A retractable control method for a cable-controlled underwater robot
A technology of underwater robot and control method, which is applied to underwater operation equipment, transportation and packaging, ships, etc., and can solve problems such as easy entanglement of umbilical cables, difficulty in realizing fixed-point observation, and difficulty in resisting water flow thrust by the thrust of cable-controlled underwater robots, etc. problem, achieve the effect of avoiding winding and knotting
Active Publication Date: 2021-04-06
中国南水北调集团中线有限公司 +1
View PDF6 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In complex working conditions or out of sight of the operator, the umbilical cable is easily entangled, making it difficult for the cable-controlled underwater robot to recover
In addition, when the water flow is large or unstable, the thrust of the cable-controlled underwater robot is difficult to resist the thrust of the water flow, so that the cable-controlled underwater robot will drift with the water flow, making it difficult to achieve fixed-point observation
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0029] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0030] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.
[0031] Such as figure 1 The underwater observation equipment shown includes a retractable device 1, an umbilical cable 2 and a cable-controlled underwater robot 3. During operation, the retractable device 1 is fixed on the shore to ensure that it will not be driven by the pulling force of the umbilical cable 2. The retractable device 1's ca...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention belongs to the technical field of cable-controlled underwater robots, and discloses a retractable control method for a cable-controlled underwater robot. The propulsion force of the robot and the pulling force of the retracting device on the umbilical cable make the umbilical cable in a tensioned state. In the present invention, the pulling force from the umbilical cable is monitored in real time by the retracting device, and the control system adjusts the propulsion force of the cable-controlled underwater robot and the pulling force of the retracting device on the umbilical cable according to the real-time pulling force, so that the umbilical cable is always It is in a tensioned state, avoiding the entanglement and knotting of the umbilical cable, so that the cable-controlled underwater robot will not float with the impact of the water flow, so that the fixed-point observation of the cable-controlled underwater robot can be realized.
Description
technical field [0001] The invention relates to the technical field of cable-controlled underwater robots, in particular to a retractable control method for cable-controlled underwater robots. Background technique [0002] The cable-controlled underwater robot is a kind of extreme operation robot that works underwater, and is an important tool for ocean development and underwater operations. When the cable-controlled underwater robot is working, the shore unit is connected to the cable-controlled underwater robot body through the umbilical cable on the retractable device. The umbilical cable provides electric energy for the cable-controlled underwater robot and is responsible for signal transmission. When the lower robot is working, the umbilical cable floats in the water in a free state. [0003] When the cable-controlled underwater robot works, not all working conditions are open waters. When the cable-controlled underwater robot works in culverts and other places, the eq...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/34
CPCB63C11/34
Inventor 魏建仓李立成金泉任秉枢陈晓璐刘敬洋马晓燕杨宏伟孙学佳柳海兵
Owner 中国南水北调集团中线有限公司