Long-distance operation control system and method for heavy object salvage and recovery equipment based on NI cRIO

Abstract

The present invention discloses a long-distance operation control system and method for a heavy-duty salvage and recovery device based on NI cRIO. The device comprises an underwater controller module, a surface operation control input module, an underwater equipment operation control module, a hydraulic system control module, an auxiliary operation control module, an automatic directional positioning control module, an underwater status data monitoring module, and a data storage and status warning module. With the NI cRIO controller as the center, a three-layer control structure is designed hierarchically, comprising a surface control console, a host computer server, and an underwater salvage and recovery controller. The surface control console implements control input and data display, the host computer server implements the transfer and synchronization of control commands and status data, and the underwater salvage and recovery controller executes the onboard equipment controller, motion controller, clamp controller, hoisting frame controller, and hydraulic pump controller. The controller has functions such as manual / automatic control switching, real-time status monitoring, and long-distance data transmission, making heavy-duty salvage and recovery operations more intelligent and information-based.

Description

Technical Field

[0001] The present invention relates to underwater salvage and recovery device control technology, and in particular to a long-distance operation control system and method for heavy-duty salvage and recovery devices based on NI cRIO. Background Art

[0002] In recent years, countries around the world have been exploring the ocean more and more frequently, and the sinking of various products is inevitable. At the same time, sinking also occurs frequently during the development stage of underwater products. Therefore, the demand for salvaging and recovering sunken products is increasing. The control system of the salvage and recovery device determines the efficiency and quality of the overall salvage and is the most core part.

[0003] At present, the control systems and methods for salvaging objects of conventional shapes and conventional weights have become mature, but the accurate control of the salvage and recovery of heavy objects still faces many problems: (1) The salvage of heavy objects requires special heavy salvage and recovery equipment, which puts higher requirements on the control accuracy of the control system; (2) The operation control of the clamps, hoisting frames, underwater equipment, etc. of the heavy object salvage equipment requires the formulation of control strategies with higher real-time, reliability and certainty; (3) The existing salvage and recovery control system has a low degree of informatization. The heavy salvage and recovery equipment contains a large number of onboard equipment and electronic cabins, and the status data should be monitored in real time to provide surface workers with more comprehensive underwater information to make the operation more intelligent and information-based. Summary of the Invention

[0004] To address the shortcomings and drawbacks of the aforementioned prior art, the present invention provides a long-distance operation control system and method for heavy-duty salvage and recovery equipment based on NI cRIO. This system enables high-precision control of operational controls, ensures reliable system control stability, reliability, and timeliness, and makes heavy-duty salvage and recovery operations more intelligent and information-based. Specifically, the present invention is implemented as follows:

[0005] A long-distance operation and control system for heavy-duty salvage and recovery equipment based on NI cRIO is characterized by comprising a surface control console, a host computer server, and an underwater salvage and recovery controller. The surface control console includes a first control console and a second control console, which are used to implement control input and data display. The host computer server implements the transfer and synchronization of control commands and status data. The underwater salvage and recovery controller includes a control electronics compartment, an optical electronics compartment, a thruster control valve compartment, a general control valve compartment, a hydraulic pump control valve compartment, an underwater motor, an oil tank, a transformer compartment, a compensator, and onboard underwater observation, detection, and navigation equipment (underwater lights, a pan-tilt platform, underwater cameras, an altimeter, a depth gauge, a sonar, and an integrated navigation system), actuators (thrusters, clamps, a hoisting frame, and a hydraulic pump), and an NI cRIO controller. Each component is connected to the NI cRIO controller, which centrally controls underwater operations.

[0006] Furthermore, the control system functional components include NI cRIO underwater controller module, surface operation control input module, underwater equipment operation control module, hydraulic system control module, auxiliary operation control module, directional positioning automatic control module, underwater status data monitoring module, data storage and status warning module; Among them: NI The cRIO underwater controller module, as the core of the salvage and recovery device control system, is used for data communication with the surface, control execution of the underwater salvage and recovery device, and dispatching the underwater modules to work together; the surface operation control input module is used for operators to give corresponding operation commands at the surface control console, and transmit them to the underwater controller module in real time through the host computer server; the underwater equipment operation control module is connected to the underwater optical electronic cabin and the control electronic cabin, and is used to complete the power switch control of the observation, detection, navigation equipment and hydraulic system valve cabin carried by the salvage and recovery device, underwater light power adjustment control, underwater pan-tilt operation control, and underwater combined navigation system operation control; the hydraulic system control module, including the motion controller, clamp controller, hoisting frame controller, and hydraulic pump controller, is used to complete the overall motion control of the device, the opening and closing control of the device clamp, the extension and retraction control of the device hoisting frame, and the pressure setting control of the hydraulic pump; the auxiliary operation control module is used to complete the gear control of the system The module combines high and low gears to achieve fine-tuning of the control volume to varying degrees of precision: 50% control is given in low gear, and 100% in high gear. To prevent confusion when operating the left and right control consoles on the surface, the module also has an authority control function, and relevant control can only be performed when authorized. The automatic directional positioning control module realizes automatic orientation during the operation of the salvage and recovery device, facilitating rapid navigation to a fixed area. At the same time, the module also has an automatic positioning function, which can hover the entire device in a certain area for fixed-point searches, thereby improving salvage and recovery efficiency. The underwater status data monitoring module is used to monitor the temperature, insulation, humidity and other status data of the control and optical electronic cabin; the navigation data such as the heading angle, attitude, depth, altitude, movement speed of the entire device; the status data such as the temperature, pressure, and leakage of the hydraulic system; and the communication status data of various underwater equipment, sensors, cabins and controllers. The underwater controller feeds the above data back to the surface for observation by operators. The data storage and status warning module includes a historical status data table, a current status data table, and a status warning table. It is used for data recording, storage, and query, and issues warnings based on underwater temperature, humidity, insulation, leakage, pressure data, communication status, and other data, providing alarm information to operators.

[0007] Another aspect of the present invention provides a method for controlling long-distance operation of a heavy object salvage and recovery device based on NI cRIO, comprising the following steps:

[0008] S1. Operation control command input. According to the surface control panel input module, the control input commands are divided into intermittent commands and continuous commands. Intermittent commands include switch commands, power adjustment commands, authority commands, and pressure pump pressure setting commands; continuous commands include motion control, clamp opening and closing, hoisting frame extension and retraction commands, and pan-tilt control commands. Continuous commands are only valid when authorized.

[0009] S2. Intermittent control command parsing. The underwater controller completes the corresponding power switch control, underwater light dimming control, gear adjustment control, directional positioning switch control, directional positioning fine-tuning switch control, directional positioning fine-tuning control command, and pressure pump pressure setting command parsing according to the command content, and synchronizes data and issues commands to the left and right control consoles through the host computer server.

[0010] S3. Continuous control command analysis: Based on the continuous command and the corresponding operation authority, the control quantity analysis and conversion of motion control, clamp control, hoisting frame control, and pan / tilt control are completed.

[0011] S4. Controller execution. The controller controls the observation, detection, and navigation equipment according to the power switch and power adjustment commands of the equipment. It performs manual and directional positioning automatic control of the salvage and recovery device according to the motion control commands. It performs manual / automatic control of the opening and closing and locking of the salvage and recovery device clamp according to the clamp control amount. It performs manual control of the extension and locking of the salvage and recovery device hoisting frame according to the hoisting frame control amount.

[0012] S5. Underwater status data processing: data collection, storage, display and warning are realized according to the underwater status data monitoring module, data storage and status warning module.

[0013] The working principle and beneficial effects of the present invention are introduced as follows: With the NI cRIO controller as the center, the present invention has designed a three-layer control structure consisting of a surface control console, a host computer server, and an underwater salvage and recovery controller. The surface control console realizes control input and data display, the host computer server realizes the transfer and synchronization of control commands and status data, and the underwater salvage and recovery controller executes the onboard equipment controller, motion controller, clamp controller, hoisting frame controller, and hydraulic pump controller, and has functions such as manual / automatic control switching, real-time status monitoring, and long-distance data transmission, making heavy object salvage and recovery operations more intelligent and information-based. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the hardware composition of the long-distance operation control system for heavy object salvage and recovery equipment;

[0015] Figure 2 This is a schematic diagram of the system composition of the long-distance operation control system for heavy object salvage and recovery equipment;

[0016] Figure 3 A flow chart of a long-distance operation control method for a heavy object salvage and recovery device;

[0017] Figure 4 This is a flow chart for inputting operation control commands in a long-distance operation control method for a heavy object salvage and recovery device;

[0018] Figure 5 This is a flow chart for parsing intermittent control commands in the long-distance operation control method of heavy object salvage and recovery equipment;

[0019] Figure 6 This is a flowchart for analyzing the continuous control commands in the long-distance operation control method of the heavy object salvage and recovery device;

[0020] Figure 7 This is a flowchart of the controller execution in the long-distance operation control method of the heavy object salvage and recovery device;

[0021] Figure 8 This is a flow chart of the axial controller in the long-distance operation control method of the heavy object salvage and recovery device;

[0022] Figure 9 This is a flow chart of the lateral controller in the long-distance operation control method of the heavy object salvage and recovery device;

[0023] Figure 10 This is a flow chart of the bow controller in the long-distance operation control method of the heavy object salvage and recovery device;

[0024] Figure 11 This is a flow chart of the speed controller in the long-distance operation control method of the heavy object salvage and recovery device;

[0025] Figure 12 This is a flow chart of underwater data processing in the long-distance operation control method of heavy object salvage and recovery equipment. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0027] Example 1: A long-distance operation control system for heavy-duty salvage and recovery equipment based on NI cRIO:

[0028] The hardware components of the control system are as follows Figure 1As shown, it includes a surface control console, a host computer server, and an underwater salvage and recovery controller. The surface control console includes a first control console and a second control console, which are used to implement control input and data display. The host computer server realizes the transfer and synchronization of control commands and status data. The underwater salvage and recovery controller includes a control electronics compartment, an optical electronics compartment, a thruster control valve compartment, a general control valve compartment, a hydraulic pump control valve compartment, an underwater motor, an oil tank, a transformer compartment, a compensator, and underwater observation, detection, and navigation equipment (underwater lights, a pan-tilt platform, an underwater camera, an altimeter, a depth gauge, a sonar, and an integrated navigation system), actuators (thrusters, clamps, a hoisting frame, a hydraulic pump), and an NI cRIO controller. Each part is connected to the NI cRIO controller, and the controller performs unified underwater operation control.

[0029] Preferably, the control system functional composition diagram is as follows Figure 2 As shown, it includes NI cRIO underwater controller module, surface operation control input module, underwater equipment operation control module, hydraulic system control module, auxiliary operation control module, directional positioning automatic control module, underwater status data monitoring module, and data storage and status warning module.

[0030] The NI cRIO underwater controller module, as the core of the salvage and recovery device control system, is used for data communication with the surface, control and execute the underwater salvage and recovery device, and coordinate the coordinated work of various underwater modules.

[0031] Among them, the surface operation control input module is used for operators to give corresponding operation commands at the surface control console, and transmit them remotely to the underwater controller module in real time through the host computer server;

[0032] Among them, the underwater equipment operation control module is connected to the underwater optical electronic cabin and the control electronic cabin, and is used to complete the power switch control of the observation, detection, navigation equipment and hydraulic system valve cabin carried by the salvage and recovery device, the power adjustment control of the underwater light, the underwater pan-tilt operation control, and the underwater integrated navigation system operation control;

[0033] Among them, the hydraulic system control module includes a motion controller, a clamp controller, a hoisting frame controller, and a hydraulic pump controller, which are used to complete the overall motion control of the device, the opening and closing control of the device clamp, the extension and retraction control of the device hoisting frame, and the pressure setting control of the hydraulic pump;

[0034] The auxiliary operation control module is used to complete the gear control of the system, combining high and low gears to achieve different degrees of precise control adjustment. To prevent confusion when operating the first and second control consoles on the surface, the module also has an authority control function. Only those with authority can perform relevant controls.

[0035] The automatic directional positioning control module enables the salvage and recovery device to orient itself automatically during operation, facilitating rapid navigation to a fixed area. The module also features an automatic positioning function that allows the device to hover over a specific area for a targeted search, improving salvage and recovery efficiency.

[0036] Among them, the underwater status data monitoring module is used to monitor the temperature, insulation, humidity and other status data of the control and optical electronic cabin, the navigation data such as the heading angle, attitude, depth, altitude, movement speed of the entire device, the temperature, pressure, leakage and other status data of the hydraulic system, and the communication status data of various underwater equipment, sensors, cabins and controllers. The underwater controller feeds the above data back to the water surface for observation by operators.

[0037] Among them, the data storage and status warning module, including the historical status data table, the current status data table, and the status warning table, is used for data recording, storage, and query, and issues warnings based on underwater temperature, humidity, insulation, leakage, pressure data, communication status, and other data, providing alarm information to operators.

[0038] The NI cRIO underwater controller module's NI cRIO controller is preferably installed in the underwater control electronics cabin and includes an RT 9036 controller and an 8-slot FPGA chassis equipped with seven 9871s and one 9021. The controller is used to perform functions such as data transmission, communication, and motion control algorithms. The 9871 is a 485 / 422 data communication interface for data exchange between various sensors, equipment, the cabin, and the controller. The 9201 is used to collect real-time underwater voltage monitoring data.

[0039] Preferably, the surface operation control input module includes a left control console, a right control console, and a host computer server. The left and right control consoles have completely identical functions and serve as backups for each other, thereby improving the overall fault tolerance of the control system. The host computer server is used to communicate with the control consoles to achieve control command transfer, synchronization, and issuance.

[0040] Preferably, the output of the motion controller in the hydraulic system control module acts on the thruster control valve compartment, which is used to drive eight sets of proportional valves to control the forward and reverse rotation of the four thrusters (left front, right front, right rear, and left rear), achieving forward, backward, left turn, right translation, left translation, and stop motion control of the entire device. It is also connected to the automatic directional positioning control module to achieve automatic control of heading and position maintenance. The output of the clamp controller and the hoisting frame controller acts on the general control valve compartment, which drives eight sets of proportional valves to achieve opening and closing control of the device clamp and latch, and extension and retraction control of the hoisting frame and latch. Based on the displacement feedback of the actuator, automatic opening and closing feedback control of the clamp and latch is achieved. The output of the hydraulic pump controller acts on the hydraulic pump control valve compartment, which drives two sets of proportional valves to set the pressure value of the hydraulic system.

[0041] Preferably, the authority control function of the auxiliary operation control module is divided according to the operation panel: 5 authorities including device motion operation control, clamp operation control, hoisting frame operation control, pan-tilt 1 operation control, and pan-tilt 2 operation control. Each control panel can only perform the operation control of the function when it has the control authority, and has the function of applying for and revoking authority.

[0042] Preferably, the gear control function of the auxiliary operation control module is given a control amount of 50% when in a low gear and 100% when in a high gear.

[0043] Preferably, the directional positioning automatic control module also includes directional and positioning fine-tuning functions, and is provided with a fine-tuning switch, which is automatically controlled according to the fine-tuning value. When the fine-tuning switch is turned off, the current state is automatically maintained, which is beneficial to the positioning of heavy objects in the salvage and recovery process.

[0044] Example 2: A long-distance operation control method for a heavy object salvage and recovery device based on NI cRIO

[0045] The flow chart of this method is as follows Figure 3 As shown, it includes operation control command input S1, intermittent control command analysis S2, continuous control command analysis S3, controller execution S4, and underwater state data processing S5.

[0046] Preferably, during the operational control command input (S1), the control input commands are divided into intermittent and continuous commands based on the surface console input module. Intermittent commands include on / off commands, power adjustment commands, permission commands, and pressure pump pressure setting commands. Continuous commands include motion control, clamp opening / closing, hoist frame extension / extension commands, and pan / tilt control commands. Continuous commands are valid only when permission is granted. During intermittent control command parsing (S2), the underwater controller parses the corresponding power on / off control, underwater light dimming control, gear adjustment control, directional positioning switch control, directional positioning fine-tuning switch control, directional positioning fine-tuning control commands, and pressure pump pressure setting commands based on the command content. These commands are synchronized and relayed between the left and right consoles via the host computer server. All commands are cached in a network shared variable with a FIFO buffer mechanism to ensure that the controller does not miss any command, achieving deterministic control. During continuous control command parsing (S3), the control variables for motion control, clamp control, hoist frame control, and pan / tilt control are parsed and converted based on the continuous command and the corresponding operation permission. S4: Controller execution, including: motion controller, clamp controller, hoisting frame controller, hydraulic pump controller, and onboard equipment controller. The onboard equipment controller controls observation, detection, and navigation equipment based on equipment power on / off and power adjustment commands. Based on motion control commands, the motion controller performs manual and automatic directional positioning control of the salvage and recovery equipment. Based on clamp control values, the clamp controller performs manual / automatic opening, closing, and locking control of the salvage and recovery equipment clamp. Based on hoisting frame control values, the hoisting frame controller performs manual extension and locking control of the salvage and recovery equipment hoisting frame. Based on pressure setting commands, the hydraulic pump controller performs pressure control. Underwater status data processing S5: Data acquisition, storage, display, and early warning are implemented based on the underwater status data monitoring module and the data storage and status warning module.

[0047] Preferably, the main process of inputting the operation control command is as follows Figure 4 As shown, it includes left and right console command input S10, host computer server receiving control command S11, adding command to FIFO queue S12, reading FIFO queue S13, and processing control command S14.

[0048] Preferably, the intermittent control command parsing flow chart is as follows: Figure 5 As shown, it includes a switch command S20, a power adjustment command S21, a gear control command S22, a fine-tuning control command S23, an authority command S24, and a pressure setting command S25.

[0049] The switch commands include power switch control of all equipment and cabins carried by the salvage and recovery device, positioning switch, positioning fine-tuning switch, directional switch, directional fine-tuning switch, and automatic opening and closing switch of the clamp;

[0050] Among them, the power adjustment commands include underwater light power adjustment, positioning front and back fine-tuning value, positioning left and right fine-tuning value, directional fine-tuning value, and automatic opening and closing position of the clamp;

[0051] Among them, the gear control command sets two gears, high and low, corresponding to the control amount of the overall motion control of the device, clamp opening and closing, lifting frame extension and extension, and pan / tilt rotation;

[0052] Among them, the authority command is used to control the control authority of the left and right consoles. Only when you have the authority can you perform the corresponding operation;

[0053] The pressure setting commands include 190 pressure pumps and 45 pressure pumps.

[0054] Preferably, the continuity control command parsing process is as follows Figure 6 As shown, it includes pan / tilt rotation operation control S30, device overall motion control S31, clamp opening and closing control S32, and hoist frame extension and retraction control S33. The commands are sequentially parsed into corresponding control modes and control quantities.

[0055] Preferably, the controller executes the process as follows Figure 7 As shown, it includes a mounted device controller S40, a device motion controller S41, a clamp controller S42, a hoisting frame controller S43, and a hydraulic pump controller S44. The specific implementation is as follows:

[0056] Furthermore, equipped with the device controller S40, the NI cRIO controller controls the underwater relay on and off according to the switch command to achieve power on / off control, controls the voltage of the underwater light according to the power control command, and controls the forward, backward, left, and right rotation according to the pan / tilt rotation command.

[0057] Among them, the power switch controls 2 sets of pan-tilt heads, 8 sets of underwater cameras, 10 underwater lights, hydraulic system cabins, altimeter, depth gauge, integrated navigation, and sonar.

[0058] Furthermore, the device motion controller S41 includes an axial controller, a lateral controller, a heading controller, and a speed controller, which realizes motion control according to the controller output and a thrust distribution algorithm (such as a pseudo-inverse method).

[0059] Furthermore, the axial controller implements remote cable-controlled motion control, forward positioning, and fine-tuning of the salvage and recovery device in the forward and aft directions. Based on the control command, if the control mode is remote cable control, the axial control variable in the control command is converted into an axial thruster control variable output. If the control mode is positioning control, forward positioning control is performed based on feedback from the integrated navigation system, and the control variable output by the axial controller is converted into an axial thruster control variable output.

[0060] The specific control process of the axial controller is as follows: Figure 8 As shown in the figure, in manual control mode, the axial control variable in the control command is converted to the control variable, thereby controlling forward and backward motion. The speed of motion depends on the size of the axial motion control variable. In positioning mode, the axial PID controller performs deviation feedback control based on the set value of the axial position and the actual position data returned after data fusion from the integrated navigation system, so that the control device stabilizes at the positioning point.

[0061] Furthermore, the lateral controller implements remote cable-controlled motion control, lateral positioning, and fine-tuning of the salvage and recovery device in the left and right directions. Based on the control command, if the control mode is remote cable control, the lateral control variable in the control command is converted into a lateral thruster control variable output. If the control mode is positioning control, lateral positioning control is performed based on feedback from the integrated navigation system, and the control variable output by the lateral controller is converted into a lateral thruster control variable output.

[0062] The specific control process of the horizontal controller is as follows: Figure 9 As shown in the figure, in manual control mode, the lateral control variable in the control command is converted to the control variable, thereby controlling left and right motion. The speed of motion depends on the size of the lateral control variable. In positioning mode, the lateral PID controller performs deviation feedback control based on the set value of the axial position and the actual position data returned after fusion of the integrated navigation system data, so that the control device stabilizes at the positioning point.

[0063] Furthermore, the heading controller is used to realize the remote cable-controlled motion control, orientation and fine-tuning control of the salvage and recovery device in turning left and right.

[0064] The specific control process of the heading motion controller is as follows: Figure 10 As shown in the figure, in manual control mode, the heading control variable in the control command is converted into the corresponding control variable, controlling the device to turn left or right. In directional control mode, the controller output is provided by two control loops: the angular velocity control loop and the angle control loop. The angular velocity control loop's desired angular velocity value is the heading angle deviation, stabilizing the device at the directional control point. The angle control loop performs deviation feedback control based on the set heading angle and the current actual heading angle data. The magnitude of the control variable is positively correlated with the deviation between the heading angle and the set heading value.

[0065] Furthermore, due to the nonlinear and hysteresis characteristics of the hydraulic system, it is necessary to design a speed controller to make the control more stable. The propeller speed controller is as follows: Figure 11 As shown in the figure, the thrust obtained after thrust distribution is converted into the desired speed, and then the speed PID feedback control is performed in combination with the feedback speed value, and the obtained control amount is converted into the output thrust value.

[0066] Furthermore, the clamp controller S42 includes manual and automatic controllers for the clamp and latch. Specific implementations are as follows:

[0067] Among them, the manual opening and closing controller drives the universal control valve cabin according to the control mode and movement speed control amount, and then controls the output of 4 groups of proportional valves to realize the opening and closing control of the clamp and the clamp pin.

[0068] Among them, the automatic opening and closing controller is used for automatic opening and closing of the clamp and latch. When in this mode, the controller collects the stroke value of the stroke mechanism in real time, converts it into feedback for the opening and closing control of the clamp and latch, and performs feedback control such as PID algorithm with the given stroke position, so that it can automatically open and close to a certain position.

[0069] Furthermore, the hoisting frame controller S43 is used to manually complete the manual extension and retraction of the hoisting frame and the latch, and drives the universal control valve cabin according to the control mode and movement speed control amount, thereby controlling the output of the four sets of proportional valves to achieve extension and retraction control.

[0070] Furthermore, the underwater status data processing process is as follows Figure 12 As shown, it includes underwater status data collection S50, underwater status data display S51, underwater status data display S52, and underwater status data early warning S53.

[0071] The underwater status data includes electronic cabin data, hydraulic system data, navigation data (depth, altitude, heading, attitude, speed, acceleration, longitude and latitude, etc.), underwater equipment communication status data (depth gauge, altimeter, inertial navigation, pan-tilt 1, pan-tilt 2, thruster valve cabin, general valve cabin, pump control valve cabin, underwater motor, fuel tank, transformer cabin, compensator), and pan-tilt attitude data.

[0072] Among them, underwater status data storage realizes data recording and query by establishing historical status data table, current status data table and status warning table;

[0073] Among them, underwater status data warnings include four categories: underwater equipment power warning, electronic compartment status warning, hydraulic system status warning, and underwater equipment communication warning. Furthermore, power warning has the highest priority, and other status data warning functions will only be performed after the power is turned on.

[0074] Among them, the electronic cabin warning variables include: temperature, humidity, water leakage, insulation, and voltage; the hydraulic system warning variables include: temperature, pressure, and leakage; the communication warning variables include: whether the communication is normal; and the power supply warning variables include: power on status.

[0075] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A long-distance operation control method for heavy-duty salvage and recovery equipment based on NI cRIO, characterized by The steps include: S1, operation control command input, according to the surface operation control input module, the control input command is divided into intermittent command and continuous command; S2. Intermittent control command parsing: The NI cRIO controller completes the corresponding power switch control, underwater light dimming control, gear adjustment control, directional positioning switch control, directional positioning fine-tuning switch control, directional positioning fine-tuning control command, and pressure pump pressure setting command parsing according to the command content, and synchronizes data and issues commands to the first and second control consoles through the host computer server; S3. Continuous control command analysis: Based on the continuous command and the corresponding operation authority, the control quantity analysis and conversion of motion control, clamp control, hoisting frame control, and pan / tilt control are completed; S4, controller execution. The NI cRIO controller controls the observation, detection, and navigation equipment according to the equipment power on / off and power adjustment commands. It also controls the manual and automatic directional positioning of the salvage and recovery equipment according to the motion control commands. It also controls the opening, closing, and locking of the salvage and recovery equipment clamps according to the clamp control values. It also controls the extension and locking of the hoist frame according to the hoist frame control values. S5. Underwater status data processing: data collection, storage, display and warning are realized according to the underwater status data monitoring module, data storage and status warning module.

2. The long-distance operation control method of the heavy object salvage and recovery device according to claim 1 is characterized in that: The underwater status data storage in step S5 includes a historical status data table, a current status data table, and a status warning table; The status warning module in step S5 includes four categories: underwater equipment power warning, electronic compartment status warning, hydraulic system status warning, and underwater equipment communication warning. The power warning has the highest priority. Only when the power is turned on will other status data warning functions be performed; The electronic cabin status warning includes: temperature, humidity, water leakage, insulation, and voltage; the hydraulic system status warning includes: temperature, pressure, and leakage; the underwater equipment communication warning includes: whether the communication is normal; the underwater equipment power supply warning includes: power on status.

3. The system constructed by the long-distance operation control method of heavy object salvage and recovery device according to claim 1 is characterized in that: The system consists of: Surface control console, used for control input and data display; The host computer server is used to transfer and synchronize control commands and status data; The underwater salvage and recovery controller includes an electronics control cabin, an NI cRIO controller, and an integrated control cabin group. Both the electronics control cabin and the integrated control cabin group are connected to the NI cRIO controller, which centrally controls underwater operations. The integrated control cabin group controls the hardware components of the entire heavy-duty salvage and recovery device. The control system functional group includes: NI cRIO underwater controller module, which is the core of the control system and is used for data communication with the water surface, control and execution of underwater salvage and recovery equipment, and scheduling the coordinated work of various underwater modules.

4. The system according to claim 3, characterized in that The control system functional group also includes: The surface operation control input module is used by operators to give corresponding operation commands at the surface control console, and transmit them remotely to the NI cRIO underwater controller module in real time through the host computer server; The underwater equipment operation control module is connected to the underwater optical electronic cabin and the control electronic cabin, and is used to complete the power switch control of the observation, detection, navigation equipment and hydraulic system valve cabin carried by the salvage and recovery device, the power adjustment control of the underwater light, the operation control of the underwater pan-tilt platform, and the operation control of the underwater integrated navigation system; The hydraulic system control module includes a motion controller, a clamp controller, a hoisting frame controller, and a hydraulic pump controller, which are used to control the overall motion of the device, the opening and closing of the clamp, the extension and retraction of the hoisting frame, and the pressure setting of the hydraulic pump. The auxiliary operation control module is used to complete the gear control of the system, combining high and low gears to achieve different degrees of precise control amount fine-tuning. When in low gear, 50% of the control amount is given, and in high gear, 100% is given; The automatic directional positioning control module enables automatic orientation of the salvage and recovery device during operation, facilitating rapid navigation to a fixed area. The module also has an automatic positioning function, allowing the device to hover over a specific area for a fixed-point search, improving salvage and recovery efficiency. The underwater status data monitoring module monitors the temperature, insulation, and humidity status of the control and optical electronics compartments; the overall navigation data on the device's heading angle, attitude, depth, altitude, and speed; the temperature, pressure, and leakage status of the hydraulic system; and the communication status of underwater equipment, sensors, the compartment, and the NI cRIO controller. The NI cRIO controller feeds this data back to the surface for easy observation by operators. The data storage and status warning module includes a historical status data table, a current status data table, and a status warning table. It is used for data recording, storage, and query, and issues warnings based on underwater temperature, humidity, insulation, leakage, pressure data, and communication status data, providing alarm information to operators.

5. The system according to claim 4, characterized in that It is characterized by: The integrated control cabin assembly includes: an optical electronics cabin, a thruster control valve cabin, a general control valve cabin, a hydraulic pump control valve cabin, an underwater motor, an oil tank, a transformer cabin, a compensator, and underwater observation, detection, and navigation equipment and actuators. Each component is connected to the NI cRIO controller, which performs unified underwater operation control. Said navigation equipment includes underwater lights, pan / tilt platforms, underwater cameras, altimeters, depth gauges, sonars and integrated navigation systems; The actuator includes a propeller, a clamp, a hanging frame and a hydraulic pump.

6. The system according to claim 3, wherein: The NI cRIO underwater controller module's NI cRIO controller is installed in the underwater control electronics cabin and includes an RT 9036 controller and an FPGA chassis. The FPGA chassis is equipped with a communication interface and a voltage monitor. The RT 9036 controller is used to perform data transmission, communication, and motion control algorithm functions. The communication interface is a 485 / 422 data communication interface for completing data exchange between various sensors, equipment, cabins, and the RT 9036 controller. The voltage monitor is used to collect underwater voltage monitoring data in real time.

7. The system according to claim 4, wherein: The surface operation control input module includes a first control console, a second control console, and a host computer server. The functions of the first and second control consoles are completely consistent and they back up each other, thereby improving the overall fault tolerance of the control system. The host computer server is used to communicate with the control console to realize the transfer, synchronization, and issuance of control commands. In order to prevent confusion during the operation of the first and second control consoles on the surface, the module also has an authority control function, and relevant controls can only be performed when the authority is obtained.

8. The system according to claim 4, wherein: The output of the motion controller in the hydraulic system control module acts on the thruster control valve cabin to control the forward, backward, left turn, right turn, left translation, right translation, and stop movement of the entire device, and is connected to the directional positioning automatic control module to achieve automatic control of heading and position maintenance; The output of the clamp controller and the hoisting frame controller acts on the universal control valve cabin, which drives the proportional valve to realize the opening and closing control of the device clamp and latch, the extension and retraction control of the hoisting frame and latch, and realizes the automatic opening and closing feedback control of the clamp and latch based on the displacement feedback of the actuator; The output of the hydraulic pump controller acts on the hydraulic pump control valve cabin, and sets the pressure value of the hydraulic system by driving two sets of proportional valves.

9. The system according to claim 4, wherein: The authority control function of the auxiliary operation control module is divided according to the operation panel: 5 authorities: device motion operation control, clamp operation control, hoisting frame operation control, No. 1 pan-tilt operation control, and No. 2 pan-tilt operation control. Each surface control console can only perform the operation control of this function when it has the control authority, and has the function of applying for and revoking authority.

10. The system according to claim 4, wherein: The directional positioning automatic control module also includes directional and positioning fine-tuning functions, and is equipped with a fine-tuning switch to automatically control according to the fine-tuning value. When the fine-tuning switch is turned off, the current state is automatically maintained, which is beneficial to the positioning of heavy objects during the salvage and recovery process.

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