Undersea salvaging device and salvaging method based on ROV

Abstract

The invention discloses a submarine salvaging device and salvaging method based on an ROV, and belongs to the technical field of underwater robots. The device comprises a main body frame and an ROV body. The main body frame comprises a first frame, a second frame, a third frame and a vertical beam, and the first frame, the second frame and the third frame are sequentially connected from top to bottom through the vertical beam; the ROV body is carried on the main body frame, and the ROV body comprises a bearing head, a floating body, a sonar, an image acquisition device, a fishing hook, a fishing rope and a manipulator. The bearing head is connected with the vertical beam through a first connecting piece and connected with a mother ship through an umbilical cable. The floating body is arranged on the first frame; the sonar is fixed on the floating body and is used for detecting a salvaged object; the image acquisition equipment is fixed on the floating body and is used for acquiring an image of a salvaged object; the fishing hook is connected with the vertical beam through a second connecting piece; the first end of the fishing rope is connected with the fishing hook; and the manipulator is arranged on the second frame, is used for clamping the second end of the fishing rope and is fixed on the fishing object. According to the underwater salvage device and method based on the ROV, an underwater target can be accurately positioned, efficient grabbing and salvage can be achieved, the underwater salvage device and method adapt to complex sea conditions, and the salvage operation cost and risk are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a seabed salvaging device and a salvaging method based on an ROV. Background Art

[0002] In the process of marine resource development and marine engineering operations, unmanned remotely operated vehicles (ROVs) have become an indispensable and important equipment, especially heavy-load operation-class ROVs, which have shown excellent potential in deep-sea operations.

[0003] At present, deep-sea rescue and salvage operations are in urgent need of professional equipment and efficient methods. Although ROV technology is constantly developing, there is a relative lack of specialized designs for seabed salvage operations. Existing ROV frame structure designs mostly focus on a single type of operation. In salvage operations, due to the lack of designs specifically optimized for salvage load characteristics, ROVs face many challenges when performing salvage tasks. For example, when dealing with salvage targets of different shapes, weights, and materials, it is difficult to ensure stable and efficient grasping and lifting operations. At the same time, in actual deep-sea salvage scenarios, the seabed environment is complex and changeable, and ROVs need to accurately position and adapt to rugged seabed topography. However, the existing technology still has a lot of room for improvement in combining ROVs with efficient seabed salvage devices and methods, and it is difficult to meet the growing needs of deep-sea salvage operations. It is urgent to develop more targeted and efficient ROV-based seabed salvage devices and salvage methods. Summary of the invention

[0004] In view of the deficiencies existing in the related art, the purpose of the present invention is to provide a seabed salvage device and salvage method based on ROV to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A subsea salvage device based on ROV, comprising:

[0007] The main frame includes a first frame, a second frame, a third frame and a vertical beam, and the first frame, the second frame and the third frame are connected in sequence from top to bottom through the vertical beam;

[0008] ROV body, the ROV body is mounted on the main frame, and the ROV body includes:

[0009] A load-bearing head, which is connected to the vertical beam through a first connecting piece, and is connected to the mother ship through an umbilical cable;

[0010] A floating body, the floating body is arranged on the first frame;

[0011] Sonar, which is fixed on the buoy and is used to detect salvaged objects;

[0012] An image acquisition device is fixed on the floating body and is used to acquire images of the salvaged object;

[0013] A salvage hook connected to the vertical beam via a second connecting member;

[0014] A salvage rope, a first end of which is connected to a salvage hook;

[0015] The manipulator is arranged on the second frame and is used for clamping the second end of the salvage rope and fixing it on the salvaged object.

[0016] In some embodiments, four vertical beams are provided.

[0017] In some of the embodiments, a main frame hanging point is provided at the upper end of the vertical beam, the main frame hanging point includes a plurality of through holes, and the main frame hanging point is connected to the first connecting member.

[0018] In some of the embodiments, a salvage load hanging point is provided at the lower end of the vertical beam, the salvage load hanging point includes a plurality of through holes, and the salvage load hanging point is connected to the second connecting member.

[0019] In some of the embodiments, the ROV-based seabed salvage device also includes a main controller, which is disposed on the second frame, the main controller is communicatively connected to the sonar and image acquisition equipment, and the main controller is electrically connected to the manipulator.

[0020] In some of the embodiments, a plurality of water pressure balance holes are drilled on the main frame, and adjacent water pressure balance holes are spaced at a set distance.

[0021] A subsea salvage method based on ROV, using the above-mentioned subsea salvage device based on ROV, the method comprises the following steps:

[0022] S1. The mother ship carries the ROV-based seabed salvage device to the operating sea area, checks and tests the various functions of the ROV-based seabed salvage device, connects the first end of the salvage rope to the salvage hook, and the second end of the salvage rope is clamped by the manipulator. The mother ship slowly puts the ROV-based seabed salvage device into the sea;

[0023] S2. The ROV-based seabed salvage device moves along the set route. At the same time, the sonar explores the seabed. When a suspicious target is detected, the image acquisition device collects the image of the suspicious target and observes and confirms the target salvage;

[0024] S3. After confirming the target salvage object, the manipulator clamps the second end of the salvage rope and fixes it on the salvage object. The mother ship slowly lifts the ROV-based seabed salvage device through the umbilical cable until the umbilical cable, the main frame, the salvage rope and the salvage object are on the same plumb line, and confirms that the salvage object is firmly connected;

[0025] S4. After confirming that the salvaged object is firmly connected, continue to lift the salvaged object slowly and evenly. After lifting it close to the mother ship, operate the mother ship's crane to connect and tighten the salvaged object, disconnect the salvage rope, and the ROV-based seabed salvage device and the salvaged object are respectively recovered to the mother ship, and the salvage operation is completed.

[0026] In some of the embodiments, step S1 also includes: after checking and testing that various functions of the ROV-based seabed salvage device are normal, installing a seabed landing level adjustment device, the seabed landing level adjustment device includes four secondary telescopic hydraulic cylinders, and connecting the inlet and outlet oil pipes of the four secondary telescopic hydraulic cylinders to four designated tool hydraulic oil circuits respectively.

[0027] In some of the embodiments, step S3 also includes: after confirming the target salvage object, the ROV-based seabed salvage device continues to be lowered to the seabed, and during the seabed landing operation phase, by monitoring the value change of the ROV tilt sensor, the extension of the secondary telescopic hydraulic cylinder at the corresponding position is controlled, specifically, the primary piston rod is extended first, and when it reaches the maximum extension to the end of the piston, the secondary piston rod begins to extend until the ROV-based seabed salvage device returns to a horizontal state.

[0028] In some of the embodiments, step S4 further includes: after the ROV-based seabed salvage device leaves the seabed and confirms that the salvaged object is firmly connected, the secondary telescopic hydraulic cylinder is retracted to end the horizontal adjustment work.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The ROV-based seabed salvage device provided by the present invention is composed of a main frame and an ROV body. The ROV body includes a load-bearing head, a float, a sonar, an image acquisition device, a salvage hook, a salvage rope and a manipulator. It has a simple structure, can accurately locate underwater targets, efficiently capture and salvage, adapt to complex sea conditions, and reduce the cost and risk of salvage operations.

[0031] 2. The ROV-based seabed salvage method provided by the present invention can be installed with a seabed landing level adjustment device to control the seabed landing, so that the ROV-based seabed salvage device can maintain horizontal and stable operation even on rugged seabed surfaces. The seabed landing level adjustment device includes four two-stage telescopic hydraulic cylinders, which can convert hydraulic energy into mechanical energy without motion gap and smooth movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1It is a structural schematic diagram of an embodiment of a seabed salvage device and salvage method based on ROV of the present invention;

[0034] Figure 2 A schematic diagram of the extension structure of a two-stage telescopic hydraulic cylinder of an embodiment of an ROV-based seabed salvage device and salvage method of the present invention;

[0035] Figure 3 A schematic diagram of lifting salvaged objects according to an embodiment of a seabed salvaging device and salvaging method based on an ROV of the present invention;

[0036] Figure 4 A schematic diagram of the connection relationship between the main frame and the ROV body of an embodiment of the ROV-based seabed salvage device and salvage method of the present invention;

[0037] Figure 5 The figure is a schematic diagram of a salvage process of an embodiment of a seabed salvage device and a salvage method based on ROV of the present invention.

[0038] In the figure:

[0039] 1. Main frame; 11. First frame; 12. Second frame; 13. Third frame; 14. Vertical beam; 141. Main frame hanging point; 142. Salvage load hanging point; 2. ROV body; 21. Load-bearing head; 22. Floating body; 23. Image acquisition equipment; 24. Salvage hook; 25. Salvage rope; 26. Manipulator; 27. Light stand; 28. Work item box; 29. ​​Thruster; 3. Salvaged objects; 4. First connecting piece; 5. Main controller; 6. Secondary telescopic hydraulic cylinder; 61. Primary piston rod; 62. Secondary piston rod; 63. Hard rubber base. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Embodiment 1:

[0044] See attached Figures 1 to 5 , a schematic embodiment of the ROV-based seabed salvage device proposed in the present invention is given, and the ROV-based seabed salvage device consists of a main frame 1 and an ROV body 2.

[0045] The main frame 1 includes a first frame 11, a second frame 12, a third frame 13 and a vertical beam 14, and the first frame 11, the second frame 12 and the third frame 13 are connected in sequence from top to bottom through the vertical beam 14. The ROV body 2 is mounted on the main frame 1, and the ROV body 2 includes a bearing head 21, a floating body 22, a sonar, an image acquisition device 23, a salvage hook 24, a salvage rope 25 and a manipulator 26. The bearing head 21 is connected to the vertical beam 14 through a first connecting member 4, and the bearing head 21 is connected to the mother ship through an umbilical cable. The floating body 22 is arranged on the first frame 11, and the floating body 22 is the basic buoyancy providing component of the salvage device, which is located at the top. In order to facilitate fixation, in this embodiment, the lower end of the floating body 22 matches the shape of the first frame 11.

[0046] The sonar is fixed on the floating body 22. The sonar is used to detect the salvage and can preliminarily determine the approximate location and shape of the salvage. The image acquisition device 23 is fixed on the floating body 22. The image acquisition device 23 is used to collect images of the salvage 3. The salvage information obtained by the sonar detection may not be accurate and intuitive enough. The image acquisition device 23 can provide a clear visual image. Through further confirmation, the technicians can more accurately determine the specific characteristics of the salvage 3, providing a reliable basis for the subsequent decision on which salvage equipment to use and what salvage plan to formulate. The image acquisition device 23 can be selected as a high-definition camera.

[0047] The salvage hook 24 is connected to the vertical beam 14 through a second connecting member. When performing salvage operations, the first end of the salvage rope 25 is connected to the salvage hook 24. The manipulator 26 is provided on the second frame 12, at the front end of the second frame 12, to facilitate its grasping, operation and other operations. The manipulator 26 is used to clamp the second end of the salvage rope 25 and fix it on the salvage object 3.

[0048] In order to improve the structural stability, in this embodiment, four vertical beams 14 are provided. A main frame hanging point 141 is provided at the upper end of the vertical beam 14. The main frame hanging point 141 includes a plurality of through holes. The main frame hanging point 141 is connected to the first connecting member 4. Specifically, the main frame hanging point 141 is composed of twelve bolt through holes with a diameter of 30 mm, and three are provided at the upper end of each vertical beam 14. A salvage load hanging point 142 is provided at the lower end of the vertical beam 14. The salvage load hanging point 142 includes a plurality of through holes. The salvage load hanging point 142 is connected to the second connecting member. Specifically, the salvage load hanging point 142 is composed of twelve bolt through holes with a diameter of 30 mm, and three are provided at the lower end of each vertical beam 14.

[0049] The ROV-based seabed salvage device further includes a main controller 5, which is disposed on the second frame 12, is in communication connection with the sonar and the image acquisition device 23, and is electrically connected with the manipulator 26. The main controller 5 is used to receive and transmit salvage information detected by the sonar and images of the salvage 3 acquired by the image acquisition device 23, and controls the manipulator 26 to fix the second end of the salvage rope 25 on the salvage 3, thereby improving the operation speed, reducing the labor cost, and performing the salvage operation accurately, stably and efficiently.

[0050] A plurality of water pressure balance holes are drilled on the main frame 1, and adjacent water pressure balance holes are spaced at a set distance. In this embodiment, a 6mm diameter water pressure balance hole is drilled on the main frame 1 every 200mm to ensure the safety of the main frame in the deep sea high pressure environment.

[0051] In this embodiment, the ROV body 2 also includes a light stand 27, an operating item box 28 and a thruster 29. Specifically, the light stand 27 is fixed on the float 22 and is located at the front end of the float 22. A lamp is fixed on the light stand 27 to provide lighting for the front end of the salvage device. In addition, the light stand 27 can adjust the direction and angle of the lighting fixture to meet the lighting requirements in different operating scenarios. The operating item box 28 is fixed on the third frame 13 and is located below the manipulator 26. The operating item box 28 can be used to place operating tools and store samples, so as to facilitate the manipulator 26 to carry out deep-sea operations. There are multiple thrusters 29, and multiple thrusters 29 are fixed on the float 22. The angle of the thruster 29 can be adjusted to provide propulsion in different directions for the salvage device.

[0052] In the above-mentioned schematic embodiment, the ROV-based seabed salvage device is composed of a main frame and an ROV body. The ROV body includes a load-bearing head, a float, a sonar, an image acquisition device, a salvage hook, a salvage rope and a manipulator. It has a simple structure, can accurately locate underwater targets, efficiently capture and salvage, adapt to complex sea conditions, and reduce the cost and risk of salvage operations.

[0053] Embodiment 2:

[0054] This embodiment provides a seabed salvage method based on ROV, using the seabed salvage device based on ROV of embodiment 1, and the method includes the following steps:

[0055] S1. The mother ship carries the ROV-based seabed salvage device and sails to the operating sea area, checks and tests various functions of the ROV-based seabed salvage device, connects the first end of the salvage rope 25 to the salvage hook 24, and the second end of the salvage rope 25 is clamped by the manipulator 26. The mother ship slowly puts the ROV-based seabed salvage device into the sea;

[0056] S2, the ROV-based seabed salvage device moves according to the set route, and at the same time, the sonar explores the seabed. When a suspicious target is detected, the image acquisition device 23 acquires the image of the suspicious target and observes and confirms the target salvage object 3;

[0057] S3, after confirming the target salvage object 3, the manipulator 26 clamps the second end of the salvage rope 25 and fixes it on the salvage object 3, and the mother ship slowly lifts the ROV-based seabed salvage device through the umbilical cable until the umbilical cable, the main frame 1, the salvage rope 25 and the salvage object 3 are in the same plumb line, and confirms that the salvage object 3 is firmly connected;

[0058] S4. After confirming that the salvaged object 3 is firmly connected, the salvaged object 3 is continuously lifted slowly and at a uniform speed. After being lifted close to the mother ship, the mother ship's crane is operated to connect and tighten the salvaged object 3, and the salvage rope 25 is disconnected. The ROV-based seabed salvage device and the salvaged object 3 are respectively recovered to the mother ship, and the salvage operation is completed.

[0059] Step S1 also includes: after checking and testing that all functions of the ROV-based seabed salvage device are normal, installing a seabed landing level adjustment device, the seabed landing level adjustment device includes four secondary telescopic hydraulic cylinders 6, and connecting the inlet and outlet oil pipes of the four secondary telescopic hydraulic cylinders 6 to four designated tool hydraulic oil circuits respectively.

[0060] Step S3 also includes: after confirming the target salvage object 3, the ROV-based seabed salvage device continues to be lowered to the seabed. During the seabed landing operation phase, by monitoring the value change of the ROV tilt sensor, the secondary telescopic hydraulic cylinder 6 at the corresponding position is controlled to extend, specifically, the primary piston rod 61 is extended first, and when it reaches the maximum extension to the end of the piston, the secondary piston rod 62 begins to extend until the ROV-based seabed salvage device returns to a horizontal state.

[0061] In this embodiment, the secondary telescopic hydraulic cylinder 6 also includes a hard rubber base 63, which is arranged at the end of the secondary piston rod 62. The hard rubber base 63 has good elasticity and buffering performance, and has a certain roughness and friction coefficient. When the ROV-based seabed salvage device lands on the seabed, the hard rubber base 63 can provide a large friction force, and can transform the instantaneous impact force when touching the bottom into a relatively gentle force transmitted to the main frame 1 and other components through its own elastic deformation, thereby protecting the precision parts inside the salvage device from damage, reducing the occurrence of failures, and extending the service life.

[0062] Step S4 also includes: after the ROV-based seabed salvaging device leaves the seabed and confirms that the salvaged object 3 is firmly connected, the secondary telescopic hydraulic cylinder 6 is retracted to end the horizontal adjustment work.

[0063] In the above-mentioned schematic embodiment, the ROV-based subsea salvage method can be installed with a subsea landing level adjustment device to control the subsea landing level, so that the ROV-based subsea salvage device can maintain horizontal and stable operation even on rugged seabed surfaces. The subsea landing level adjustment device includes four two-stage telescopic hydraulic cylinders, which can convert hydraulic energy into mechanical energy without motion gap and smooth movement.

[0064] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0065] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A seabed salvage device based on ROV, characterized in that: include: A main frame, the main frame comprising a first frame, a second frame, a third frame and a vertical beam, wherein the first frame, the second frame and the third frame are sequentially connected from top to bottom through the vertical beam; ROV body, the ROV body is mounted on the main frame, and the ROV body includes: A load-bearing head, the load-bearing head is connected to the vertical beam through a first connecting member, and the load-bearing head is connected to the mother ship through an umbilical cable; a floating body, wherein the floating body is arranged on the first frame; A sonar, which is fixed on the floating body and is used to detect salvaged objects; An image acquisition device, the image acquisition device is fixed on the floating body, and the image acquisition device is used to acquire images of salvaged objects; A salvage hook connected to the vertical beam via a second connecting member; a salvage rope, a first end of which is connected to the salvage hook; A manipulator is arranged on the second frame and is used to clamp the second end of the salvage rope and fix it on the salvaged object.

2. The ROV-based seabed salvage device according to claim 1, characterized in that: There are four vertical beams.

3. The ROV-based seabed salvage device according to claim 2, characterized in that: A main frame hanging point is provided at the upper end of the vertical beam, and the main frame hanging point includes a plurality of through holes, and the main frame hanging point is connected to the first connecting member.

4. The ROV-based seabed salvage device according to claim 3, characterized in that: A salvage load hanging point is provided at the lower end of the vertical beam, the salvage load hanging point includes a plurality of through holes, and the salvage load hanging point is connected to the second connecting member.

5. The ROV-based seabed salvage device according to claim 1, characterized in that: It also includes a main controller, which is arranged on the second frame, the main controller is communicatively connected with the sonar and the image acquisition device, and the main controller is electrically connected with the manipulator.

6. The ROV-based seabed salvage device according to any one of claims 1 to 5, characterized in that: A plurality of water pressure balance holes are drilled on the main frame, and adjacent water pressure balance holes are spaced apart by a set distance.

7. A seabed salvage method based on ROV, characterized in that: Using the ROV-based seabed salvage device according to claim 1, the method comprises the following steps: S1. The mother ship carries the ROV-based seabed salvage device to the operating sea area, checks and tests the various functions of the ROV-based seabed salvage device, connects the first end of the salvage rope to the salvage hook, and the second end of the salvage rope is clamped by the manipulator. The mother ship slowly puts the ROV-based seabed salvage device into the sea; S2. The ROV-based seabed salvage device moves along the set route. At the same time, the sonar explores the seabed. When a suspicious target is detected, the image acquisition device collects the image of the suspicious target and observes and confirms the target salvage; S3. After confirming the target salvage object, the manipulator clamps the second end of the salvage rope and fixes it on the salvage object. The mother ship slowly lifts the ROV-based seabed salvage device through the umbilical cable until the umbilical cable, the main frame, the salvage rope and the salvage object are on the same plumb line, and confirms that the salvage object is firmly connected; S4. After confirming that the salvaged object is firmly connected, continue to lift the salvaged object slowly and evenly. After lifting it close to the mother ship, operate the mother ship's crane to connect and tighten the salvaged object, disconnect the salvage rope, and the ROV-based seabed salvage device and the salvaged object are respectively recovered to the mother ship, and the salvage operation is completed.

8. The ROV-based seabed salvage method according to claim 7, characterized in that: Step S1 also includes: after checking and testing that all functions of the ROV-based seabed salvage device are normal, installing a seabed landing level adjustment device, the seabed landing level adjustment device includes four secondary telescopic hydraulic cylinders, and connecting the inlet and outlet oil pipes of the four secondary telescopic hydraulic cylinders to four designated tool hydraulic oil circuits respectively.

9. The ROV-based seabed salvage method according to claim 8, characterized in that: Step S3 also includes: after confirming the target salvage object, the ROV-based seabed salvage device continues to be lowered to the seabed. During the seabed landing operation phase, by monitoring the value change of the ROV tilt sensor, the extension of the secondary telescopic hydraulic cylinder at the corresponding position is controlled. Specifically, the primary piston rod is extended first, and when it reaches the maximum extension to the end of the piston, the secondary piston rod begins to extend until the ROV-based seabed salvage device returns to a horizontal state.

10. The ROV-based seabed salvage method according to claim 9, characterized in that: Step S4 also includes: after the ROV-based seabed salvage device leaves the seabed and confirms that the salvaged object is firmly connected, the secondary telescopic hydraulic cylinder is retracted to end the horizontal adjustment work.

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