Electrically-driven marine winch automatic cable arranging device based on visual inspection and cooperative control method of electrically-driven marine winch automatic cable arranging device

Abstract

The invention discloses an electrically-driven marine winch automatic cable arranging device based on visual inspection and a cooperative control method of the electrically-driven marine winch automatic cable arranging device. A visual inspection camera is adopted to detect cable gaps, and a visual inspection system can adaptively adjust axial and radial positions in a cable arrangement process, so that the problem of dynamic calibration of the visual inspection camera is effectively solved, and therefore, visual detection precision of the cable gaps is improved; a cross-coupling cooperative control strategy is adopted, the cable gaps, the rotating speed of a cable storage roll and the rotating speed of a lead screw are correspondingly converted to serve as an automatic cable arrangement cooperative control feedback adjusting ring, and the response speed and precision of cable arrangement control are improved. The device has the advantages that the cable gaps directly representing cable arrangement quality serve as cable arrangement cooperative control feedback quantity, so that rapid, orderly and automatic cable arrangement of a ocean winch is achieved, the phenomena of cable disorder and cable clamping in the cable arrangement process are effectively avoided, the service life of the cable is prolonged, and the operation safety of the ocean winch and ocean equipment is improved.

Description

technical field [0001] The invention belongs to an automatic cable unwinding device for a winch and a control method thereof, in particular to an automatic cable unwinding device for an electric drive marine winch based on visual detection and a cooperative control method thereof. Background technique [0002] With the rapid expansion of population, the depletion of land resources, and the deteriorating environment, countries around the world are focusing on the ocean, which is rich in oil, natural gas and mineral resources. The marine winch is the key deck mechanical equipment in the surface support system, mainly relying on the mother ship, it is widely used in the retraction and deployment of marine resource exploration and development equipment and its fixation in deep sea operations. In recent years, the exploration and development of marine resources has gradually shifted from the offshore to the deep sea. With the continuous increase of equipment operation depth, the ...

AI Technical Summary

Problems solved by technology

Since there is no detection of physical quantities that directly represent the quality of the cable arrangement, and there are friction and wear, detection errors, and signal interference during the automatic cable arrangement process, once the cable arrangement deviates, the cable arrangement controller has no way of knowing it, and cannot realize automatic deviation correction. It can only be observed manually And intervene, implement manual correction

This poses a potential safety hazard to the operation of marine winches and marine equipment

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