Steering deep-sea equipment precise laying device and its laying equipment method

Abstract

The application provides a rudder control deep sea equipment precise laying device and a method for laying the equipment, wherein the device comprises a center control mechanism, a rudder blade, a rotating shaft, a ring frame, a steel wire rope and a grab hook; the center control mechanism comprises a control module, a compass, an ultra-short baseline positioning system, an inertial navigation system, a battery and a transmission device connected with the control module; the rudder blade is fixed on the rotating shaft and is pivoted in the ring frame through the rotating shaft; the rotating shaft is pivoted on the center control mechanism and is drivingly connected with the transmission device; and the grab hook is arranged at the bottom of the center control mechanism and is connected with the control module. The rudder control deep sea equipment precise laying device and the method for laying the equipment can utilize the lowering speed in the laying process, control the laying position through the rudder blade, greatly reduce the cost of the deep sea laying equipment compared with the ROV laying, simplify the laying process, and effectively adjust the position of the equipment in the laying process compared with the steel wire rope hoisting mode, so that the equipment can be precisely laid on the seabed.

Description

Technical Field

[0001] This invention relates to the field of deep-sea equipment deployment devices, and in particular to a rudder-controlled deep-sea equipment precision deployment device and a method for deploying the same. Background Technology

[0002] Deep-sea operations, such as the deployment of seabed observation networks and detection instruments, require precise placement of equipment on the seabed. Some foreign countries, such as the United States, Canada, and Norway, use technologically mature operational ROVs for precise deployment. my country only began its foray into the ROV field in the late 1970s, and its work has largely focused on scientific research, resulting in a significant gap compared to foreign countries. Since 1985, China has successively developed operational ROVs such as "Hai Ren-1," "Hai Long-2," "Hai Ma," and "Hai Xing 6000," and in 2009, it introduced the "Hai Shi" ROV, conducting operations such as heat flow probe deployment. Overall, China's ROV diving depths are comparable to international levels, and it possesses overall ROV manufacturing and integration capabilities. However, some key components, such as umbilical cables, cannot be produced domestically, preventing the widespread application of operational ROV deployment in China. Currently, China typically uses a crude method of lowering underwater equipment to the seabed using steel wire ropes for release. Due to the conditions of deep-sea operations, the steel cable sling method involves steel cables that are thousands of meters long. Under the combined influence of swells and currents, the underwater equipment can swing by tens of meters, making precise, fixed-point deployment impossible. Wang Shuchu and Zhang Fei used an observation-type ROV to establish an absolute position benchmark near the seabed, establishing a relative positional relationship between the ROV and the equipment. They then adjusted the vessel's position using its dynamic positioning system, changing the location of the underwater equipment before releasing it precisely to the seabed.

[0003] Overseas, work-class ROVs are used to deploy equipment on the seabed. The fiber-optic composite cable connecting the ROV is not only expensive to manufacture, but also becomes very heavy when its length reaches several kilometers, and the cable itself experiences enormous tensile forces. Powering the ROV via the fiber-optic composite cable and then using a propeller for position adjustment is risky and has low energy efficiency. Deploying equipment using work-class ROVs is not only very costly, but also has low energy efficiency and carries significant risks during construction.

[0004] Currently, the implementation of wire rope hoisting equipment in China requires the assistance of observation-type ROVs, which is a relatively complex process. In addition, the position of the equipment is adjusted by adjusting the position of the construction vessel, which is a relatively simple adjustment method and a slow process, as the equipment itself does not have adjustment capabilities.

[0005] Offshore / seabed operations often require the precise deployment of equipment to designated locations on the seabed. During deployment, external factors such as ocean currents and swells can significantly impact the accuracy of the equipment's placement, especially in deep-sea areas where precise deployment is a major challenge. Currently, two common deployment methods exist: one is using a custom-designed ROV to precisely place the equipment on the seabed; the other is using steel cables to lower the equipment to the seabed, adjusting the position of the deployment vessel accordingly. The first method has several limitations. Firstly, ROVs have limited load-bearing capacity; deploying heavy equipment requires a massive ROV, and the deep-water armored optical cables capable of supporting such loads are several times heavier than steel cables capable of the same load. Secondly, the manufacturing cost and technical requirements for these work-class ROVs are relatively high, and the propeller-based position adjustment during deployment consumes a significant amount of energy, resulting in low energy efficiency. The second method requires the use of an observation-type ROV, with the deployment vessel adjusting the equipment's position, further increasing the difficulty and complexity of the operation. Summary of the Invention

[0006] To address the shortcomings of the existing technology, this invention provides a rudder-controlled deep-sea equipment precision deployment device and a method for deploying the equipment. It can utilize the lowering speed during the deployment process and control the deployment position through rudder control. Compared with ROV deployment, it greatly reduces the cost of deep-sea deployment equipment and simplifies the deployment process. At the same time, compared with the wire rope hoisting method, it can effectively adjust the position of the equipment during the deployment process and accurately deploy the equipment to the seabed.

[0007] To achieve the above objectives, the present invention provides a rudder-controlled deep-sea equipment precision deployment device, comprising a central control mechanism, four rudder blades, four rotating shafts, an annular frame, a steel wire rope, and a grappling hook; the central control mechanism includes a control module and a compass, an ultra-short baseline positioning system, an inertial navigation system, a battery, and multiple transmission devices connected to the control module; the rudder blades are fixed to the rotating shafts and pivotally connected to the annular frame through a first end of the rotating shaft; the second end of the rotating shaft is pivotally connected to the central control mechanism and is drively connected to the transmission devices, and the rudder blades are evenly distributed on the outer periphery of the central control mechanism; the central control mechanism is connected to an engineering vessel through the steel wire rope; the grappling hook is disposed at the bottom of the central control mechanism and connected to the control module.

[0008] Preferably, the transmission device is a servo motor.

[0009] A method for deploying a rudder-controlled deep-sea equipment precision deployment device based on the present invention includes the following steps:

[0010] S1: The grappling hook holds a target equipment, and the engineering vessel uses a crane at the deployment point to lift the rudder-controlled deep-sea equipment precision deployment device and the target equipment as a whole.

[0011] S2: Slowly lower the precision deployment device of the rudder-controlled deep-sea equipment until the precision deployment device of the rudder-controlled deep-sea equipment is completely submerged in the seawater;

[0012] S3: The engineering vessel quickly lays out the target equipment and adjusts the rotation and position of the target equipment by controlling the rotation of the rudder blade through the central control mechanism.

[0013] S4: After the target equipment reaches the designated position, the grappling hook opens and releases the target equipment to the seabed;

[0014] S5: Retrieve the rudder-controlled deep-sea equipment precision deployment device to prepare for the next deployment.

[0015] Preferably, in step S3:

[0016] The compass is used to detect whether the precision deployment device of the rudder-controlled deep-sea equipment has been twisted; when the precision deployment device of the rudder-controlled deep-sea equipment is twisted, the control module controls the transmission device to rotate part or all of the rudder blades to generate a torque that makes the precision deployment device of the rudder-controlled deep-sea equipment rotate in the opposite direction of the twist, thereby counteracting the rotation angle of the precision deployment device of the rudder-controlled deep-sea equipment itself.

[0017] Provided that the precision deployment device for the rudder-controlled deep-sea equipment does not twist, the ultra-short baseline positioning system is used to locate the device. When the ultra-short baseline positioning system detects that the position of the device has changed in the horizontal direction, the control module adjusts the rudder blades through the transmission device to move the device in the opposite direction, ensuring that the horizontal position error of the device remains within a preset range until the target equipment is lowered to the designated position on the seabed.

[0018] Because the present invention adopts the above technical solution, it has the following beneficial effects:

[0019] The compass detects whether the device is twisted; the ultra-short baseline positioning system is used to locate the device; the inertial navigation system is used to maintain the stability of the descent speed direction; the control module, based on feedback information from the compass and ultra-short baseline positioning system, changes the angle of attack of the rudder blades relative to the water flow through the transmission device, adjusting the device's torsional and horizontal positions.

[0020] The deployment device in this invention uses a control module that controls the rudder angle based on feedback information from a compass and an ultra-short baseline positioning system. This rudder angle generates thrust, thereby changing the device's position. The invention directly uses steel cables to suspend the device, significantly reducing the cable's weight. Using rudders to adjust the device's position reduces manufacturing costs and simplifies the principle. Controlling the rudders during descent requires only a small amount of energy and allows for flexible adjustment of the device's position. Compared to ROV deployment, this significantly reduces the cost of deep-sea deployment equipment and simplifies the deployment process. Furthermore, compared to steel cable sling deployment, it allows for effective adjustment of the device's position during deployment, ensuring precise placement on the seabed.

[0021] This invention utilizes the lowering speed during deployment, controlling the deployment equipment via a rudder. The rudder has a simple structure and mature performance. No ROV assistance is used during deployment, and the device can be quickly retrieved after successful deployment for the next deployment, significantly reducing costs. Minor adjustments to the rudder can produce significant adjustment capabilities, and deployment consumes almost no energy, resulting in low operating costs. Furthermore, compared to using engineering vessels to adjust the equipment position, rudder control allows for rapid response, enabling the equipment to move in any direction. This invention features a simple structure and principle, low manufacturing cost, minimal energy consumption, and allows for repeated deployment, further reducing operating costs. It also provides rapid and flexible equipment adjustment. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the precision deployment device for rudder-controlled deep-sea equipment according to an embodiment of the present invention;

[0023] Figure 2 This is a top view of the precision deployment device for rudder-controlled deep-sea equipment according to an embodiment of the present invention;

[0024] Figure 3 This is a front view of the precision deployment device for rudder-controlled deep-sea equipment according to an embodiment of the present invention;

[0025] Figure 4 A top view of the precision deployment device for rudder-controlled deep-sea equipment according to an embodiment of the present invention during torsional adjustment.

[0026] Figure 5 and Figure 6 This is a front view of the rudder-controlled deep-sea equipment precision deployment device during horizontal position adjustment, according to an embodiment of the present invention. Detailed Implementation

[0027] The following is based on the attached diagram. Figures 1-6 The present invention provides preferred embodiments and describes them in detail to enable a better understanding of the functions and features of the present invention.

[0028] Please see Figures 1-6An embodiment of the present invention provides a precision deployment device for deep-sea equipment controlled by a rudder, comprising a central control mechanism 5, four rudder blades 1, four rotating shafts 2, an annular frame 3, a steel wire rope 4, and a grappling hook 6. The central control mechanism 5 includes a control module and a compass, an ultra-short baseline positioning system, an inertial navigation system, a battery, and multiple transmission devices connected to the control module. The rudder blades 1 are fixed to the rotating shafts 2 and pivotally connected to the annular frame 3 through the first end of the rotating shafts 2. The second end of the rotating shafts 2 is pivotally connected to the central control mechanism 5 and is connected to the transmission devices, and the rudder blades 1 are evenly distributed on the outer periphery of the central control mechanism 5. The central control mechanism 5 is connected to an engineering vessel through the steel wire rope 4. The grappling hook 6 is located at the bottom of the central control mechanism 5 and connected to the control module.

[0029] The transmission system uses a servo motor.

[0030] A method for deploying a rudder-controlled deep-sea equipment precision deployment device based on an embodiment of the present invention includes the following steps:

[0031] S1: Grappling hook 6 holds a target equipment 7, and the engineering vessel uses a crane at the deployment point to lift the rudder-controlled deep-sea equipment precision deployment device and the target equipment 7 as a whole.

[0032] S2: Slowly lower the precision deployment device of the rudder-controlled deep-sea equipment until the precision deployment device of the rudder-controlled deep-sea equipment is completely submerged in the seawater.

[0033] S3: The engineering vessel quickly lays out the cable to deploy the target equipment 7 and adjusts the rotation and position of the target equipment 7 by controlling the rotation of the rudder 1 through the central control mechanism 5.

[0034] In step S3:

[0035] The compass is used to detect whether the precision deployment device of the rudder-controlled deep-sea equipment has been twisted; when the precision deployment device of the rudder-controlled deep-sea equipment is twisted, the control module controls the transmission device to rotate part or all of the rudder blades 1, so as to generate a torque that makes the precision deployment device of the rudder-controlled deep-sea equipment rotate in the opposite direction of the twist, thus counteracting the rotation angle of the precision deployment device of the rudder-controlled deep-sea equipment itself.

[0036] When the device is fully submerged below the sea surface and moving towards the seabed, the first step is to control the rudder blade 1 to ensure that the device itself does not twist or to eliminate the angle of rotation if it does twist. This is also a prerequisite for subsequent precise and effective rudder control.

[0037] Taking clockwise rotation of the device as an example, rotate the upper and lower rudder blades 1 by the same amount of angle clockwise and counterclockwise respectively, such as... Figure 4 As shown, the two rudder blades 1 experience equal and opposite forces, generating a torque that causes the device to rotate counterclockwise, thus counteracting the device's own rotation angle. Similarly, the rotation angle can be adjusted using either the left or right rudders, or all four rudders.

[0038] Provided that the precision deployment device of the rudder-controlled deep-sea equipment does not twist, the ultra-short baseline positioning system is used to locate the precision deployment device. When the ultra-short baseline positioning system detects that the position of the precision deployment device has changed in the horizontal direction, the control module adjusts the rudder blade 1 through the transmission device to move the precision deployment device in the opposite direction, so that the error of the horizontal position of the precision deployment device is always within a preset range until the target equipment 7 is lowered to the designated position on the seabed.

[0039] Generally speaking, ocean currents are the primary factor causing changes in the horizontal position of equipment. Taking a uniform ocean current flowing horizontally from left to right as an example... Figure 5 As shown, the ocean current exerts a force to the right on the device and target equipment 7. To compensate for the force generated by the ocean current, Figure 2 The upper and lower rudder blades 1 need to rotate clockwise to create a certain angle of attack with the water flow. The water flow exerts a horizontal force on the device that just compensates for the influence of the ocean current, thus adjusting the device's position onto a suitable trajectory. When the ocean current flows from right to left, Figure 2 The upper and lower rudder blades 1 need to rotate counterclockwise, as follows: Figure 6 As shown, when the ocean current direction is forward and backward, then it is necessary to... Figure 2 The left and right rudder blades 1 rotate accordingly. When there are ocean currents in the front, back, left and right directions, all four rudder blades 1 should rotate simultaneously to compensate for the influence of the ocean currents.

[0040] S4: After the target equipment 7 reaches the designated position, the grappling hook 6 opens and releases the target equipment 7 to the seabed;

[0041] S5: Recover the precision deployment device for the rudder-controlled deep-sea equipment and prepare for the next deployment.

[0042] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A method for deploying a precision deployment device for deep-sea equipment controlled by a rudder, characterized in that, The deployment device comprises a central control mechanism (5), four rudders (1), four rotating shafts (2), a ring-shaped frame (3), a steel wire rope (4) and a grab hook (6). The central control mechanism (5) comprises a control module, a compass, an ultra-short baseline positioning system, an inertial navigation system, a battery and a plurality of transmission devices. The rudders (1) are fixed on the rotating shafts (2) and are pivotally connected to the ring-shaped frame (3) through the first ends of the rotating shafts (2). The second ends of the rotating shafts (2) are pivotally connected to the central control mechanism (5) and are drivingly connected to the transmission devices. The rudders (1) are uniformly distributed on the periphery of the central control mechanism (5). The central control mechanism (5) is connected to an engineering ship through the steel wire rope (4). The grab hook (6) is arranged at the bottom of the central control mechanism (5) and is connected to the control module. The deployment method comprises the following steps: S1: The grab hook (6) clamps a target equipment (7). The engineering ship uses a crane to hoist the rudder-controlled deep-sea equipment precision deployment device and the target equipment (7) as a whole at a deployment point. S2: The rudder-controlled deep-sea equipment precision deployment device is slowly lowered until it is completely submerged in seawater. S3: The engineering ship quickly deploys the target equipment (7) by releasing the cable and adjusts the rotation of the target equipment (7) and the position of the target equipment (7) by controlling the rotation of the rudders (1) through the central control mechanism (5). S4: After the target equipment (7) reaches the specified position, the grab hook (6) is opened to release the target equipment (7) to the seabed. S5: The rudder-controlled deep-sea equipment precision deployment device is recovered for the next deployment. In the S3 step: The compass is used to detect whether the rudder-controlled deep-sea equipment precision deployment device is twisted. When the rudder-controlled deep-sea equipment precision deployment device is twisted, the control module controls the transmission device to rotate part or all of the rudders (1) to generate a torque that makes the rudder-controlled deep-sea equipment precision deployment device rotate in the opposite direction of the twist, thereby offsetting the turning angle of the rudder-controlled deep-sea equipment precision deployment device itself. When the rudder-controlled deep-sea equipment precision deployment device itself is not twisted, the ultra-short baseline positioning system is used to position the rudder-controlled deep-sea equipment precision deployment device. When the ultra-short baseline positioning system finds that the position of the rudder-controlled deep-sea equipment precision deployment device changes in the horizontal direction, the control module adjusts the rudders (1) through the transmission device to make the rudder-controlled deep-sea equipment precision deployment device move in the opposite direction, so that the horizontal position error of the rudder-controlled deep-sea equipment precision deployment device is always within a predetermined range, until the target equipment (7) is lowered to the specified position on the seabed.

2. The method of claim 1, wherein, The transmission device adopts a rudder.

Images