An integrated ROV operating platform

Abstract

The present invention belongs to the field of submersible surface control unit system, specifically an integrated ROV operating platform. It includes a control cabinet A, a control cabinet B, an operating console, a display bracket and a display screen; wherein the display bracket is vertically fixed on the plane of the operating console, there are multiple display brackets, all connected in parallel, and a display screen is provided on the display bracket; a control cabinet A, a control cabinet B and a support column are provided under the plane of the operating console; waist-shaped holes are provided at the connection between the control cabinet A and the control cabinet B and the operating console, and are electrically connected to the operating console through the waist-shaped holes respectively; a driving position operating table, a shared operating table and an operating panel are provided on the operating console; the driving position operating table and the shared operating table are both connected to the control cabinet A, and the operating panel is embedded in the operating console and connected to the control cabinet B. The operating panel in the present invention is fully functional, covers most ROV operating functions, and can use most ROV control systems.

Description

Technical Field

[0001] The field of submersible surface control unit systems, specifically an integrated ROV operating platform. Background Art

[0002] In the field of ocean exploration, remotely controlled submersibles (ROVs) are able to operate underwater for a long period of time without interruption and can transmit underwater video images in real time. The mother ship control personnel can remotely control various tools carried by the submersible to carry out scientific research, pipeline maintenance, welding and other tasks. Underwater robots are important tools for exploring the ocean. Operators need to remotely control the submersible in real time to carry out work, seabed topography and operate manipulators to grab samples, etc. In order to fully realize these functions, the integrated ROV operating platform needs to implement corresponding functions according to different needs, and all operation videos must be recorded.

[0003] Most of the existing ROV operating platforms are installed in control containers. Due to the volume of the container, the number of displays and the size of the operating table of the ROV operating platform are limited, which occupies a large space and has low space utilization. The ROV operating functions are not comprehensive and it is not convenient to operate inside the ROV. There is an urgent need for an ROV operating platform that occupies less space, is convenient for operators inside the ROV, and has strong adaptability. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated ROV operating platform, which solves the problem that the simulation trainer has long been dependent on imports, is expensive, and has great differences from the domestic mainstream ROV control platform, and reduces the cost.

[0005] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: an integrated ROV operating platform, comprising: a control base cabinet A, a control base cabinet B, an operating console, a display bracket and a display screen; wherein the display bracket is vertically fixed on the plane of the operating console, and there are multiple display brackets, all connected in parallel, and the display bracket is provided with a display screen;

[0006] A control base cabinet A, a control base cabinet B and a support column are provided under the plane of the operation console; waist-shaped holes are provided at the connection between the control base cabinet A and the control base cabinet B and the operation console, and are electrically connected to the operation console through the waist-shaped holes respectively; there are multiple support columns, each of which has a height equal to that of the control cabinet A or the control cabinet B, and are respectively arranged under the plane of the operation console;

[0007] The operation console is provided with a driver's seat operation console, a shared operation console and an operation panel; the driver's seat operation console and the shared operation console are both connected to the control cabinet A, and the operation panel is embedded in the operation console and connected to the control cabinet B.

[0008] There are two operating consoles at the driver's seat, each of which is provided with a fine-tuning control area, a pan / tilt control area, an automatic function area, a control area and a touch-screen computer connected to the control cabinet A;

[0009] The fine-tuning control area is arranged in the middle of the left side of the operating console of the driving position, and a rotary potentiometer for applying a constant control amount to the ROV is arranged in the fine-tuning control area;

[0010] The PTZ control area is located at the lower left side of the driver's operating console, and a plurality of PTZ control levers are provided in the PTZ control area;

[0011] The automatic function area is arranged on the operating console of the driving position, and a plurality of control buttons are arranged in the automatic function area;

[0012] The control area is arranged on the right side of the operating console of the driving position, and includes a joystick for controlling the movement of the ROV and a trackball device for controlling the touch computer.

[0013] The shared operating console includes an emergency stop switch, a main switch, a cabinet switch connected to the control cabinet A, and a driving console switch, a power-on switch and a power-off switch connected to the driving console; the emergency stop switch output is a dry node, which is connected to the submersible power system contactor for controlling the power system switch; the main switch is connected to the terminal block, which is connected to the external power supply through the terminal block, and the cabinet switch is connected to the cabinet power input terminal for controlling the power on and off of the cabinet A; the power on switch and the power off switch are connected to the driving console for controlling the power on and off of the submersible.

[0014] The control cabinet A is arranged at the bottom of the operating console between the two driving operating consoles and is arranged directly below the plane of the shared operating console.

[0015] The control cabinet A includes a KVM switch, a voice communicator, an industrial computer system, a hybrid hard disk recorder, a video integration platform, a network switch, a high-definition video processor and a standard-definition video distributor;

[0016] The output end of the KVM switch is connected to the industrial computer system and the driver's console respectively, and the input end is connected to a keyboard and a mouse, so that the operator can transmit control instructions to the industrial computer system or the buttons in the driver's console through the keyboard and the mouse;

[0017] The voice communication device communicates wirelessly with the operator's walkie-talkie on the deck;

[0018] The industrial computer system is used to receive control instructions transmitted by the operator through the keyboard and mouse, and send the control instructions for allocating video images to the video integrated platform through the network switch;

[0019] Described hybrid hard disk video recorder, is respectively connected with high-definition video processor and standard definition video distributor, is used for receiving the video signal of ROV underwater pan / tilt, and sends the video signal of ROV underwater pan / tilt to video comprehensive platform;

[0020] The video integrated platform is used to receive the video signal of the ROV underwater pan / tilt, the video signal converted by the network switch and the video signal of the hybrid hard disk recorder, and send the three to the display screen according to the set combination mode, so as to realize the playback;

[0021] The network switch is connected to the control cabinet B and is used to convert the video signal received from the control cabinet B into a network signal and send it to the video integration platform. The network switch also receives the control recording instructions transmitted by the operator through the industrial computer system and sends it to the hybrid hard disk recorder.

[0022] The control cabinet B includes an optical fiber communication module and a serial port server, a network switch B and a high-definition hard disk recorder connected thereto;

[0023] The HD DVR is used to receive the HD camera video carried by the underwater pan / tilt recorder, and send the HD video streams to the hybrid DVR and the video integrated platform respectively after passing through the HD character adder and HD video distributor of the control cabinet A in sequence;

[0024] The optical fiber communication module on the surface is used to obtain the photoelectric signal of the ROV equipment. The optical fiber communication module converts the optical signal into a serial port signal and a video signal. The serial port signal is connected to the serial port server, which converts the serial port signal into a network signal and then connects it to the control system network through a network switch. The video signal is transmitted to the high-definition hard disk recorder, hybrid hard disk recorder and video integrated platform respectively.

[0025] The data signal includes: high-definition video, standard-definition video and network data;

[0026] The high-definition video is transmitted to the high-definition hard disk video recorder, the hybrid hard disk video recorder and the video integrated platform respectively after passing through the high-definition high-definition character superimposer and the video distributor equipment;

[0027] The standard definition video is transmitted to the hybrid hard disk video recorder and the video integrated platform respectively after passing through the standard definition video distributor;

[0028] The network data is sent to the touch-control computer to realize the touch-control computer's reading control of the field signals of each control node and the data of the underwater serial port device, and the control of the video signal.

[0029] The optical fiber communication module is equipped with cooling fans around it to accelerate the heat dissipation.

[0030] Each display bracket is correspondingly provided with two display screens, namely a lower display screen and an upper display screen, wherein the upper display screen is arranged above the lower display screen, and the lower display screen is connected to the upper display screen.

[0031] The plane of the display bracket where the lower display screen is located is perpendicular to the plane of the operation console, and the upper display screen is tilted forward to form an angle with the connection with the lower display screen to facilitate viewing by operators.

[0032] The present invention has the following beneficial effects and advantages:

[0033] 1. The present invention comprises a control cabinet A, a control cabinet B, an operating table and a video matrix;

[0034] 2. The main and co-pilot panels of the present invention have the same hardware configuration and serve as backup for each other. When one control panel fails, the other control panel can continue to complete the operation;

[0035] 3. The two control cabinets in the present invention have a compact structure, high space utilization, and are installed at the bottom of the console without occupying space for other equipment;

[0036] 4. The middle shared operation panel of the present invention is installed between the main and co-pilot panels, and both the main and co-pilot can operate it conveniently;

[0037] 5. The operation panel of the present invention is fully functional, covers most ROV operation functions, and can be used with most ROV control systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the operating console of the present invention;

[0040] Figure 3 This is a schematic diagram of the driving position operating console of the present invention;

[0041] Figure 4 This is a schematic diagram of a shared operating console of the present invention;

[0042] Figure 5 It is a connection block diagram of the control system of the present invention. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0044] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative achievements are within the scope of protection of the present invention.

[0045] like Figure 1 As shown, it is a schematic diagram of the structure of the present invention. The purpose of the present invention is mainly composed of a control cabinet A, a control cabinet B, an operating table and a video matrix. The video matrix is ​​fixed to the front of the operating console with screws, and the cabinet is fixed to the bottom of the operating console with screws. A waist-shaped hole is opened at the connection between the cabinet and the console for wiring; the console is divided into a main driving position, a co-pilot position, and a shared operating position. The main driving position operation panel and the co-pilot position operation panel have the same hardware and back up each other. The operation panel is equipped with a touch computer, a rotary potentiometer, a pan-tilt single rod, a navigation operation single rod, a control button, and a trackball; the shared operating position is equipped with a circuit breaker, an emergency stop switch, a start button, and a stop button; the console is installed with a PLC data acquisition device for collecting operation panel instructions, and a mouse and keyboard are also installed to facilitate operator operation; the control cabinet A and the control cabinet B are the main cabinets for placing various control devices of the surface unit of the control system, and are connected to the electronic compartment of the submersible through optical fiber to process the video and data information transmitted from underwater, and transmit the control instructions issued by the operation console to the underwater unit of the control system to realize the operation of the submersible. In addition to being able to operate the submersible, the operating console is also equipped with a video display matrix and video switching equipment, which can switch the video display according to the needs of the operator.

[0046] The operating console can accommodate 4 operators working at the same time. From left to right, they are: ROV operation observer, ROV tool operator, main pilot seat, and co-pilot seat. The ROV tool operator can control the scientific high-definition camera pan / tilt during navigation, and is also responsible for operating a manipulator during operation. Its operating panel is flat, and auxiliary equipment can be placed on it. The main and co-pilot operating panels are exactly the same, and the area between them is a shared operating panel, which can be operated by both of them.

[0047] like Figures 2-3 As shown in the figure, it is a schematic diagram and position diagram of the driving station console of this application. In the center of the driving station console is a touch computer, which uses a widescreen 18.5-inch capacitive touch screen and runs ROV control software. The touch computer is installed at a higher position than the plane of the entire operation panel, and the placement angle also has a certain inclination, so that the operator can touch and observe the display screen more conveniently.

[0048] The middle of the left side of the console is the thruster fine-tuning control area. Through the knobs in this area, the submersible can be controlled to move forward / backward, left / right, ascend / dive, etc.

[0049] At the lower left side of the operating console is a single control lever for two camera pan-tilt heads. While the driver controls the movement of the submersible with his right hand, he can conveniently use his left hand to operate the camera pan-tilt heads to observe environmental information and facilitate driving.

[0050] The automatic function button is located in the lower middle of the operating console. You can start or stop the automatic depth setting, automatic orientation, automatic height setting, and automatic positioning functions by touching the automatic function button.

[0051] On the right side of the operating console is the main joystick for driving the submersible, which can be used to control the submersible's forward / backward, left / right movement, left / right turn, ascent / dive, etc. Above the joystick is a trackball device, which can replace the finger touch function to continue to apply control instructions to the touch computer when the touch screen of the touch computer fails.

[0052] like Figure 4 The figure shows the structure of the shared operation panel of the present invention. The shared operation panel is equipped with a power switch of the surface control unit, an emergency stop button of the intermediate frequency power supply, and power on and off buttons of the submersible. When the emergency stop button of the intermediate frequency power supply is pressed, the signal is connected to the circuit breaker signal of the power supply switch of the intermediate frequency power supply cabinet, and the submersible carrier will be powered off after execution.

[0053] The underwater submersible is powered by the submersible power-on switch, and the submersible can be operated and controlled after the communication status with the submersible is normal. When the submersible operation is completed and the power needs to be turned off, the submersible can be turned off by this submersible power-off switch.

[0054] When the control system fails and the submersible power cannot be turned off, or it is impossible to confirm whether the submersible power is turned off successfully, the emergency stop button can be pressed. The circuit breaker that supplies power to the submersible can be tripped directly, so that the submersible can be turned off.

[0055] The video display screens of the video matrix can be switched and combined freely, and different displays can be freely combined and separated to form a display screen. Each display can be divided into 1 / 4 / 8 / 9 / 16 screens, and the screen division ratio and screen combination shape can also be customized. The width of the entire display matrix is ​​4 meters and the height is 1.3 meters, divided into two rows and four columns. The layout of the displays is based on ergonomic requirements and has a certain downward tilt angle. This layout can reduce display reflections and improve visual observation effects.

[0056] like Figure 5As shown, it is a control system connection block diagram of the present invention, the control cabinet B includes an optical fiber communication module and a serial port server, a network switch B and a high-definition hard disk recorder connected thereto;

[0057] The HD DVR is used to receive the HD camera video carried by the underwater pan / tilt recorder, and send the HD video streams to the hybrid DVR and the video integrated platform respectively after passing through the HD character adder and HD video distributor of the control cabinet A in sequence;

[0058] The optical fiber communication module on the surface is used to obtain the photoelectric signal of the ROV equipment. The optical fiber communication module converts the optical signal into a serial port signal and a video signal. The serial port signal is connected to the serial port server, which converts the serial port signal into a network signal and then connects it to the control system network through a network switch. The video signal is transmitted to the high-definition hard disk recorder, hybrid hard disk recorder and video integrated platform respectively.

[0059] Data signals include: HD video, SD video and network data;

[0060] The high-definition video is transmitted to the high-definition hard disk video recorder, hybrid hard disk video recorder and video integrated platform respectively after passing through the high-definition character superimposer and video distributor equipment;

[0061] Standard definition video is transmitted to the hybrid hard disk recorder and video integrated platform respectively through the standard definition video distributor;

[0062] The network data is sent to the touch computer to realize the touch computer's reading and control of the field signals of each control node, the data of the underwater serial port device, and the control of the video signal.

[0063] The control cabinet A can be installed with various types of control equipment with standard cabinet interfaces. From top to bottom, the front of the control cabinet A is equipped with: KVM, voice communication machine, control computer tray, hybrid hard disk recorder, video integrated platform and standard definition video distributor. The control cabinet A is located between the main and co-pilot, and both of them can operate this cabinet conveniently. KVM is used to control all computer equipment with a mouse; the voice communication machine is used to communicate with the deck retracting and releasing operators to communicate the length of the retracting and releasing cable, etc.; the computer tray is used to install fixed industrial computers, and the sonar control software and submersible control software are run on the industrial computers; the hybrid hard disk recorder is used to record all video information, including all video information of underwater submersibles and deck retracting and releasing status monitoring video; the video integrated platform receives and processes all video signals and puts them into the video matrix.

[0064] The control cabinet B can be installed with various control devices with standard cabinet interfaces. Control cabinet B is mainly used for processing the data of the equipment carried by the submersible. From top to bottom on the front are: optical fiber communication module, serial port server, high-definition hard disk recorder, UPS uninterruptible power supply.

[0065] The UPS power supply is used to power the integrated ROV operating platform. The mother ship provides power to the UPS power supply. After processing, the UPS power supply outputs high-quality 220VAC AC power. At the same time, in the event of an unexpected power outage, the UPS power supply can also provide 220VAC emergency power supply to continue to power the computers and hard disk recording equipment of the control system for safe shutdown to prevent data damage and loss.

[0066] The fiber optic communication module is used to connect to the submersible via optical fiber. As an important communication device, cooling fans are installed around the fiber optic communication module to accelerate heat dissipation. The serial port server has a serial port to network function, which can convert RS-232 / 485 / 422 serial port signals into TCP / IP protocol network interfaces, and connect all serial port signals of the control system to the serial port server, so that the serial port devices can connect to the network for data communication.

[0067] The integrated ROV operating platform of the present invention removes the tall control cabinet and adopts a system integration solution to install all equipment in the control base cabinet below the console, thereby reducing the occupied space and optimizing the control panel to facilitate ROV operators to operate the submersible. At the same time, the present invention is also suitable for cabin installation and has stronger adaptability.

Claims

1. An integrated ROV operating platform, characterized in that: It includes a control cabinet A, a control cabinet B, an operation console, a display stand and a display screen; wherein the display stand is vertically fixed on the plane of the operation console, there are multiple display stands, all connected in parallel, and the display screen is provided on the display stand; A control base cabinet A, a control base cabinet B and a support column are provided under the plane of the operation console; waist-shaped holes are provided at the connection between the control base cabinet A and the control base cabinet B and the operation console, and are electrically connected to the operation console through the waist-shaped holes respectively; there are multiple support columns, each of which has a height equal to that of the control cabinet A or the control cabinet B, and are respectively arranged under the plane of the operation console; The operation console is provided with a driver's seat operation console, a shared operation console and an operation panel; the driver's seat operation console and the shared operation console are both connected to the control cabinet A, and the operation panel is embedded in the operation console and connected to the control cabinet B; The shared operating console includes an emergency stop switch, a main switch, a bottom cabinet switch connected to the control bottom cabinet A, and a driving console switch, a power-on switch, and a power-off switch connected to the driving console; the emergency stop switch output is a dry node, which is connected to the contactor of the submersible power system and is used to control the power system switch; the main switch is connected to the terminal block and is connected to the external power supply through the terminal block; the bottom cabinet switch is connected to the bottom cabinet power input terminal and is used to control the power on and off of the bottom cabinet A; the power on switch and the power off switch are connected to the driving console and are used to control the power on and off of the submersible; The control cabinet A includes a KVM switch, a voice communication machine, an industrial computer system, a hybrid hard disk recorder, a video integration platform, a network switch, a high-definition video processor and a standard-definition video distributor; The output end of the KVM switch is connected to the industrial computer system and the driver's console respectively, and the input end is connected to a keyboard and a mouse, so that the operator can transmit control instructions to the industrial computer system or the driver's console through the keyboard and the mouse; The voice communication device communicates wirelessly with the operator's walkie-talkie on the deck; The industrial computer system is used to receive control instructions transmitted by the operator through the keyboard and mouse, and send the control instructions for allocating video images to the video integrated platform through the network switch; Described hybrid hard disk video recorder, is respectively connected with high-definition video processor and standard definition video distributor, is used for receiving the video signal of ROV underwater pan / tilt, and sends the video signal of ROV underwater pan / tilt to video comprehensive platform; The video integrated platform is used to receive the video signal of the ROV underwater pan / tilt, the video signal converted by the network switch and the video signal of the hybrid hard disk recorder, and send the three to the display screen according to the set combination mode, so as to realize the playback; The network switch is connected to the control cabinet B and is used to convert the video signal received from the control cabinet B into a network signal and send it to the video integration platform. The network switch also receives the control recording instructions transmitted by the operator through the industrial computer system and sends it to the hybrid hard disk recorder.

2. An integrated ROV operating platform according to claim 1, characterized in that: There are two operating consoles at the driver's seat, each of which is provided with a fine-tuning control area, a pan / tilt control area, an automatic function area, a control area and a touch computer connected to the control cabinet A; The fine-tuning control area is arranged in the middle of the left side of the operating console of the driving position, and a rotary potentiometer for applying a constant control amount to the ROV is arranged in the fine-tuning control area; The PTZ control area is located at the lower left side of the driver's operating console, and a plurality of PTZ control levers are provided in the PTZ control area; The automatic function area is arranged on the operating console of the driving position, and a plurality of control buttons are arranged in the automatic function area; The control area is arranged on the right side of the operating console of the driving position, and includes a joystick for controlling the movement of the ROV and a trackball device for controlling the touch computer.

3. An integrated ROV operating platform according to claim 1, characterized in that: The control cabinet A is arranged at the bottom of the operating console between the two driving operating consoles and is arranged directly below the plane of the shared operating console.

4. An integrated ROV operating platform according to claim 1, characterized in that: The control cabinet B includes an optical fiber communication module and a serial port server, a network switch B and a high-definition hard disk recorder connected thereto; The HD DVR is used to receive the HD camera video carried by the underwater pan / tilt recorder, and send the HD video streams to the hybrid DVR and the video integrated platform respectively after passing through the HD character adder and HD video distributor of the control cabinet A in sequence; The optical fiber communication module at the surface end is used to obtain the photoelectric signal of the ROV equipment. The optical fiber communication module at the surface end converts the optical signal into a serial port signal and a video signal. The serial port signal is connected to the serial port server, which converts the serial port signal into a network signal and then connects it to the control system network through a network switch. The video signal is transmitted to the high-definition hard disk recorder, hybrid hard disk recorder and video integrated platform respectively.

5. An integrated ROV operating platform according to claim 4, characterized in that: The optical fiber communication module is equipped with cooling fans around it to accelerate the heat dissipation.

6. An integrated ROV operating platform according to claim 1, characterized in that: Each display bracket is correspondingly provided with two display screens, namely a lower display screen and an upper display screen, wherein the upper display screen is arranged above the lower display screen, and the lower display screen is connected to the upper display screen.

7. An integrated ROV operating platform according to claim 6, characterized in that: The plane of the display bracket where the lower display screen is located is perpendicular to the plane of the operation console, and the upper display screen is tilted forward to form an angle with the connection with the lower display screen to facilitate viewing by operators.

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