Device for simulating action of water flow on ROV

Abstract

The invention discloses a device for simulating the action of water flow on an ROV (Remote Operated Vehicle), which comprises two water flow simulation devices symmetrically arranged on two sides of an ROV body, each water flow simulation device comprises a base, a rotary connecting device rotationally fixed on the base, a supporting plate rigidly connected with the rotary connecting device, and a first auxiliary propeller and a second auxiliary propeller which are fixed at two ends of the supporting plate; compared with the prior art, the auxiliary propellers are installed on the ROV body and used for simulating the effect of the flow speed and the flow direction of water flow on the ROV body, and the ROV has the most obvious advantages of being low in cost, simple in structure, convenient to operate, high in practicability and capable of being used for simulating the effect of the flow speed and the flow direction of the water flow on the ROV body. The influence of the flow velocity and the flow direction on the ROV body can be simulated in real time, and the method can be used for designing and manufacturing the training type ROV body.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater environment simulation devices, and in particular relates to a device for simulating the effect of water flow on an ROV. Background Art

[0002] ROV (Remote Operated Vehicle) is connected to the mother ship through an umbilical cable. The operator on the mother ship can control the ROV to perform underwater operations (including detecting and identifying underwater targets, destroying underwater targets, etc.). However, during the underwater movement of ROV, it will be affected by the water flow (including flow rate and direction), which will affect the movement state of ROV and the underwater operation process. ROV operators need to be trained to better deal with the impact of water flow.

[0003] At present, there are two main ways to simulate the effect of water flow on ROV: one is pure software simulation, that is, through simulation software such as boundary element or finite element, the motion model of ROV and water flow is established, and then the simulation training of ROV operators is realized. This software simulation method has very high requirements on the accuracy of ROV and water flow motion model. The higher the model accuracy means the greater the amount of calculation. In view of the limited computing power of computers and the real-time requirements of ROV control, it is difficult to achieve a more realistic effect in the current simulation, which is quite different from the proposed method; the second is to actually generate water flow in the test pool. Generally, a water pump and other devices are used to generate a water flow with a certain flow rate in the test pool, so that the ROV is placed in the test pool for control training. This method of actually generating water flow in the test pool can control the flow rate, but it is difficult to control the flow direction, and the construction cost is very high. Summary of the invention

[0004] The present invention provides a device for simulating the effect of water flow on ROV, which is used for simulating the effect of the flow velocity and flow direction of water flow on ROV, and further used for ROV operators to perform training in complex water flow environment.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows:

[0006] An embodiment of the present invention provides a device for simulating the effect of water flow on an ROV, comprising two water flow simulation devices (2) symmetrically arranged on both sides of an ROV body (1), each water flow simulation device (2) comprising a base (4), a rotating connection device (6) rotatably fixed to the base (4), a support plate (8) rigidly connected to the rotating connection device (6), and a first auxiliary thruster (9) and a second auxiliary thruster (10) fixed at both ends of the support plate (8);

[0007] The first auxiliary propeller (9) and the second auxiliary propeller (10) are respectively a forward propeller and a reverse propeller, used to offset the rotation torque; the size of the first auxiliary propeller (9) and the second auxiliary propeller (10) is less than 0.5 times the main propeller (1-1) of the ROV body (1); an electronic control unit (7) is arranged inside the rotating connection device (6), and the electronic control unit (7) controls the rotation of the first auxiliary propeller (9) and the second auxiliary propeller (10). The electronic control unit (7) is connected to the onshore display and control unit through the ROV body and then through the umbilical cable, so that the control end can control the two water flow simulation devices (2) in real time.

[0008] According to an optional embodiment of the present invention, the equivalent center of thrust generated by the four auxiliary thrusters of the two water flow simulation devices (2) coincides with the buoyancy center of the ROV body (1).

[0009] According to an optional embodiment of the present invention, the electronic control unit (7) includes an electronic compass, and the electronic compass is rigidly connected to the rotating connection device (6), so as to ensure that the direction indicated by the electronic compass is consistent with the propulsion direction of the first auxiliary propeller (9) and the second auxiliary propeller (10).

[0010] According to an optional embodiment of the present invention, the first auxiliary propeller (9) and the second auxiliary propeller (10) can be turned around the base (4) under the control of the electronic control unit (7), and the first auxiliary propeller (9) and the second auxiliary propeller (10) are turned in a differential manner.

[0011] According to an optional embodiment of the present invention, the side of the base (4) facing the ROV body (1) is an arc-shaped structure, and the arc-shaped structure is embedded in the side surface of the ROV body (1).

[0012] According to an optional embodiment of the present invention, the bases (4) of the two water flow simulation devices are fixed on the ROV body (1) through the same circular hole (3).

[0013] According to an optional embodiment of the present invention, a cover plate (5) is further provided on the base (4).

[0014] Compared with the prior art, the embodiment of the present invention provides a device for simulating the effect of water flow on ROV, which has the following beneficial effects:

[0015] (1) An auxiliary thruster is installed on the ROV body to simulate the effect of water flow (including flow velocity and flow direction) on the ROV body. The auxiliary thruster generates water flow in a specific direction, and the reaction force of the water flow can be used to simulate the effect of the water flow on the ROV body. The most obvious advantage of the present invention is that it is low-cost and can simulate the effect of flow velocity and flow direction on the ROV body in real time, and can be used for the design and manufacture of training ROV bodies.

[0016] (2) Compared with simulating the effect of water flow on ROV by simulation, the present invention has the characteristics of high real-time performance and low cost, and does not need to establish a complex motion model of the ROV body and water flow.

[0017] (3) Compared with the simulation method of directly generating water flow in a test pool, the present invention has the advantages of low cost and easy change of flow direction.

[0018] (4) After the present invention is applied, it can be directly used for ROV operator training, and can also be used for teaching ROV design, that is, the water flow simulation device is installed on the ROV during the design stage, thereby meeting the teaching and training requirements of ROV operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the structure of a device for simulating the effect of water flow on an ROV provided in an embodiment of the present application.

[0021] Figure 2 A schematic diagram of the structure of a water flow simulation device for simulating the effect of water flow on an ROV provided in an embodiment of the present application.

[0022] Figure 3 A schematic diagram of control signal transmission and power supply of an electronic control unit provided in an embodiment of the present application.

[0023] Figure 4 , Figure 5 and Figure 6 A schematic diagram of the use of a water flow simulation device provided in an embodiment of the present application in ROV body anti-current control training. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0025] The following points need to be considered when installing auxiliary thrusters on the ROV body to simulate the effect of water flow on the ROV: (1) Selection and configuration of auxiliary thrusters: The size, weight and performance of the thrusters need to match the ROV. First, they should not have a significant impact on the motion model of the ROV body. At the same time, the selected auxiliary thrusters should be able to generate sufficiently accurate water flow. (2) Installation position and layout: The installation position of the auxiliary thrusters needs to be considered. First, the installation position should be near the buoyancy center of the ROV body. The equivalent center of the thrust generated by the auxiliary thrusters should basically coincide with the buoyancy center of the ROV. Second, the installation position of the auxiliary thrusters should be as far away as possible from other thrusters and other components of the ROV body to avoid or reduce unnecessary interference or vibration. (3) Energy supply: Due to the large weight of the energy, the energy of the auxiliary thrusters should be provided by the ROV, thereby reducing the impact of the auxiliary thrusters on the motion model of the ROV body. (4) Flow velocity and direction simulation: The auxiliary thrusters can change the size and direction of the generated water flow, thereby simulating the impact of the flow velocity and direction of the water flow on the control of the ROV body.

[0026] Based on the above principles, Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present invention provides a device for simulating the effect of water flow on an ROV, including two water flow simulation devices 2 symmetrically arranged on both sides of an ROV body 1, each water flow simulation device 2 includes a base 4, a rotating connection device 6 rotatably fixed on the base 4, a support plate 8 rigidly connected to the rotating connection device 6, and a first auxiliary thruster 9 and a second auxiliary thruster 10 fixed at both ends of the support plate 8.

[0027] The first auxiliary thruster 9 and the second auxiliary thruster 10 are respectively a positive propeller and a reverse propeller, which are used to offset the rotational torque; the size of the first auxiliary thruster 9 and the second auxiliary thruster 10 is more than 0.5 times smaller than the main thruster 1-1 of the ROV body 1; an electronic control unit 7 is arranged inside the rotating connection device 6, and the electronic control unit 7 controls the rotation of the first auxiliary thruster 9 and the second auxiliary thruster 10. The electronic control unit 7 is connected to the onshore display and control unit through the ROV body and then through the umbilical cable, so that the control end can control the two water flow simulation devices 2 in real time.

[0028] The electronic control unit 7 in this embodiment includes an electronic compass, which is rigidly connected to the rotating connection device 6, so as to ensure that the direction indicated by the electronic compass is consistent with the propulsion direction of the first auxiliary propeller 9 and the second auxiliary propeller 10. The first auxiliary propeller 9 and the second auxiliary propeller 10 can turn around the base 4 under the control of the electronic control unit 7, and the first auxiliary propeller 9 and the second auxiliary propeller 10 are turned in a differential manner.

[0029] The ROV body 1 is in the shape of a torpedo, and the equivalent center of thrust generated by the four auxiliary thrusters of the two water flow simulation devices 2 coincides with the buoyancy center of the ROV body 1. The rotating connection device 6 can rotate on the base 4 to change the direction of the auxiliary thrusters. The base 4 is an arc-shaped structure facing the side of the ROV body 1, and the arc-shaped structure is embedded with the side of the ROV body 1. The bases 4 of the two water flow simulation devices are fixed to the ROV body through the same circular cave 3. A cover plate 5 is also provided on the base 4.

[0030] The two water flow simulation devices 2 are symmetrical in vertical direction and should be installed near the buoyancy center of the ROV body 1 to ensure that the equivalent center of thrust generated by the four auxiliary thrusters is substantially coincident with the buoyancy center of the ROV body 1. The energy of the water flow simulation device 2 is provided by the ROV body, thereby reducing the influence of the four auxiliary thrusters on the motion model of the ROV body itself.

[0031] In order to reduce the influence of the water flow simulation device 2 on the motion characteristics of the ROV body 1, the displacement volume of the water flow simulation device 2 should be as small as possible, so the power supply of the water flow simulation device 2 is provided by the ROV body 1. The water flow simulation device 2 controls the rotation of the two auxiliary thrusters through the electronic control unit 7, and the electronic control unit 7 is connected to the onshore display and control unit through the ROV body 1 and then through the umbilical cable, so that the control end can control the water flow simulation device in real time.

[0032] The water flow simulation device 2 needs to simulate the influence of flow velocity and direction on the ROV body 1. The basic principle is as follows:

[0033] a. Flow direction simulation: the onshore display and control unit sends instructions (mainly including flow velocity and flow direction information) to the electronic control unit of the water flow simulation device. The electronic control unit has a built-in electronic compass, so that the direction of the auxiliary thruster can be obtained in real time. When the auxiliary thruster deviates from the set direction, the electronic control unit adjusts the speed of the two auxiliary thrusters and uses differential steering to enable the thruster to generate thrust in the set direction, thereby simulating the flow direction;

[0034] b. Flow velocity simulation: the onshore display and control unit sends instructions (mainly including flow velocity and flow direction information) to the electronic control unit of the water flow simulation device, and the electronic control unit adjusts the rotation speed of the auxiliary propeller to achieve the simulation of a specific flow velocity;

[0035] c. Simulation of changing flow velocity and direction: The electronic control unit continuously adjusts the direction and speed of the auxiliary thruster according to a certain period, thereby achieving a changing flow velocity and direction, and acting in reverse on the ROV body to produce a flow velocity and direction effect.

[0036] The specific implementation mode of the present invention is explained by taking a certain ROV anti-current training as an example.

[0037] Basic situation: Figure 4 , Figure 5 and Figure 6 As shown, in a test pool, the ROV submersible needs to be controlled from the west side of the test pool to point B on the east side. The test pool needs to simulate a water flow from east to west. Since the test pool itself has no water flow, the device of the present invention needs to be used for implementation.

[0038] The steps to use are as follows:

[0039] Step 1: Place the ROV equipped with the water flow simulation device into the water, and set the water flow simulation direction of the water flow simulation device to due west (i.e., 270°) through the onshore ROV display and control unit;

[0040] Step 2: The ROV operator needs to control the submersible to reach point B. At this time, the water flow simulation device on the ROV will begin to generate thrust (such as Figure 4 F1 in the middle, schematic diagram of the top flow turning forward), its effect is similar to the thrust generated by a westward current in a pool, which will cause the ROV to move westward;

[0041] Step 3: The ROV operator controls the ROV to turn (e.g. Figure 5 , schematic diagram of top flow steering), the thrust of the ROV is F2. During the ROV steering process, the electronic control unit of the water flow simulation device will use the built-in electronic compass to monitor the direction of the auxiliary thruster. Once the direction of the auxiliary thruster deviates from the set direction, a differential method will be adopted. At this time, the auxiliary thruster will rotate together with the rotating connection device, so that the auxiliary thruster returns to the set direction.

[0042] Step 4: During the turning process of the ROV, the direction of the thrust F1 generated by the water flow simulation device remains unchanged, thereby always simulating the effect of the westward water flow. When the ROV's own thrust F2 and the water flow force are in a straight line, the ROV's top flow linear motion is achieved (e.g. Figure 6 As shown, the schematic diagram of the top flow after turning) approaches the destination point B.

[0043] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A device for simulating the effect of water flow on ROV, It is characterized in that The invention comprises two water flow simulation devices (2) symmetrically arranged on both sides of an ROV body (1), each water flow simulation device (2) comprising a base (4), a rotating connection device (6) rotatably fixed on the base (4), a support plate (8) rigidly connected to the rotating connection device (6), and a first auxiliary thruster (9) and a second auxiliary thruster (10) fixed at both ends of the support plate (8); The first auxiliary propeller (9) and the second auxiliary propeller (10) are respectively a forward propeller and a reverse propeller, used to offset the rotation torque; the size of the first auxiliary propeller (9) and the second auxiliary propeller (10) is less than 0.5 times the main propeller (1-1) of the ROV body (1); an electronic control unit (7) is arranged inside the rotating connection device (6), and the electronic control unit (7) controls the rotation of the first auxiliary propeller (9) and the second auxiliary propeller (10). The electronic control unit (7) is connected to the onshore display and control unit through the ROV body and then through the umbilical cable, so that the control end can control the two water flow simulation devices (2) in real time.

2. A device for simulating the effect of water flow on ROV according to claim 1, It is characterized in that The equivalent center of thrust generated by the four auxiliary thrusters of the two water flow simulation devices (2) coincides with the buoyancy center of the ROV body (1).

3. A device for simulating the effect of water flow on ROV according to claim 1, It is characterized in that The electronic control unit (7) comprises an electronic compass, and the electronic compass is rigidly connected to the rotating connection device (6), thereby ensuring that the direction indicated by the electronic compass is consistent with the propulsion direction of the first auxiliary propeller (9) and the second auxiliary propeller (10).

4. A device for simulating the effect of water flow on ROV according to claim 3, Features The first auxiliary propeller (9) and the second auxiliary propeller (10) can be turned around the base (4) under the control of the electronic control unit (7), and the first auxiliary propeller (9) and the second auxiliary propeller (10) are turned in a differential manner.

5. A device for simulating the effect of water flow on ROV according to claim 1, It is characterized in that The side of the base (4) facing the ROV body (1) is an arc-shaped structure, and the arc-shaped structure is embedded in the side surface of the ROV body (1).

6. A device for simulating the effect of water flow on ROV according to claim 5, It is characterized in that The bases (4) of the two water flow simulation devices are fixed on the ROV body (1) through the same circular hole (3).

7. A device for simulating the effect of water flow on ROV according to claim 6, It is characterized in that A cover plate (5) is also provided on the base (4).

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