Remote control system and method for movement of water platform in shoal water area

Abstract

The invention discloses a shoal water area water platform movement remote control system, which comprises a central control module embedded in a computer end and used for inputting various parameters of a cable and issuing a control instruction; the single-board computer module is used for receiving the instruction and various parameters sent by the central control module, analyzing data and then accurately controlling four winch motors on the platform to rotate through a GPIO (General Purpose Input / Output) interface; the data communication module is used for the central control module to perform data communication with the single board computer module through an SSH communication encryption protocol; the angle sensor module is used for regularly acquiring cable outlet angle data according to a fixed time interval through ADC (Analog to Digital Converter) equipment; the 4G internet access module is used for accessing the single-board computer module to the Internet through a cellular network; and the positioning module is used for regularly acquiring the position information of the platform according to a fixed time interval. The invention further discloses a shoal water area water platform movement remote control method. According to the invention, the posture of the water platform can be checked by remotely controlling the four cables of the water platform through the graphical interface.

Description

Technical Field

[0001] This invention belongs to the field of waterborne engineering equipment and automatic control technology, specifically a mobile remote control system and method for a floating platform in shallow waters. Background Technology

[0002] Currently, the movement of floating platforms is mostly done manually by raising and lowering cables, resulting in low control precision. Traditional control methods require accurate coordinates of the anchor's position, but anchors can shift during construction, affecting the reliability of calculations. Adding a wheelhouse to the platform increases investment in supporting facilities, leading to high construction costs. Furthermore, personnel working on floating platforms, especially those with shallow drafts, pose significant risks.

[0003] Therefore, a mobile remote control system and method for floating platforms in shallow waters are provided. Summary of the Invention

[0004] To address the aforementioned problems in the existing technology, this invention provides a mobile remote control system and method for a floating platform in shallow waters, enabling remote control of the platform's four cables via a graphical interface to view the platform's attitude.

[0005] The technical solution to achieve the above objectives is:

[0006] One of the present inventions discloses a mobile remote control system for a floating platform in shallow waters, comprising:

[0007] The central control module, embedded in the computer, is used to input various parameters of the cable and issue control commands.

[0008] The single-board computer module is used to receive instructions and various parameters sent by the central control module, and after parsing the data, it precisely controls the rotation of the four winch motors on the platform through the GPIO (General Purpose Input / Output Port) interface.

[0009] The data communication module is used for the central control module to communicate with the single-board computer module via the SSH (Secure Network Communication Protocol) encryption protocol.

[0010] An angle sensor module is used to connect to the single-board computer module via an ADC (analog-to-digital converter) device, periodically collect cable angle data at fixed time intervals, send it to the single-board computer module, and transmit it back to the central control module;

[0011] A 4G internet access module is used by the single-board computer module to access the Internet via a cellular network;

[0012] The positioning module is used to periodically collect the platform's location information at fixed time intervals, send it to the single-board computer module, and then transmit it back to the central control module.

[0013] Preferably, in the central control module, the cable parameters include working time, delay time, target position coordinates, current position coordinates, platform moving speed, and cable exit angle of each cable.

[0014] Preferably, the central control module uses the Python PyQt software package to develop a graphical interface and uses the Python paramiko software package to establish an SSH connection for communication with the single-board computer module; wherein, the graphical interface includes a water platform attitude window, a target coordinate input bar, a current coordinate display bar, a platform movement speed input bar, and a four-cable extension angle display bar.

[0015] Preferably, in the single-board computer module, the winch motor is used to precisely define 'a', the winch circumference L, and the cable winding / unwinding speed v connected to the winch motor. i With three known parameters, the time it takes for the winch motor to rotate one step is calculated, and the rotation speed of the winch motor is controlled.

[0016] Preferably, in the single-board computer module, the multi-winch motor control has three states, including: four winch motors working together to control the platform movement, four winch motors being locked simultaneously, and four winch motors being released simultaneously.

[0017] in,

[0018] The four winch motors are linked to control the platform's movement: the single-board computer module simultaneously sends instructions to the four winch motors, and based on the calculation results, the winch motors adopt different rotation directions and speeds;

[0019] Simultaneously lock all four winch motors: the enable lines of all four winch motors are energized at the same time;

[0020] Simultaneously de-energize all four winch motors: de-energize the enable lines of all four winch motors at the same time.

[0021] Preferably, in the single-board computer module, when a single motor is controlled, all motors must be in a stopped state. The locking and unlocking of a single motor can be controlled independently, and only one motor can be controlled at a time to retract the cable.

[0022] Preferably, the single-board computer module is equipped with a p-kill command, which forcibly interrupts movement when the computer does not move according to the instructions issued by the central control module.

[0023] Preferably, the angle sensor module consists of a guide bracket, a base, and a rotation angle sensor.

[0024] A second aspect of the present invention provides a method for remotely controlling the movement of a floating platform in shallow waters, comprising:

[0025] Step S1: The user inputs various parameters of the cable through the graphical interface of the central control module and issues control commands.

[0026] Step S2: Send instructions and various parameters to the single-board computer module via the SSH communication encryption protocol. After parsing the data, precisely control the rotation of the four winch motors on the platform through the GPIO interface.

[0027] Step S3: The angle sensor module is connected to the single-board computer module through an ADC device, periodically collects cable angle data at fixed time intervals, sends it to the single-board computer module, and then sends it back to the central control module for display.

[0028] Step S4: The positioning module periodically collects the platform's location information at fixed time intervals, sends it to the single-board computer module, and then transmits it back to the central control module for display.

[0029] Preferably, in step S1, the cable parameters include working time, delay time, target position coordinates, current position coordinates, platform moving speed, and cable exit angle of each cable.

[0030] In step S2, the winch circumference L and the cable winding / unwinding speed v are determined by the winch motor precision a, which is connected to the winch motor. i With three known parameters, the time it takes for the winch motor to rotate one step is calculated, and the rotation speed of the winch motor is controlled.

[0031] Compared with the prior art, the beneficial effects of the present invention are: the present invention improves the control accuracy by calculating and controlling the number of rotation steps of the winch motor; it uses a single-board computer as the control core, which reduces the construction cost; the user interface is user-friendly and simplifies the platform control process; it supports remote real-time monitoring and control, improves work efficiency, and ensures personnel safety; it has strong scalability and is easy to add more sensors and control devices. Attached Figure Description

[0032] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0033] Figure 1 This is a block diagram of a mobile remote control system for a floating platform in shallow waters according to the present invention.

[0034] Figure 2 This is the overall architecture diagram of the mobile remote control system for shallow water platforms in this invention;

[0035] Figure 3 This is a schematic diagram of the included angles between the four cables and the platform in this invention.

[0036] Figure 4 This is a schematic diagram showing the angle and velocity between the l1 cable platforms in this invention;

[0037] Figure 5 This is a schematic diagram showing the angle and velocity between the l2 cable platforms in this invention;

[0038] Figure 6 This is a schematic diagram showing the angle and velocity between the l3 cable platforms in this invention;

[0039] Figure 7 This is a schematic diagram showing the angle and velocity between the l4 cable platforms in this invention;

[0040] Figure 8 This is a structural diagram of the angle sensor module in this invention;

[0041] Figure 9 This is a flowchart of a method for remotely controlling a floating platform in shallow waters, according to the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] like Figure 1 , 2 As shown, a mobile remote control system for a floating platform in shallow waters includes: a central control module 1, a single-board computer module 2, a data communication module 3, an angle sensor module 4, a 4G internet access module 5, and a positioning module 6.

[0044] Central control module 1, embedded in the computer, is used to input various parameters of the cable and issue control commands.

[0045] In this embodiment, the cable parameters include working time, delay time, target position coordinates, current position coordinates, platform moving speed, and cable exit angle of each cable.

[0046] In this embodiment, a graphical interface is developed using the PyQt package of Python, and an SSH connection is established using the paramiko package of Python to achieve communication with the single-board computer module. The graphical interface includes a water platform attitude window, a target coordinate input bar, a current coordinate display bar, a platform movement speed input bar, and a four-cable extension angle display bar.

[0047] The single-board computer module 2 is used to receive instructions and various parameters sent by the central control module 1, and after parsing the data, it precisely controls the rotation of the four winch motors on the platform through the GPIO interface.

[0048] like Figure 3 As shown in Table 1, assuming the platform's current coordinates are (x0, y0) and the target coordinates are (x1, y1), the formula for calculating angle α (in radians) is as follows:

[0049]

[0050] Table 1

[0051] Assume the platform moves at a speed of v and at an angle α to the platform's longitudinal axis. The angles between the platform's four cables and the longitudinal axis are θ1 to θ4, where θ1 and θ3 are above the axis and are positive values, while θ2 and θ4 are below the axis and are negative values.

[0052] The release and take-up speeds of each cable, l1, l2, l3, and l4, are calculated to move the platform in a predetermined manner. The values ​​of v1, v2, v3, and v4 are calculated respectively, representing the release and take-up speeds of the cables.

[0053] like Figure 4 As shown, the formula for calculating the release and take-up speed v1 of cable l1 is:

[0054] v1 = v × cos(α - θ1);

[0055] like Figure 5 As shown, the formula for calculating the release and take-up speed v2 of cable l2 is:

[0056] v2=v×cos(α-θ2)=-v×cos(π-(α-θ2));

[0057] like Figure 6 As shown, the formula for calculating the release and take-up speed v3 of cable l3 is:

[0058] v3=v×cos(θ3-α)=v×cos(α-θ3);

[0059] like Figure 7 As shown, the formula for calculating the release and take-up speed v4 of cable l4 is:

[0060] v4=v×cos(α-θ4)=-v×cos(α-θ4-π);

[0061] In summary, the cable's release and reeling speed v can be determined. i :

[0062] v i =v×cos(α-θ) i );

[0063] Through the winch motor precision analysis a, the winch circumference L connected to the winch motor and the cable winding speed v are determined. i With three known parameters, the time it takes for the winch motor to rotate one step is calculated, and the rotation speed of the winch motor is controlled as shown in Table 2.

[0064]

[0065] Table 2

[0066] In this embodiment, the multi-winch motor control has three states, including: the four winch motors are linked to control the platform to move, the four winch motors are locked at the same time, and the four winch motors are released at the same time.

[0067] in,

[0068] The four winch motors are linked to control the movement of the platform: the single-board computer module sends instructions to the four winch motors at the same time, and the winch motors take different rotation directions and speeds according to the calculation results.

[0069] Simultaneously lock all four winch motors: the enable lines of all four winch motors are energized at the same time;

[0070] Simultaneously de-energize all four winch motors: de-energize the enable lines of all four winch motors at the same time.

[0071] In this embodiment, when controlling a single motor, all motors must be in a stopped state. The locking and unlocking of a single motor can be controlled independently, and only one motor can be controlled at a time to retrieve the cable.

[0072] In this embodiment, a p-kill command (a tool for terminating a running process based on the process name or other conditions) is provided. When a process does not move according to the instructions issued by the central control module, it is forcibly interrupted by the p-kill command.

[0073] Data communication module 3 is used for data communication between central control module 1 and single-board computer module 2 via SSH communication encryption protocol.

[0074] Angle sensor module 4 is used to connect to single-board computer module 2 via ADC device, periodically collect cable angle data at fixed time intervals, send it to single-board computer module 2, and then send it back to central control module 1.

[0075] like Figure 8 As shown, the angle sensor module 4 consists of a guide bracket, a base, and a rotation angle sensor.

[0076] 4G Internet module 5 is used by single-board computer module 2 to access the Internet via cellular network.

[0077] The positioning module 6 is used to periodically collect the platform's location information at fixed time intervals, send it to the single-board computer module 2, and then transmit it back to the central control module 1.

[0078] like Figure 1 , 2 As shown in Figure 9, a method for remotely controlling a mobile platform in shallow waters includes:

[0079] In step S1, the user inputs various parameters of the cable through the graphical interface of the central control module 1 and issues control commands.

[0080] In this embodiment, the cable parameters include working time, delay time, target position coordinates, current position coordinates, platform moving speed, and cable exit angle of each cable.

[0081] Step S2: Send instructions and various parameters to the single-board computer module 2 via the SSH communication encryption protocol. After parsing the data, precisely control the rotation of the four winch motors on the platform through the GPIO interface.

[0082] like Figure 3 As shown in Table 1, assuming the platform's current coordinates are (x0, y0) and the target coordinates are (x1, y1), the formula for calculating angle α (in radians) is as follows:

[0083]

[0084] Table 1

[0085] Assume the platform moves at a speed of v and at an angle α to the platform's longitudinal axis. The angles between the platform's four cables and the longitudinal axis are θ1 to θ4, where θ1 and θ3 are above the axis and are positive values, while θ2 and θ4 are below the axis and are negative values.

[0086] The release and take-up speeds of each cable, l1, l2, l3, and l4, are calculated to move the platform in a predetermined manner. The values ​​of v1, v2, v3, and v4 are calculated respectively, representing the release and take-up speeds of the cables.

[0087] like Figure 4 As shown, the formula for calculating the release and take-up speed v1 of cable l1 is:

[0088] v1 = v × cos(α - θ1);

[0089] like Figure 5 As shown, the formula for calculating the release and take-up speed v2 of cable l2 is:

[0090] v2=v×cos(α-θ2)=-v×cos(π-(α-θ2));

[0091] like Figure 6As shown, the formula for calculating the release and take-up speed v3 of cable l3 is:

[0092] v3=v×cos(θ3-α)=v×cos(α-θ3);

[0093] like Figure 7 As shown, the formula for calculating the release and take-up speed v4 of cable l4 is:

[0094] v4=v×cos(α-θ4)=-v×cos(α-θ4-π);

[0095] In summary, the cable's release and reeling speed v can be determined. i :

[0096] v i =v×cos(α-θ) i );

[0097] Through the winch motor precision analysis a, the winch circumference L connected to the winch motor and the cable winding speed v are determined. i Given three parameters, calculate the time it takes for the winch motor to rotate one step, and control the speed of the winch motor, such as...

[0098] As shown in Table 2;

[0099]

[0100] Table 2

[0101] In this embodiment, the multi-winch motor control has three states, including: the four winch motors are linked to control the platform to move, the four winch motors are locked at the same time, and the four winch motors are released at the same time.

[0102] in,

[0103] The four winch motors are linked to control the movement of the platform: the single-board computer module sends instructions to the four winch motors at the same time, and the winch motors take different rotation directions and speeds according to the calculation results.

[0104] Simultaneously lock all four winch motors: the enable lines of all four winch motors are energized at the same time;

[0105] Simultaneously de-energize all four winch motors: de-energize the enable lines of all four winch motors at the same time.

[0106] In this embodiment, when controlling a single motor, all motors must be in a stopped state. The locking and unlocking of a single motor can be controlled independently, and only one motor can be controlled at a time to retrieve the cable.

[0107] In this embodiment, a p-kill command is provided to forcibly interrupt movement if the movement does not follow the instructions issued by the central control module.

[0108] In step S3, the angle sensor module 4 is connected to the single-board computer module 2 via the ADC device, periodically collects cable angle data at fixed time intervals, sends it to the single-board computer module 2, and then sends it back to the central control module 1 for display.

[0109] like Figure 8 As shown, the angle sensor module 4 consists of a guide bracket, a base, and a rotation angle sensor.

[0110] In step S4, the positioning module 6 periodically collects the platform's location information at fixed time intervals, sends it to the single-board computer module 2, and then transmits it back to the central control module 1 for display.

[0111] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile remote control system for a floating platform in shallow waters, characterized in that, include: The central control module, embedded in the computer, is used to input various parameters of the cable and issue control commands. The single-board computer module is used to receive instructions and various parameters sent by the central control module, and after parsing the data, it precisely controls the rotation of the four winch motors on the platform through the GPIO interface. The data communication module is used for the central control module to communicate with the single-board computer module via the SSH communication encryption protocol; An angle sensor module is used to connect to the single-board computer module via an ADC device, periodically collect cable angle data at fixed time intervals, send it to the single-board computer module, and transmit it back to the central control module. A 4G internet access module is used by the single-board computer module to access the Internet via a cellular network; The positioning module is used to periodically collect the platform's location information at fixed time intervals, send it to the single-board computer module, and then transmit it back to the central control module.

2. The mobile remote control system for a floating platform in shallow waters according to claim 1, characterized in that, In the central control module, the cable parameters include working time, delay time, target position coordinates, current position coordinates, platform moving speed, and cable exit angle of each cable.

3. The mobile remote control system for a floating platform in shallow waters according to claim 1, characterized in that, The central control module uses the Python PyQt package to develop a graphical interface and uses the Python paramiko package to establish an SSH connection for communication with the single-board computer module. The graphical interface includes a water platform attitude window, a target coordinate input bar, a current coordinate display bar, a platform movement speed input bar, and a four-cable extension angle display bar.

4. The mobile remote control system for a floating platform in shallow waters according to claim 1, characterized in that, In the single-board computer module, the winch motor is precisely divided into components a, the winch circumference L, and the cable winding and unwinding speed v. i With three known parameters, the time it takes for the winch motor to rotate one step is calculated, and the rotation speed of the winch motor is controlled.

5. The mobile remote control system for a floating platform in shallow waters according to claim 1, characterized in that, In the single-board computer module, the multi-winch motor control has three states, including: four winch motors working together to control the platform movement, four winch motors locked simultaneously, and four winch motors released simultaneously. in, The four winch motors are linked to control the platform's movement: the single-board computer module simultaneously sends instructions to the four winch motors, and based on the calculation results, the winch motors adopt different rotation directions and speeds; Simultaneously lock all four winch motors: the enable lines of all four winch motors are energized at the same time; Simultaneously de-energize all four winch motors: de-energize the enable lines of all four winch motors at the same time.

6. The mobile remote control system for a floating platform in shallow waters according to claim 1, characterized in that, In the single-board computer module, when controlling a single motor, all motors must be in a stopped state. The locking and unlocking of a single motor can be controlled independently, and only one motor can be controlled at a time to retrieve the cable.

7. The mobile remote control system for a floating platform in shallow waters according to claim 1, characterized in that, The single-board computer module is equipped with a p-kill command, which forcibly interrupts movement when the computer does not move according to the instructions issued by the central control module.

8. The mobile remote control system for a floating platform in shallow waters according to claim 1, characterized in that, The angle sensor module consists of a guide bracket, a base, and a rotation angle sensor.

9. A control method for a mobile remote control system for a floating platform in shallow waters as described in claim 1, characterized in that, include: Step S1: The user inputs various parameters of the cable through the graphical interface of the central control module and issues control commands. Step S2: Send instructions and various parameters to the single-board computer module via the SSH communication encryption protocol. After parsing the data, precisely control the rotation of the four winch motors on the platform through the GPIO interface. Step S3: The angle sensor module is connected to the single-board computer module through an ADC device, periodically collects cable angle data at fixed time intervals, sends it to the single-board computer module, and then sends it back to the central control module for display. Step S4: The positioning module periodically collects the platform's location information at fixed time intervals, sends it to the single-board computer module, and then transmits it back to the central control module for display.

10. The control method according to claim 9, characterized in that, In step S1, the cable parameters include working time, delay time, target position coordinates, current position coordinates, platform moving speed, and cable exit angle of each cable. In step S2, the winch circumference L and the cable winding / unwinding speed v are determined by the winch motor precision a, which is connected to the winch motor. i With three known parameters, the time it takes for the winch motor to rotate one step is calculated, and the rotation speed of the winch motor is controlled.

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