Active heave compensation system of underwater robot

Abstract

The invention relates to an active heave compensation system of an underwater robot. A hydraulic winch is fixedly connected to a deck of a mother ship, an armoured cable is wound on a winding drum of the hydraulic winch, the armoured cable is connected with a combination of a relay and the underwater robot through a fixed pulley, a sensor module is fixedly installed on the fixed pulley and sequentially connected with a signal processing module, a control unit, a hydraulic driving system and the hydraulic winch. An existing hydraulic take-up and pay-off winch can be utilized for the active heave compensation system, additional power equipment does not need to be arranged, and the work space for the deck of the mother ship does not need to be enlarged either. Besides, because the rotation range of the hydraulic winch is wide, the compensation range is wide; meanwhile, violent collision between the underwater robot and the relay is avoided in the releasing or retracting process. Compared with a passive compensation mode of a pneumatic-hydraulic energy accumulator, the active heave compensation system of the underwater robot has the advantages that heave compensation efficiency can be effectively improved, and the active heave compensation system is easy to operate, convenient to obtain in the respect of engineering and capable of being applied to high-precision heave compensation under significant sea conditions.

Description

technical field [0001] The invention relates to the marine technology field of deep-sea detection and operation technology, in particular to a compensation system for underwater robot heave. Background technique [0002] When the cabled underwater robot works in deep sea, it is connected to the repeater through the mooring cable, and the repeater is connected to the surface supporting mother ship through a long armored cable. In severe sea conditions, the supporting mother ship will continue to heave with the waves, and the heave motion is then transmitted to the underwater repeater through the armored cable, causing the cabled underwater robot to collide with the repeater during recovery or release. Collision, which requires the use of a suitable heave compensation system. At present, the heave compensation system used by the cable underwater robot is mainly a passive heave compensation system, which uses hydraulic cylinders and gas-hydraulic accumulators to buffer the dis...

AI Technical Summary

Problems solved by technology

This type of heave compensation system does not need to provide additional power and is widely used, but it requires huge equipment, low compensation accuracy, large lag, and limited compensation capability

When the sea conditions are more severe, the passive heave compensation system cannot meet the requirements for the stable retraction and deployment of the cabled underwater robot

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