Underwater robot deck visual operation system and method

Abstract

The invention relates to an underwater robot deck visualization operation system and method. The system comprises a control platform, a deck equipment sensor, a camera and an underwater robot. The control platform comprises a control cabinet, an integrated operation chair and a video wall. The control cabinet integrates a data interaction module, a control system, a local data acquisition module, a protocol conversion gateway and an optical fiber communication module to realize data transmission and instruction interaction between equipment; and the control system processes equipment data through the data interaction module and controls the deck equipment and the underwater robot. The integrated operation chair integrates an operation panel, a touch screen and an ergonomic chair, and the operation panel comprises a winch laying button, a cable arrangement device moving button, a traveling block unlocking button and an underwater robot control button. And the video wall displays sensor data and video monitoring pictures. The integrated design is adopted, high integration of deck equipment and an underwater robot operating system is achieved, and the problem of separation of control systems of the deck equipment and the underwater robot operating system is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine engineering equipment, and in particular to a visual operating system and method for an underwater robot deck. Background Art

[0002] With the deepening of marine resource development, underwater robots have become an important tool for exploring and developing the ocean. However, there are many problems in the deployment and recovery operations of underwater robots. First of all, traditional deployment and recovery requires multiple independent devices to work together, including gantry, umbilical cable winch, cable arranger, traveling carriage, etc. The operation is complicated and relies on manual command, usually requiring coordination by multiple people, which increases the operation cost and safety risk. In addition, the deck equipment is widely distributed and the operating field is limited, which easily forms visual blind spots and leads to safety hazards. The existing deck deployment and recovery control system and the underwater robot operating system are independent of each other, resulting in low system integration, insufficient data transmission and coordination efficiency between equipment, and increased construction and maintenance costs. At the same time, the deck control environment is harsh and lacks comfort design, which is not conducive to long-term operation, further restricting operational efficiency and safety.

[0003] Therefore, there is an urgent need for a system that can realize integrated control of deck equipment and underwater robots, improve operational comfort, safety and integration, and reduce the construction and operation costs of the control system. Summary of the invention

[0004] The present invention provides an underwater robot deck visual operating system and method, which aims to solve the problems of separation of deck equipment from the underwater robot control system and complex operation.

[0005] To achieve the above-mentioned purpose, the first aspect of the present invention provides an underwater robot deck visualization operating system, including a control platform, a deck equipment sensor, a camera and an underwater robot; wherein:

[0006] The control platform includes a control cabinet, an integrated operating chair and a video wall;

[0007] The control cabinet integrates a data interaction module, a control system, a local data acquisition module, a protocol conversion gateway, and an optical fiber communication module; the data interaction module is used to integrate and coordinate the data transmission and instruction issuance of the local data acquisition module, the remote data acquisition module, and the protocol conversion gateway, and to carry out unified communication and information interaction between internal and external devices; the control system obtains the data of each device through the data interaction module and controls the deck equipment and the underwater robot after processing; the local data acquisition module is used to collect input instructions from the integrated operating chair, and the protocol conversion gateway is used to convert the underwater robot data protocol into a control platform compatible protocol; the optical fiber communication module is used for communication between the underwater robot and the control platform;

[0008] The integrated operating chair integrates an integrated operation panel, a touch screen and an ergonomic chair. The integrated operation panel includes winch deployment, cable arrangement device movement, HPU start and stop, traveling block unlocking and locking buttons for deck deployment and recovery operations, and underwater robot motor control buttons;

[0009] The video wall is used to display the real-time operating status of deck equipment and underwater robots, including deck equipment sensor data and video monitoring images.

[0010] Furthermore, the deck equipment sensors include: force measuring pins, absolute encoders, anti-oscillation cylinder displacement sensors, proximity switches and gantry cylinder displacement sensors, which are used to monitor the status of deck equipment in real time; the cameras include multiple deck cameras, which are used to provide real-time deck operation images, and identify whether deck workers are wearing safety helmets and labor protection shoes through image processing technology, and monitor their work trajectories.

[0011] Furthermore, the control cabinet is also integrated with a UPS power supply, a multi-channel video mixing computer and a video hard disk recorder.

[0012] Furthermore, the system also includes a variety of video interfaces, and integrates and processes multiple video signals through a video matrix and outputs them to a video wall.

[0013] Furthermore, the control platform also includes a safety module for stopping the operation of deck equipment and underwater robots in an emergency.

[0014] To achieve the above-mentioned purpose, the second aspect of the present invention provides a visual operation control method for deploying and recovering an underwater robot on a deck, the method comprising:

[0015] Obtain the current status data of deck equipment and underwater robots, and determine the safety status of deck operators through image recognition technology; after confirming that the operators meet the safety requirements, activate the control system and enter the deployment and recovery operation mode;

[0016] Control the stopper to move to the initial lowering position, start the umbilical winch to load the initial tension value, and confirm whether the tension meets the set value through the feedback data of the force measuring pin; when the status of the stopper and the umbilical winch are normal, start lowering the stopper;

[0017] During the lowering process of the stopper, the stopper cylinder sensor monitors its travel in real time to determine whether it has reached the set working position; when the stopper reaches the specified working position, the umbilical winch is started to lay the cable according to the set tension, and the traveling block is controlled to be lowered at the same time;

[0018] Receive the traveling carriage position signal fed back by the wire rope winch encoder, and judge whether the traveling carriage has reached the predetermined lowering position according to the real-time position signal; when the traveling carriage reaches the predetermined position, start the traveling carriage to dock with the underwater robot, and obtain the docking status signal through the proximity switch;

[0019] After confirming that the traveling carriage has been docked with the underwater robot, the traveling carriage recovery is started, and the recovery progress is monitored in real time based on the traveling carriage position signal fed back by the wire rope winch encoder; when the traveling carriage is recovered to the initial position, the stopper is controlled to be recovered, and the feedback value of the stopper cylinder sensor is used to confirm whether the stopper is completely recovered;

[0020] After the sway stopper is recovered, the gantry is controlled to swing, and the swing position data fed back by the gantry cylinder sensor is used to determine whether the gantry has reached the specified position; when the gantry swings to the specified position, the umbilical winch is started to retract the cable, and the retracting speed is adjusted in real time according to the tension value fed back by the force measuring pin shaft until the cable is completely retracted;

[0021] During the entire deployment and recovery process, real-time video signals are obtained through deck cameras and displayed on a visual operation platform in combination with the equipment status data fed back by sensors. When the system detects that the equipment status data exceeds the set threshold or the camera captures the operator approaching a dangerous area, an alarm signal is issued and the operation is suspended until it is confirmed to be safe and then resumed.

[0022] Record sensor feedback data and operation steps during the deployment and recovery process, update the standard operating parameters archived by the system, and adjust the parameters for the next deployment and recovery operation based on the recorded data;

[0023] After completing the deployment or recovery task, confirm that all equipment has returned to its initial state, shut down the control system, and store the operation records.

[0024] Furthermore, the image recognition technology includes detecting the status of deck operators wearing safety helmets and protective shoes, and combining background removal and grayscale contrast technology to achieve safety judgment.

[0025] Furthermore, the tension adjustment of the umbilical cable winch is carried out by comparing the feedback data of the force measuring pin with the set threshold in real time, and dynamically controlling the working state of the winch; the docking status of the traveling carriage and the underwater robot is monitored by the proximity switch. When the proximity switch does not detect the docking signal, the deployment operation is suspended and an alarm is issued; during the recovery of the stabilizer, the real-time stroke data feedback from the stabilizer cylinder sensor is used to determine whether the stabilizer has reached the initial position, and subsequent operations are suspended if it has not reached the initial position; the swing position of the gantry is monitored in real time through the position signal feedback from the gantry cylinder sensor. When the swing position deviates from the set value, a correction instruction is issued and an alarm message is displayed.

[0026] Furthermore, the transmission of video signals adopts a variety of video interfaces including HDMI, SDI, CVBS, VGA and optical fiber.

[0027] Furthermore, the data records include sensor feedback values, video monitoring data, and timestamp records of operation steps.

[0028] Beneficial effects of the present invention:

[0029] Compared with the prior art, the visual operating system and method of the underwater robot deck provided by the present invention realizes the high integration of the deck equipment and the underwater robot operating system by integrating the control platform, the deck equipment sensor, the camera and the underwater robot, and adopts an integrated design, which effectively solves the problem of separation of the control systems of the two. The sensor data and video signals of the deck equipment and the underwater robot are uniformly processed by the control cabinet, and the data interaction is realized by using protocol conversion and optical fiber communication technology, which improves the coordination and real-time performance of the system. The integrated operating chair is introduced to combine the touch screen, the operating panel and the ergonomic design, which simplifies the operation process, improves the operating comfort and reduces the personnel requirements. The video wall displays the status of the deck equipment and the monitoring screen in real time, combines the image processing technology to intelligently monitor the safety status of the deck operator, and performs automatic deployment and recovery operations through video signals and sensor feedback, which reduces manual intervention. At the same time, through the storage of sensor feedback data and iterative optimization of standard values, the intelligent, automated and safe operation of deployment and recovery is realized, which solves the problems of complex operation, many safety hazards and decentralized control, significantly improves the operation efficiency and safety, and reduces the system construction and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments.

[0031] Figure 1 It is a structural diagram of a control platform disclosed in an embodiment of the present invention.

[0032] Figure 2 It is a diagram of an integrated above-water and underwater networking architecture disclosed in an embodiment of the present invention.

[0033] Figure 3 The present invention discloses a process flow chart of automatic deployment and recovery of deck equipment.

[0034] Figure 4 It is a deck visualization system diagram disclosed in an embodiment of the present invention.

[0035] Figure 5 It is a working principle diagram of a security system disclosed in an embodiment of the present invention.

[0036] Figure 6 It is a structural diagram of the first part of a control cabinet disclosed in an embodiment of the present invention.

[0037] Figure 7 It is a structural diagram of the second part of a control cabinet disclosed in an embodiment of the present invention.

[0038] Figure 8 It is a structural schematic diagram of an integrated operating chair disclosed in an embodiment of the present invention.

[0039] Figure numerals: 1. control platform; 2. deck equipment sensor; 3. underwater robot; 4. remote data acquisition module; 10. control cabinet; 11. video wall; 12. integrated operating chair; 101. data interaction module; 102. control system; 103. local data acquisition module; 104. protocol conversion gateway; 105. optical fiber communication module; 106. touch screen PC; 107. sonar PC; 108. maintenance PC; 109. digital video recorder; 200. multi-channel video mixing system computer; 201. character adder; 202. ANYBUS gateway; 203. control center; 204. safety module; 205. integrated operation operation panel; 206. underwater power control panel; 207. touch screen; 208. integrated operating chair data acquisition center. DETAILED DESCRIPTION

[0040] To better understand the technical solution of the present invention, the following will be described in detail with reference to the relevant figures. It should be understood that the following specific embodiments are not intended to limit the specific implementation of the technical solution of the present invention, but are only implementations that can be adopted by the technical solution of the present invention.

[0041] See also Figure 1-Figure 8 , Figure 1-Figure 8 A schematic diagram of the structure of the present invention is drawn. Figure 2 As shown, the present invention relates to a visual operating system for the deck of an underwater robot, which realizes a high degree of integration and visualization of the deck deployment and recovery operation and the operation of the underwater robot 3 through a control platform 1, a deck equipment sensor 2, a camera and an underwater robot 3. The following is a specific embodiment of the present invention:

[0042] The control platform 1 is used to process the data information generated during the operation of the deck equipment and the underwater robot 3, and communicate with each device through the data interaction module 101 to achieve unified operation and visual monitoring.

[0043] The control platform 1 consists of the following parts:

[0044] Control cabinet 10: As the platform control center, it is responsible for receiving real-time data from the deck equipment sensor 2, the underwater robot 3 and the camera, and issuing control commands after processing. It integrates the data interaction module 101, the control system 102, the local data acquisition module 103, the protocol conversion gateway 104, and the optical fiber communication module 105; the data interaction module 101 is used to integrate and coordinate the data transmission and command issuance of the local data acquisition module 103, the remote data acquisition module 4 and the protocol conversion gateway 104, and to carry out unified communication and information interaction between internal and external devices; the control system 102 obtains the data of each device through the data interaction module 101, processes it, and then controls the deck equipment and the underwater robot 3; the local data acquisition module 103 is used to collect the input instructions of the integrated operating chair 12, and the protocol conversion gateway 104 is used to convert the data protocol of the underwater robot 3 into a compatible protocol of the control platform 1; the optical fiber communication module 105 is used for communication between the underwater robot 3 and the control platform 1;

[0045] Integrated operating chair 12 (see Figure 8 ) is the operation center, including an integrated operation operation panel 205, an underwater power control panel 206, a touch screen 207 and an integrated operation chair data acquisition center 208. The integrated operation operation panel 205 can directly control the deck deployment and recovery equipment and the underwater robot 3. The touch screen 207 displays the equipment status and receives touch operations.

[0046] Video wall 11: It is composed of a display screen and a bracket, and is used to display the real-time operation status, including the feedback value of the deck equipment sensor 2, the data of the underwater robot 3 and the video monitoring screen.

[0047] The deck equipment sensor 2 is used to monitor the status of each device in real time and feed the data back to the control platform 1. The deck equipment sensors of this system are shown in Table 1. The force measuring pin is used to measure the cable tension of the wire rope winch, the absolute encoder is used to measure the cable length of the wire rope winch, the stopper cylinder displacement sensor is used to measure the stopper stroke, the proximity switch is used to measure the docking status of the traveling carriage and the underwater robot, the A-frame cylinder displacement sensor is used to measure the A-frame stroke, the force measuring pin is used to measure the cable tension of the umbilical cable winch, the absolute encoder is used to measure the cable length of the umbilical cable winch, and the proximity switch is used to detect the cable arrangement stroke.

[0048] Table 1 Deck system equipped sensors:

[0049]

[0050]

[0051] The control cabinet 10 is equipped with a data processing center, a data interaction module 101 and a protocol conversion gateway. The specific working process is as follows:

[0052] The deck equipment sensor 2 transmits various operation data to the control cabinet 10 through the remote data acquisition module 4, the underwater robot 3 transmits the operation data through the optical fiber communication module 105, and the camera real-time monitoring screen is connected to the video processing module.

[0053] The data interaction module 101 uniformly processes the deck and underwater equipment data, and calculates the current status of the equipment and control instructions through algorithms.

[0054] The control platform 1 sends the processing results to the deck deployment and recovery equipment and the underwater robot 3 through the data interaction module 101 to complete the action execution.

[0055] like Figure 2 As shown, data transmission is that the deck equipment sensor 2 collects data through the remote data acquisition module 4 and then transmits it to the data interaction module 101 of the control platform 1. The underwater robot 3 transmits data through the optical fiber communication module 105, and the protocol conversion gateway 104 converts the underwater data and transmits it to the data interaction module 101. At the same time, the integrated operating chair 12 transmits it to the data interaction module 101 through the local data acquisition module 103. The control system 103 obtains the data of each device through the data interaction module 101, processes it, and then controls the deck equipment and the underwater robot 3. This system collects deck and underwater equipment data by building a remote data acquisition module 4, a local data acquisition module 103, an optical fiber communication module 105, and a protocol conversion gateway 104, and realizes an integrated underwater and surface networking control system through a unified data interaction module of multiple data types.

[0056] In some embodiments, the deck equipment sensor 2 includes: a force measuring pin, an absolute encoder, a stopper cylinder displacement sensor, a proximity switch and a gantry cylinder displacement sensor, which are used to monitor the status of the deck equipment in real time; the camera includes multiple deck cameras, which are used to provide real-time deck operation pictures, and identify whether the deck staff are wearing safety helmets and safety shoes through image processing technology, and monitor their work trajectory.

[0057] In some embodiments, the control cabinet 10 integrates a data processing center, a UPS power supply, a multi-channel video mixing computer and a video hard disk recorder; the data processing center is used to calculate the operating status of deck equipment and underwater robots and generate control instructions.

[0058] During deployment and recovery, the system uses sensors to feedback the current equipment status in real time when the umbilical winch, traveling block and gantry are coordinated and controlled. The control system 102 processes the control command and calculates the current equipment status, automatically deploys and synchronously feedbacks the next action and the video wall, so that the visual operator can check whether the control command is correct.

[0059] First, during the first deployment and recovery, the sensor values ​​of each device at the starting position of the working process and the final end position of the working process, as well as the deployment operation sequence, are recorded manually and archived in the operating system as the standard safety value of the sensor during the safe deployment process. At the same time, the feedback value of the sensor during each deployment and recovery process is recorded for iterative correction of the standard value to reduce errors.

[0060] The deployment and recovery process is as follows Figure 3 As shown, during deployment and recovery, the stopper is first lowered, and the touch screen in the visualization system cabin displays "the stopper starts to be lowered during the deployment process" and "confirm to block this operation". The control system 102 does not receive a negative command, the stopper starts to be lowered, and at the same time, the umbilical cable winch deploys the umbilical cable according to the tension value set by the system and the umbilical cable tension value fed back by the force measuring pin. The stopper cylinder feeds back the stopper stroke, and the control system determines whether the stopper works to the maximum position. When the feedback value is the maximum value, the touch screen in the visualization system cabin displays "the stopper is successfully lowered during the deployment process, and the traveling carriage starts to be lowered" and "confirm to block this operation". If a negative command is not received, the wire rope winch automatically starts, the traveling carriage starts to be lowered, and the wire rope winch encoder feeds back the specific lowering position of the traveling carriage to the control system 102. When the feedback is the maximum value, the wire rope winch stops deploying, and the touch screen in the visualization system cabin displays "the traveling carriage is successfully lowered during the deployment process, and docking begins" and "confirm to block this operation". If a negative command is not received, the traveling carriage docks with the underwater robot, and the docking success is fed back by the proximity switch.

[0061] The touch screen in the visualization system cabin displays "The deployment process is successfully docked, and the traveling carriage begins to be recovered" and "Confirm to block this operation". No negative command is received, the wire rope winch is recovered, and the wire rope winch encoder feedbacks the traveling carriage position. When the feedback value is the minimum, the touch screen in the visualization system cabin displays "The traveling carriage is successfully recovered, and the stabilizer is recovered" and "Confirm to block this operation". The stabilizer is recovered, and when the feedback value of the stabilizer cylinder sensor is the minimum, the touch screen in the visualization system cabin displays "The stabilizer is successfully recovered, the gantry swings outward" (when deploying), "The gantry swings inward" (when recovering) and "Confirm to block this operation". No negative command is received, the gantry swings, and the gantry cylinder sensor feedbacks the gantry swing position. When the feedback value is the maximum, the gantry stops swinging, and the touch screen in the visualization system cabin displays "The gantry swings outward successfully, and the stabilizer begins to be lowered" and "Confirm to block this operation". If no negative command is received, the stopper starts to be lowered. When the feedback value of the stopper cylinder sensor is the maximum, the touch screen in the visualization system cabin displays "The stopper is lowered successfully during the deployment process, and the traveling carriage starts to be lowered" and "Confirm to block this operation". If no negative command is received, the wire rope winch automatically starts, and the traveling carriage starts to be lowered. The wire rope winch encoder feeds back the specific lowering position of the traveling carriage to the control system. When the feedback is the maximum value, the wire rope winch stops deploying. The touch screen in the visualization system cabin displays "The traveling carriage is lowered successfully during the deployment process, and unlocking begins" and "Confirm to block this operation". If no negative command is received, the traveling carriage is unlocked from the underwater robot, and the touch screen in the visualization system cabin displays "The traveling carriage is unlocked successfully during the deployment process, and the underwater robot is deployed (recovered) successfully". The tension value of the umbilical cable is displayed in real time during the entire deployment and recovery process. When the tension value is not within the safety threshold range, an alarm signal will appear in the visualization system display.

[0062] This system can realize intelligent deployment through the sensor feedback values ​​in Table 1 and the status values ​​of sensors at each key point in the deck deployment and recovery process without excessive manual operation. At the same time, the deployment and recovery process can be manually monitored through the monitoring images fed back by each camera on the deck.

[0063] The system uses multi-channel video with different signal inputs and provides a variety of video input interfaces, including CVBS, HDMI, VGA, SDI, optical fiber and other video interfaces. It uses distributed parallel processing of various video signals, uses video matrix integration to output one video, and has network video and digital video recording functions, which can realize the simultaneous access of digital video signals and network video signals to the system. At the same time, the external subtitle overlay function output is connected to the video input, which can be used for display and storage. After the video screen is input into the character overlay, the overlay will visualize the collected data and overlay it into the corresponding video signal through the corresponding computer program, and can present better effects by adjusting the position, transparency, color and other attributes.

[0064] like Figure 4Table 2 and Table 3 show the architecture and equipment configuration of the deck visualization system, which is mainly composed of multiple cameras, video processing units and display devices. The table lists the types of cameras carried by the platform and their input signals, including umbilical winch cameras, wire rope winch cameras, traveling vehicles cameras, A-frame cameras and stabilizer cameras. In the figure, the multi-channel video signals collected by the camera are transmitted to the multi-channel video mixing system computer 200, through which the multi-channel video inputs are mixed and processed. The processed video signal can be displayed in real time on a 4K 43-inch display screen, and an OVERLAY overlay output function is provided, which can display the system status and parameters on the video screen in the form of character overlay. In addition, the video signal supports access to a digital video recorder 109 (DVR) and a network video recorder (NVR) for storage, ensuring that the monitoring data of the operation process can be traced back. This system realizes real-time monitoring, data fusion and visualization of the deck and equipment, and improves the accuracy and safety of the operation.

[0065] Table 2 List of cameras installed on the platform

[0066] Serial number Input signal 1 Umbilical cable winch camera 2 Wire rope winch camera 3 Traveling winch camera 4 A-frame camera 5 Stabilizer camera

[0067] At the same time, the visualization system control system is combined with image processing technology to obtain the key frame image of each deck staff member based on the surveillance video of multiple deck cameras, and obtain the key images of the staff member's head and feet. After background removal, grayscale comparison is performed with the images of each staff member wearing a safety helmet and protective shoes correctly to determine whether the deck operators are wearing safety helmets and protective shoes safely, and to warn the visualization system operator. At the same time, the system uses this warning result as the premise for enabling the deployment and recovery operation of the entire deck. Only after confirming the safety of all deck operators can the deployment and recovery operation be carried out. During the operation, the work trajectory of the deck staff is tracked to determine their work position. When the staff approaches the winch, A-frame and high-voltage working area, the warning is transmitted to the visualization operator, who then determines the safety status of the deck staff and whether emergency stop operation is required. See the specific workflow for details. Figure 5 .

[0068] The control cabinet of this system is specifically implemented as follows Figure 3 The device is equipped with a data processing center for processing various sensor signals and panel operation commands, calculating the current status of deck equipment or underwater equipment and outputting them; an ANYBUS protocol gateway for protocol conversion and serial port protocol extension; a switch for data exchange; and a fiber optic communication module for connecting the underwater robot to communicate with the underwater equipment.

[0069] like Figure 6 , Figure 7As shown, the components of the deck visualization operating system for the deployment and recovery of the underwater robot also include a touch screen PC 106, a sonar PC 107, a maintenance PC 108, an image processing PC, a digital video recorder 109, a multi-channel video mixing system computer 200, a character superimposer 201, an ANYBUS gateway 202, a control center 203, and a security module 204; wherein:

[0070] The operating chair touch screen PC 106 is used to process the touch screen signal; the sonar PC 107 is used to access the underwater robot sonar signal and process the sonar signal for display on the video wall 11; the image processing PC is used to run the image processing algorithm; the UPS uninterruptible power supply is used to maintain the system power supply in the event of a sudden power outage to protect the safety of the control system; the multi-channel video mixing system computer 200 is used to access the video signal from the deck and underwater. The computer interface includes an HDMI interface, an SDI interface, an ETHERNET interface, a CVBS interface, and a VGA interface, which is compatible with video inputs in multiple formats and converts multiple videos into one video for display on the display screen; the optical fiber to SDI video conversion component provides an optical fiber transmission video signal interface, which can convert underwater The video signal is decoded and connected to the video system; the network video hard disk recorder is used to store network video; the digital video hard disk recorder is used to store digital video, and the two realize the compatibility of network video signal and video signal; the character superimposed device 201 is used to superimpose characters on the video, and the characters of the current status parameters of each device are superimposed for display; the ANYBUS gateway 202 is used for protocol conversion and extended data interface, which is compatible with different communication protocols to realize data exchange and interconnection between deck equipment and underwater robots; the control center 203 is responsible for receiving sensor signals, processing operation commands, coordinating equipment actions, and realizing a high degree of integration of deck equipment and underwater robot control. The safety module 204 is used to stop the underwater robot and deck equipment in an emergency to ensure the safety of personnel and equipment.

[0071] The integrated operating chair 12 is specifically implemented as follows Figure 8 As shown, the integrated operating chair 12 is used to operate the deck equipment and the underwater robot 3, and includes an integrated operation operation panel 205, an underwater power control panel 206, a touch screen 207, and an integrated operation chair data acquisition center 208. The panel buttons include key deck deployment and recovery actions such as winch deployment, cable arrangement movement, HPU start and stop, and travel block unlocking and locking, as well as the main switch buttons such as the start and stop buttons of the underwater robot motor and the control center POD; the control panel data acquisition control box is used to operate data acquisition; the touch screen 207 is used to operate underwater and A-frame; the integrated chair integrates the integrated operation operation panel 205 and the ergonomic chair to improve the comfort of the operator.

[0072] Through the above specific implementation, the system realizes the efficient integration and visual control of surface deck operation and underwater robot operation, effectively improving the safety and automation level of the deployment and recovery process. The following will further illustrate the scheme of the present invention in conjunction with a visual operation control method for deployment and recovery of an underwater robot deck.

[0073] The present invention also provides a visual operation control method for deploying and recovering an underwater robot on a deck, the method comprising the following steps:

[0074] Step S100, obtaining the current status data of the deck equipment and the underwater robot, and judging the safety status of the deck operator through image recognition technology; after confirming that the operator meets the safety requirements, activating the control system and entering the deployment and recovery operation mode;

[0075] Step S200, control the anti-sway device to move to the initial lowering position, start the umbilical cable winch to load the initial tension value, and confirm whether the tension meets the set value through the feedback data of the force measuring pin; when the status of the anti-sway device and the umbilical cable winch is normal, start to lower the anti-sway device;

[0076] Step S300: During the lowering process of the stabilizer, the travel of the stabilizer is monitored in real time by the stabilizer cylinder sensor to determine whether the stabilizer reaches the set working position; when the stabilizer reaches the specified working position, the umbilical cable winch is started to lay the cable according to the set tension, and the traveling block is controlled to be lowered at the same time;

[0077] Step S400, receiving the traveling carriage position signal fed back by the wire rope winch encoder, and judging whether the traveling carriage has reached the predetermined lowering position according to the real-time position signal; when the traveling carriage reaches the predetermined position, starting the traveling carriage to dock with the underwater robot, and obtaining the docking status signal through the proximity switch;

[0078] Step S500: after confirming that the traveling carriage is docked with the underwater robot, start the recovery of the traveling carriage, and monitor the recovery progress in real time according to the traveling carriage position signal fed back by the wire rope winch encoder; when the traveling carriage is recovered to the initial position, control the recovery of the stopper, and confirm whether the stopper is completely recovered through the feedback value of the stopper cylinder sensor;

[0079] Step S600: After the anti-sway device is recovered, the mast is controlled to swing, and it is determined whether the mast has reached the specified position according to the swing position data fed back by the mast cylinder sensor; when the mast swings to the specified position, the umbilical cable winch is started to retract the cable, and the retracting speed is adjusted in real time according to the tension value fed back by the force measuring pin shaft until the cable is completely retracted;

[0080] Step S700: During the entire deployment and recovery process, real-time video signals are obtained through the deck camera and displayed on the visual operation platform in combination with the equipment status data fed back by the sensor; when the system detects that the equipment status data exceeds the set threshold or the camera captures the operator approaching the dangerous area, an alarm signal is issued and the operation is suspended until it is confirmed to be safe and then resumed;

[0081] Step S800: Record the sensor feedback data and operation steps during the deployment and recovery process, update the standard operation parameters archived by the system, and adjust the parameters for the next deployment and recovery operation according to the recorded data;

[0082] Step S900: After completing the deployment or recovery task, confirm that all devices return to the initial state, shut down the control system, and store the operation record.

[0083] In this implementation method, the image recognition technology includes detecting the status of deck operators wearing safety helmets and safety shoes, and combining background elimination and grayscale contrast technology to achieve safety judgment.

[0084] In the present implementation method, the tension adjustment of the umbilical cable winch is carried out by comparing the feedback data of the force measuring pin with the set threshold in real time, and dynamically controlling the working state of the winch; the docking state of the traveling carriage and the underwater robot is monitored by the proximity switch, and when the proximity switch does not detect the docking signal, the deployment operation is suspended and an alarm is issued; during the recovery process of the stabilizer, it is determined whether the stabilizer has reached the initial position based on the real-time stroke data fed back by the stabilizer cylinder sensor, and subsequent operations are suspended if it has not reached the initial position; the swing position of the gantry is monitored in real time by the position signal fed back by the gantry cylinder sensor, and when the swing position deviates from the set value, a correction instruction is issued and an alarm message is displayed.

[0085] In this implementation method, the transmission of video signals adopts a variety of video interfaces including HDMI, SDI, CVBS, VGA and optical fiber.

[0086] In this implementation method, the data record includes sensor feedback values, video monitoring data and timestamp records of operation steps.

[0087] The underwater robot deployment and recovery operation control method provided by the present invention realizes a high degree of integration of deck equipment and underwater robot operation by introducing image recognition technology and multi-sensor real-time monitoring, simplifies the operation process, reduces the number of operators, and improves the automation and safety of the deployment and recovery process by real-time feedback of equipment status and operator safety information; the system supports multiple video signal accesses, and combined with the video wall visualization operation platform, further improves the comprehensiveness and accuracy of monitoring; in addition, by recording and iteratively optimizing equipment operating parameters, the operating efficiency and adaptability of the system are improved, and the construction cost and maintenance complexity of the control system are significantly reduced.

[0088] The above are only specific application examples of the present invention and do not constitute any limitation on the protection scope of the present invention. Any technical solution formed by equivalent transformation or equivalent replacement shall fall within the protection scope of the present invention.

Claims

1. A visual operating system for the deck of an underwater robot, characterized in that: It includes control platforms, deck equipment sensors, cameras and underwater robots; among them, The control platform includes a control cabinet, an integrated operating chair and a video wall; The control cabinet integrates a data interaction module, a control system, a local data acquisition module, a protocol conversion gateway, and an optical fiber communication module; the data interaction module is used to integrate and coordinate the data transmission and instruction issuance of the local data acquisition module, the remote data acquisition module, and the protocol conversion gateway, and to carry out unified communication and information interaction between internal and external devices; the control system obtains the data of each device through the data interaction module and controls the deck equipment and the underwater robot after processing; the local data acquisition module is used to collect input instructions from the integrated operating chair, and the protocol conversion gateway is used to convert the underwater robot data protocol into a control platform compatible protocol; the optical fiber communication module is used for communication between the underwater robot and the control platform; The integrated operating chair integrates an integrated operation panel, a touch screen and an ergonomic chair. The integrated operation panel includes winch deployment, cable arrangement device movement, HPU start and stop, traveling block unlocking and locking buttons for deck deployment and recovery operations, and underwater robot motor control buttons; The video wall is used to display the real-time operating status of deck equipment and underwater robots, including deck equipment sensor data and video monitoring images.

2. The underwater robot deck visual operating system according to claim 1, characterized in that: The deck equipment sensors include: force measuring pins, absolute encoders, anti-oscillation cylinder displacement sensors, proximity switches and gantry cylinder displacement sensors, which are used to monitor the status of deck equipment in real time; the cameras include multiple deck cameras, which are used to provide real-time deck operation images, and identify whether deck workers are wearing safety helmets and labor protection shoes through image processing technology, and monitor their work trajectories.

3. The underwater robot deck visual operating system according to claim 1, characterized in that: The control cabinet is also integrated with a UPS power supply, a multi-channel video mixing computer and a video hard disk recorder.

4. The underwater robot deck visual operating system according to claim 1, characterized in that: The system also includes a variety of video interfaces, and integrates and processes multiple video signals through a video matrix and outputs them to a video wall.

5. The underwater robot deck visual operating system according to claim 1, characterized in that: The control platform also includes a safety module for stopping deck equipment and underwater robot operations in an emergency.

6. A visual operation control method for deploying and recovering an underwater robot on deck, characterized in that: The following steps are involved: Obtain the current status data of deck equipment and underwater robots, and determine the safety status of deck operators through image recognition technology; after confirming that the operators meet the safety requirements, activate the control system and enter the deployment and recovery operation mode; Control the stopper to move to the initial lowering position, start the umbilical winch to load the initial tension value, and confirm whether the tension meets the set value through the feedback data of the force measuring pin; when the status of the stopper and the umbilical winch are normal, start lowering the stopper; During the lowering process of the stopper, the stopper cylinder sensor monitors its travel in real time to determine whether it has reached the set working position; when the stopper reaches the specified working position, the umbilical winch is started to lay the cable according to the set tension, and the traveling block is controlled to be lowered at the same time; Receive the traveling carriage position signal fed back by the wire rope winch encoder, and judge whether the traveling carriage has reached the predetermined lowering position according to the real-time position signal; when the traveling carriage reaches the predetermined position, start the traveling carriage to dock with the underwater robot, and obtain the docking status signal through the proximity switch; After confirming that the traveling carriage has been docked with the underwater robot, the traveling carriage recovery is started, and the recovery progress is monitored in real time based on the traveling carriage position signal fed back by the wire rope winch encoder; when the traveling carriage is recovered to the initial position, the stopper is controlled to be recovered, and the feedback value of the stopper cylinder sensor is used to confirm whether the stopper is completely recovered; After the sway stopper is recovered, the gantry is controlled to swing, and the swing position data fed back by the gantry cylinder sensor is used to determine whether the gantry has reached the specified position; when the gantry swings to the specified position, the umbilical winch is started to retract the cable, and the retracting speed is adjusted in real time according to the tension value fed back by the force measuring pin shaft until the cable is completely retracted; During the entire deployment and recovery process, real-time video signals are obtained through deck cameras and displayed on a visual operation platform in combination with the equipment status data fed back by sensors. When the system detects that the equipment status data exceeds the set threshold or the camera captures the operator approaching a dangerous area, an alarm signal is issued and the operation is suspended until it is confirmed to be safe and then resumed. Record sensor feedback data and operation steps during the deployment and recovery process, update the standard operating parameters archived by the system, and adjust the parameters for the next deployment and recovery operation based on the recorded data; After completing the deployment or recovery task, confirm that all equipment has returned to its initial state, shut down the control system, and store the operation records.

7. A visual operation control method for deploying and recovering an underwater robot on deck as claimed in claim 6, characterized in that: Image recognition technology includes detecting the status of deck operators wearing safety helmets and protective shoes, and combining background removal and grayscale contrast technology to achieve safety judgment.

8. A visual operation control method for deploying and recovering an underwater robot on deck as claimed in claim 6, characterized in that: The tension adjustment of the umbilical cable winch is carried out by comparing the feedback data of the force measuring pin with the set threshold in real time, and dynamically controlling the working status of the winch; the docking status of the traveling carriage and the underwater robot is monitored by the proximity switch. When the proximity switch does not detect the docking signal, the deployment operation is suspended and an alarm is issued; during the recovery of the stabilizer, the real-time stroke data feedback from the stabilizer cylinder sensor is used to determine whether the stabilizer has reached the initial position, and subsequent operations are suspended if it has not reached the initial position; the swing position of the gantry is monitored in real time through the position signal feedback from the gantry cylinder sensor. When the swing position deviates from the set value, a correction instruction is issued and an alarm message is displayed.

9. A visual operation control method for deploying and recovering an underwater robot on deck as claimed in claim 6, characterized in that: The transmission of video signals adopts a variety of video interfaces including HDMI, SDI, CVBS, VGA and optical fiber.

10. A visual operation control method for deploying and recovering an underwater robot on deck as claimed in claim 6, characterized in that: Data records include sensor feedback values, video surveillance data, and timestamp records of operation steps.

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