th, sideways-acting propeller；10th, the fuzzy PD controller；11st, electronic guide
Pin.
Embodiment
The preferred embodiment of the utility model is illustrated below in conjunction with attached drawing, it will be appreciated that described herein excellent
Select embodiment to be only used for describing and explaining the present invention, be not used to limit the utility model.
Embodiment 1
As shown in Figs 1-4, the utility model provides a kind of ROV for being adapted to vertical oscillation current and quickly dynamically positions system
System, including ROV underwater robots 1, the both ends of ROV underwater robots 1 are mounted on video camera 3, and the two of ROV underwater robots 1
Side is respectively arranged with the starboard propeller 5 and larboard propeller 6 being horizontally mounted, and the both sides of ROV underwater robots 1 are mounted on
Vertical pusher 4 and sideways-acting propeller 9, are provided with flow sensor 8, ROV water on ROV underwater robots 1 in vertical direction
The inside of lower robot 1 is provided with the fuzzy PD sensor 10, the fuzzy PD sensor 10 respectively with video camera 3, vertical pusher 4,
Starboard propeller 5, larboard propeller 6, flow sensor 8 and sideways-acting propeller 9 electricly connect.
The inside of ROV underwater robots 1 is provided with digital compass 11, can be that underwater robot navigates, prevent it
Get lost.The both ends of ROV underwater robots 1 are mounted on transparent shield 7, and video camera can be protected.Video camera 3
Top is provided with headlamp 2, and the visual field of shooting can be provided for camera.Vertical pusher 4, starboard propeller 5, larboard promote
Device 6 and sideways-acting propeller 9 are rotating spiral propeller, propeller is provided Bidirectional power as needed.
Concrete operating principle：The quick dynamic of one kind that the utility model is developed with reference to the dynamic positioning system of ship positions
System, is that it combines existing ROV underwater robots in order to keep the technology of underwater robot dynamic stability in vertical direction
The flow sensor 8 of 1 depthkeeping function and the vertical direction installed additional, utilizes the depth transducer carried and the flow-velocity sensing of installation additional
The data of device 8 are as reflexive feedback signal, and by the control system algorithm optimized in the fuzzy PD controller 10, automatic utilize vertically pushes away
Rotating and starboard propeller 5, larboard propeller 6, sideways-acting propeller 9 into device 4 control ROV underwater robots 1 vertical
Quick dynamic in current is vibrated to position.
The beneficial effect that the utility model is reached is：The utility model optimization is adapted to the underwater of vertical oscillation current
The control integrated system that robot quickly dynamically positions.In the future, both horizontally and vertically collaboration integration is extended to, so that should
Controlled for automatic attitude orientation of the underwater robot in various complex flowfields, improve the operation stability of ROV.
Finally it should be noted that：The above descriptions are merely preferred embodiments of the present invention, is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it can still modify the technical solution described in foregoing embodiments, or to which part technical characteristic
Carry out equivalent substitution.Where within the spirit and principles of the present invention, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current, including ROV underwater robots (1), its feature
It is, the both ends of the ROV underwater robots (1) are mounted on video camera (3), the both sides point of the ROV underwater robots (1)
The starboard propeller (5) and larboard propeller (6) being horizontally mounted are not provided with, and the both sides of the ROV underwater robots (1) are equal
Vertical pusher (4) and sideways-acting propeller (9) are installed, stream is installed in vertical direction on the ROV underwater robots (1)
Fast sensor (8), the inside of the ROV underwater robots (1) are provided with the fuzzy PD sensor (10), the fuzzy PD sensor
(10) respectively with the video camera (3), vertical pusher (4), starboard propeller (5), larboard propeller (6), flow sensor
(8) electricly connected with sideways-acting propeller (9).
2. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current according to claim 1, its feature exist
In the inside of the ROV underwater robots (1) is provided with digital compass (11).
3. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current according to claim 1, its feature exist
In the both ends of the ROV underwater robots (1) are mounted on transparent shield (7).
4. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current according to claim 1, its feature exist
In being provided with headlamp (2) above the video camera (3).
5. a kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current according to claim 1, its feature exist
In the vertical pusher (4), starboard propeller (5), larboard propeller (6) and sideways-acting propeller (9) are that rotating is spiral
Propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721314271.XU CN207292352U (en) | 2017-10-12 | 2017-10-12 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721314271.XU CN207292352U (en) | 2017-10-12 | 2017-10-12 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
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| Publication Number | Publication Date |
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| CN207292352U true CN207292352U (en) | 2018-05-01 |
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| CN201721314271.XU Active CN207292352U (en) | 2017-10-12 | 2017-10-12 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107585280A (en) * | 2017-10-12 | 2018-01-16 | 上海遨拓深水装备技术开发有限公司 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
| CN110989638A (en) * | 2019-12-06 | 2020-04-10 | 南京邮电大学 | Underwater building defect detection method based on autonomous navigation technology |
-
2017
- 2017-10-12 CN CN201721314271.XU patent/CN207292352U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107585280A (en) * | 2017-10-12 | 2018-01-16 | 上海遨拓深水装备技术开发有限公司 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
| CN110989638A (en) * | 2019-12-06 | 2020-04-10 | 南京邮电大学 | Underwater building defect detection method based on autonomous navigation technology |
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