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High-resistance underwater cable robot and control method thereof

A robot and flowing water technology, which is applied to underwater ships, underwater operation equipment, motor vehicles, etc., can solve the problems of underwater robot operation, large resistance coefficient, and large flow area, so as to improve the operation speed and flow resistance. Stability, improving underwater positioning accuracy, and reducing the effect of running resistance

Active Publication Date: 2022-07-29
TIANJIN DEEPFAR OCEAN TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the relatively simple functions of underwater robots at this stage, the accuracy of data collection for underwater environments is general, incomplete and inconvenient to view and use
Due to the difficulty of underwater machines in channel disease investigation at the present stage, there is an urgent need for an underwater robot platform that can be used in inland rivers to complete intelligent, informatized and stable control; at the same time, the average water velocity in the lower reaches of the Yangtze River is 2-3 m / s, there is currently no ROV equipment that can be used in strong current environments
The traditional rov is an open structure with a large frontal area and a drag coefficient as high as 1.2, which has a large drag coefficient, which makes it impossible to move quickly during diving
It should be explained that the relatively new ROV products in the world do not have a sailing speed exceeding 3 knots, such as the V8 series and the Falcon series have a maximum speed of 3 knots, which also brings troubles to the operation of underwater robots.

Method used

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  • High-resistance underwater cable robot and control method thereof
  • High-resistance underwater cable robot and control method thereof
  • High-resistance underwater cable robot and control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] Example 1, refer to Figure 1-Figure 6-4 , which is an embodiment of the present invention, which provides an underwater cabled robot with high resistance to current. It includes a robot shell 1, which is constructed by the simulation method of underwater fluid motion, and has a streamlined spindle structure and is closed. The bow is installed with lighting 13, camera 12, floating material 101 and mechanical scanning sonar 11 installed on the floating material 101. The bottom is installed with a leg support 102 and a speedometer 16. Both sides and the stern are made of robot shells. The central axis of the body 1 is the axis of symmetry, and the lighting lamp 13, the camera 12 and the mounting frame are installed in a horizontally symmetrical shape, and a propulsion mechanism is installed on each mounting frame; it also includes a main control for controlling the underwater cabled robot. Circuit 2, the underwater cabled robot includes a processor 21, a data acquisition...

Embodiment 2

[0077] Example 2, refer to Figure 5 , which is an embodiment of the present invention. This embodiment provides that the main control circuit 2 of the underwater cabled robot also includes a sensing device 25 connected to the processor 21. This embodiment is the same as the specific implementation content of Embodiment 1. The difference is that the underwater cabled robot is equipped with sensing equipment that meets the needs and functions to improve the comprehensiveness of the detection data, which is conducive to the monitoring of different waters.

[0078] The specific sensing device 25 in this embodiment includes a temperature sensor, a flow rate sensor, and a sensor for water quality monitoring installed on the outer wall of the robot housing 1, and also includes an encoder connected to the drive motor of the propulsion mechanism, installed on the robot housing 1 Internal spirit level and inclination sensor.

[0079]To sum up, the present invention utilizes the reason...

example 1

[0081] Example 1 Tianjin Dagu Fortress Test. The Tianjin Dagu Fortress test site is a still water area adjacent to the port channel of Tianjin Port. There are artificially erected simple docks on the embankment. When deploying and recovering high-current-resistant equipment, the crane and quick lock can be used together to quickly deploy the equipment into seawater. When the equipment is equipped with BV5000 sonar, it is launched in the test waters, and its maximum sailing speed can reach 6 knots (3 m / s).

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Abstract

The invention discloses a high-flowing-water-resistance underwater cable robot and a control method thereof, and relates to the technical field of underwater robots, the high-flowing-water-resistance underwater cable robot comprises a robot shell, and the robot shell is constructed through an underwater fluid motion simulation method, is of a streamline spindle structure and is arranged in a closed mode; the robot shell is provided with an ultra-short baseline positioning system, an antenna, an illuminating lamp, a camera, a mechanical scanning sonar, a tachymeter, a propeller and a main control circuit used for controlling the underwater cable robot. The underwater robot is reasonable in structure arrangement, the running resistance is reduced, the underwater running speed and the anti-flow stability are improved, the underwater positioning precision and other indexes of an underwater robot carrier are further improved, meanwhile, the carried data acquisition equipment is convenient to check and use in a complex water area, and the underwater robot is convenient to use. The system has the functions of fixed-depth control, directional control and real-time monitoring, and underwater monitoring work is more intelligent and informationized.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an underwater cabled robot that can operate safely under the condition of strong water flow. Background technique [0002] ROV itself has high economy and flexibility, and can effectively adapt to various operating environments. At present, it has been widely used in marine resource development or underwater engineering investigation. In order to ensure the smooth operation of the waterway, the renovation of the inland waterway is essential. The buildings along the inland river are the main points of the remediation work. [0003] At the same time, embankments, bridges, wharves, riprap, etc. are built on both banks of inland rivers, especially the Yangtze River waterway. Due to the relatively single function of the current underwater robot, the data collection accuracy of the underwater environment is general, not comprehensive, and inconvenient to view and use. In ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63B71/10B63B1/40B63G8/08B63C11/34
CPCB63C11/52B63B71/10B63B1/40B63G8/08B63C11/34
Inventor 魏建仓崔春皓刘振韩玉芳安永宁申国彬徐俊博芦斌步晓明赵丽云
Owner TIANJIN DEEPFAR OCEAN TECH
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