Underwater robot recovery device and recovery method thereof

Abstract

The invention discloses an underwater robot recycling device and a recycling method thereof.The underwater robot recycling device recycles an underwater robot through a recycling cage and comprises a frame body and a fabric net, the fabric net is arranged on the frame body, a guiding net is arranged on one side of the frame body, and the underwater robot enters the frame body along the guiding net and lifts the frame body; enabling the underwater robot to abut against the fabric net for recovery; the frame body is connected with a propeller, and the propeller is controlled by a control box to be opened or closed so that the frame body can move directionally. An optical fiber compass and a GPS antenna are arranged on the frame body, and the GPS antenna and the optical fiber compass are connected with a computer so as to obtain the position information and the direction of the frame body. According to the underwater robot recovery device provided by the invention, the recovery cage is equipped with the sensor and the positioning system, and the GPS and compass technologies are integrated, so that the position of a mud landing point monitoring underwater robot can be accurately determined, the recovery success rate of the underwater robot can be remarkably improved, the search time is shortened, and the overall operation cost is reduced.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots, and in particular relates to an underwater robot recovery device and a recovery method thereof. Background Art

[0002] Mud point monitoring is mainly used in the development of offshore oil and gas fields, laying of submarine pipelines, etc. The task of the mud point monitoring underwater robot is to carry out necessary monitoring work on the seabed to evaluate and ensure the safety and effectiveness of marine engineering. However, the recovery process of such robots after completing the mission often faces complex marine environmental challenges, especially the problem of dynamic recovery under the influence of ocean currents.

[0003] Traditional underwater robot recovery methods usually rely on surface ships to recover through winches and cables or use buoys and anchoring systems. However, these traditional methods have many shortcomings in strong current environments, such as the robot deviating from the predetermined recovery point due to the influence of the current, resulting in increased recovery time, increased risk of robot damage during the recovery process, and even robot loss.

[0004] Therefore, it is urgent to design an underwater robot recovery device to solve the above-mentioned problem of underwater robot recovery. Summary of the invention

[0005] In order to solve the technical problems mentioned in the background technology that the robot relies on surface ships to recover through winches and cables or uses buoys and anchoring systems, and the robot deviates from the predetermined recovery point due to the influence of ocean currents, resulting in increased recovery time, increased risk of robot damage during the recovery process, and even loss of the robot, an underwater robot recovery device is provided to solve the problem of underwater robot recovery.

[0006] To achieve the above purpose, the specific technical solution of the underwater robot recovery device of the present invention is as follows: The invention discloses an underwater robot recovery device. The underwater robot is recovered by a recovery cage, and comprises a frame and a fabric net. The fabric net is arranged on the frame. A guide net is arranged on one side of the frame. The underwater robot enters the frame along the guide net. The frame is hoisted so that the underwater robot abuts against the fabric net for recovery. The frame is connected with a propeller. The propeller is turned on or off by a control box so that the frame moves in a certain direction. The frame is provided with a fiber optic compass and a GPS antenna. The GPS antenna and the fiber optic compass are connected to a computer so as to obtain the position information and direction of the frame.

[0007] Furthermore, a symmetrical guide net is hinged on one side of the frame, and the two guide nets rotate along the frame so that the underwater robot enters the frame along the opening between the two guide nets.

[0008] Furthermore, the two guide nets are both connected with a first propeller to enable the guide nets to rotate along the frame.

[0009] Furthermore, the three vertical surfaces of the frame away from the guide net are all connected to the fabric net, and the horizontal fabric net is connected below the three vertical surface fabric nets.

[0010] Furthermore, a second propeller is spaced apart and connected to one side of the frame away from the guide net to enable the frame to move.

[0011] Furthermore, a load-bearing beam is connected to the frame, a computer is arranged on the load-bearing beam, and the computer is connected to a battery so that the computer can obtain signals from the optical fiber compass, the GPS antenna and the radio antenna.

[0012] Furthermore, the control box is arranged in the computer.

[0013] A method for recovering an underwater robot recovery device mainly comprises the following steps: S1. After completing the mud point monitoring task, the underwater robot sends a task completion signal and prepares to float to the surface for recovery; S2, the underwater robot slowly floats to the water surface. After reaching the water surface, the robot sends its own position signal to the recovery cage; S3, after receiving the signal, the recovery cage activates its propulsion system and starts navigation, and the operator sets the target direction of the recovery cage; S4, the recovery cage uses the fiber optic compass data for preliminary navigation, moves to the position signal sent by the underwater robot, and the fiber optic compass monitors the current direction of the recovery cage in real time and sends this data to the control system; S5, the control system of the recovery cage calculates the relative position error between the recovery cage and the underwater robot, and based on the relative position error, the controller of the recovery cage adjusts the output of the thruster to reduce the position error, and adjusts the speed, direction or propulsion force; S6. The control system continuously monitors the directional deviation and adjusts the thruster control signal based on the real-time data to minimize the deviation; S7. The recovery cage is controlled in the bow direction, and the underwater robot autonomously enters the recovery cage to complete the recovery work.

[0014] Further, in S5, the controller will issue a command to adjust the operation of the propeller so as to make the recovery cage rotate in a directional manner.

[0015] Further, in S5, according to the output of the controller, each thruster needs to adjust the thrust magnitude or the rotation direction so that the recovery cage maintains the desired heading.

[0016] The underwater robot recovery device and the recovery method of the present invention have the following advantages: By equipping the recovery cage with sensors and positioning systems, integrating GPS and compass technology, the position of the underwater robot can be accurately determined to monitor the mud point, which can significantly improve the success rate of underwater robot recovery, reduce search time, and reduce overall operating costs. The propeller of the present application is set on the recovery cage, and the position and speed of the recovery cage can be dynamically adjusted to cope with the influence of ocean currents; using the power of the propeller, the recovery cage can be accurately adjusted in different directions and speeds, thereby achieving bow control, waiting for the underwater robot to enter the recovery cage and complete the recovery task, and achieving safe recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the recovery cage of the underwater robot recovery device of the present invention; Figure 2 A top view of a recovery cage of an underwater robot recovery device of the present invention; Figure 3 This is a schematic diagram of the working process of the underwater robot recovery device of the present invention; Figure 4 This is a control principle diagram of the underwater robot recovery device of the present invention.

[0018] Description of the markings in the figure: 1. Frame; 2. Underwater robot; 3. Fabric net; 4. Guide net; 5. First thruster; 6. Second thruster; 7. Computer; 8. Control box; 9. Battery; 10. Fiber optic compass; 11. GPS antenna; 12. Radio antenna. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0021] Please refer to the attached Figure 1 To Attachment Figure 4 The underwater robot recovery device of the present invention is described.

[0022] like Figure 1 and Figure 2 As shown, the underwater robot recovery device in the present invention recovers the underwater robot 2 by a recovery cage, including a frame 1 and a fabric net 3, the fabric net 3 is arranged on the frame 1, and a guide net 4 is arranged on one side of the frame 1. The underwater robot 2 enters the frame 1 along the guide net 4, and the frame 1 is lifted so that the underwater robot abuts against the fabric net 3 for recovery; the frame 1 is connected to a propeller, and the propeller is controlled to be turned on or off by a control box 8 to make the frame 1 move in a directional manner; the frame 1 is provided with a fiber optic compass 10 and a GPS antenna 11, and the GPS antenna 11 and the fiber optic compass 10 are connected to a computer 7 to obtain the position information and direction of the frame.

[0023] By equipping the recovery cage with sensors and positioning systems, integrating GPS and compass technology, the position of the underwater robot 2 can be accurately determined to monitor the mud point, which can significantly improve the success rate of the recovery of the underwater robot 2, reduce the search time, and reduce the overall operating cost. The propeller of the present application is set on the recovery cage, and the position and speed of the recovery cage can be dynamically adjusted to cope with the influence of the ocean current; using the power of the propeller, the recovery cage can be accurately adjusted in different directions and speeds, thereby realizing bow control, waiting for the underwater robot to enter the recovery cage and complete the recovery task, and realizing safe recovery.

[0024] Further, if Figure 1 and Figure 2 As shown, a symmetrical guide net 4 is hinged on one side of the frame 1, and the two guide nets 4 rotate along the frame 1 so that the underwater robot 2 enters the frame 1 along the opening between the two guide nets 4; the two guide nets 4 are connected to a first propeller 5 to rotate the guide nets 4 along the frame 1; the three vertical surfaces of the frame 1 away from the guide nets 4 are connected to the fabric nets 3, and the horizontal fabric nets 3 are connected below the three vertical surface fabric nets 3.

[0025] In this embodiment, preferably, the frame 1 of the recovery cage is a rectangular structure, which is fixedly connected by steel pipes or various high-strength rigid connectors. A lifting point is connected to the frame 1, and the recovery cage is lifted or lowered to recover the underwater robot 2.

[0026] The frame 1 is an open structure. Two guide nets 4 are symmetrically hinged on one side of the frame 1. The two guide nets 4 rotate along the frame 1. When the guide nets 4 rotate to a certain angle, the underwater robot 2 enters the frame 1 along the guide nets for recovery.

[0027] Preferably, the two guide nets 4 are connected to the bottom with a first propeller 5, when the two guide nets 4 do not extend out of the frame 1, the two first propellers 5 can push the frame 1 to move; the first propeller 5 rotates to change the pushing direction, so that the guide nets 4 can rotate along the frame 1.

[0028] The three vertical surfaces of the frame 1 are respectively connected with fabric nets 3 of the same height so that the fabric nets 3 cover the three vertical surfaces, and the transverse fabric net 3 is connected below the three vertical surface fabric nets 3 so that the closed guide net 4, the three vertical surface fabric nets 3 and the transverse fabric net 3 can limit the underwater robot 2.

[0029] As a preferred embodiment, the guide net 4 is made of high-strength polyester yarn, and its width gradually narrows until it enters the frame; the frame 1 adopts an equilateral angle steel design for effective recovery and lifting; the bearing part adopts a fabric net 3 to carry the underwater robot, protecting the underwater robot from hard contact.

[0030] Further, if Figure 2 As shown, a second propeller 6 is spaced apart and connected to one side of the frame 1 away from the guide net 4 to enable the frame 1 to move; a load-bearing beam is connected to the frame 1, a computer 7 is arranged on the load-bearing beam, and the computer 7 is connected to a battery 9 to enable the computer 7 to obtain signals from the fiber optic compass 10, the GPS antenna 11 and the radio antenna 12; a control box 8 is arranged in the computer 7.

[0031] In this embodiment, a second propeller 6 is spaced apart and connected to the lower part of the frame 1 away from the guide net 4 , and the movement of the frame 1 is achieved by changing the speed and direction of the second propeller 6 .

[0032] As a preferred embodiment, four thrusters are installed on the four corners of the recovery cage, the first thruster 5 and the second thruster 6 provide power, the fiber optic compass 10 provides direction, and the control box 8 is used to control the heading of the recovery cage, so that the recovery process is more stable and efficient in a complex marine environment. Its position and speed can be dynamically adjusted to cope with the influence of ocean currents and ensure that it is relatively still with the underwater robot 2 that needs to be recovered.

[0033] As a preferred embodiment, the recovery cage is provided with: The buoy system provides sufficient buoyancy to keep the recovery cage stable on the water surface, making it easier to locate and recover; The battery system provides long-lasting power support to ensure long-term operation capability; GPS antenna 11 and fiber optic compass 10, the fiber optic compass 10 is used to ensure accurate direction control of the recovery cage, and the GPS system provides accurate position information to help control the movement of the recovery cage; Wear-resistant cage surface, made of high-strength, wear-resistant materials, ensures that it is not easily corroded or damaged even in harsh marine environments; Guide nets 4: 5 guide nets 4 are designed on the front, left, right and opening guide surfaces of the underwater robot recovery device to effectively control the underwater robot recovery track while protecting the underwater robot and its equipment; Automatic drain holes are designed at the bottom of the cage to help drain the water trapped in the cage when it floats to the surface, thus reducing the drag weight; Connecting ring / hook for attaching the recovery cage to auxiliary equipment to facilitate towing after recovery; Thrusters: There are four thrusters installed at the four corners of the recovery cage. The thrusters are the power source of the recovery cage. They can adjust the propulsion direction and strength according to the command of the control system to overcome the influence of ocean currents and maintain the stability of the equipment. The control system is responsible for processing data from the compass, GPS and other sensors to achieve precise navigation and has autonomous control functions to adapt to different marine environments.

[0034] The recovery cage is equipped with a matching control system, including: The positioning module is responsible for receiving the positioning signal sent by the underwater robot 2 and accurately calculating the position of the robot; The navigation module is responsible for planning the movement route of the recovery cage, guiding the thrusters to move along the predetermined route and reach the robot's floating point in the optimal path; The communication module is responsible for information exchange with the underwater robot and the operator to ensure the timely transmission and execution of instructions; The control algorithm is a built-in algorithm of the control system, which can process various information in real time, respond quickly and adjust the working state of the thruster.

[0035] When the underwater robot 2 completes the task, it will float to the surface and send a signal, at which time the first thruster 5 and the second thruster 6 of the recovery cage start to work and adjust their own position according to the position signal of the underwater robot 2. Using the power of the first thruster 5 and the second thruster 6, the recovery cage can make precise adjustments in different directions and speeds, so as to quickly approach the target robot and maintain bow control, waiting for the underwater robot 2 to drill into the recovery cage for safe recovery.

[0036] The present application also provides a method for recovering an underwater robot recovery device, which mainly comprises the following steps: S1, after completing its mud point monitoring task, the underwater robot 2 sends a task completion signal and prepares to float to the surface for recovery; S2, the underwater robot 2 slowly floats to the water surface. After reaching the water surface, the robot sends its own position signal to the recovery cage; S3, after receiving the signal, the recovery cage activates its propulsion system and starts navigation, and the operator sets the target direction of the recovery cage (angle relative to magnetic north); S4, the recovery cage uses the compass data for preliminary navigation, moves according to the position signal sent to the underwater robot 2, and the fiber optic compass 10 monitors the current direction of the recovery cage in real time and sends this data to the control system; when the recovery cage approaches the robot's position, it activates the fine positioning system (sonar) to find the position of the underwater robot more accurately; S5, the control system of the recovery cage calculates the relative position error between it and the underwater robot 2, and based on the relative position error, the controller of the recovery cage adjusts the output of the propeller to reduce the position error and adjust the speed, direction or propulsion force; S6, the control system of the recovery cage continuously receives feedback information about the relative position, and adjusts the propeller according to the feedback. According to the direction deviation, the control system generates a propeller control signal, including changing the speed, running direction or pitch of the propeller; S7, the control system continuously monitors the directional deviation and adjusts the thruster control signal based on the real-time data to minimize the deviation; S8. The control system uses PID control strategy and takes into account the influence of environmental factors (such as water flow and wind force), and integrates multiple sensors (such as water flow sensors and meteorological sensors) to monitor environmental conditions; S9. Use machine learning and data analysis technology to conduct in-depth analysis of sensor data to predict and adapt to environmental changes, dynamically adjust control strategies based on environmental models and real-time data to maintain bow stability and optimize the directional control performance of the recovery cage; S10. Implement redundancy design for key components (thrusters, controllers, sensors) to ensure that other components can take over the function when one component fails, and back up control algorithms and automatic failover mechanisms to achieve redundancy at the software level; S11. Design emergency operation procedures to automatically switch the system to a safe mode, reduce thruster power or switch to a backup control system, and retain the ability for manual intervention in complex situations that the automatic system cannot handle; S12, the recovery cage is successfully controlled in the heading direction, and the underwater robot 2 autonomously enters the recovery cage to complete the recovery work; S13, after the underwater robot 2 is recovered, the locking system of the recovery cage is activated to ensure that the robot is safely and securely locked in the cage during the entire return journey; S14, the recovery cage returns safely with the underwater robot 2 to the predetermined delivery point, such as a mother ship or a shore-based facility, completing the recovery process; As a preferred technical solution of the present invention, the specific process of the control method for recycling the cage in step S5 is as follows: A. Based on the information measured by the position reference system and the environmental information measured by the dynamic positioning system sensor system, the estimated value P1 of the recovery cage bow direction is obtained after filtering; B. Compare and calculate the estimated value with the expected heading, monitor the heading error, and calculate the heading difference Pe; C. Input the controller according to the heading error Pe and obtain the controller output; D. The controller will issue instructions to adjust the operation of the thrusters so that the recovery cage rotates in the desired direction; E. According to the output of the controller, each thruster needs to adjust the thrust or rotation direction to keep the recovery cage in the desired heading; F. The control system integrates sensors to monitor the current state of the recovery cage to ensure the accuracy of heading control, and then returns to step C; G. Until Pe approaches 0, the robot will be recycled.

[0037] Preferably, the recovery cage is made of aviation-grade aluminum alloy, and the surface is treated with anti-pollution coating to reduce the weight of the equipment and prevent underwater organisms from attaching. The corrosion resistance and adaptability to extreme environments are significantly improved; and the control system of the recovery cage can accurately complete the command transmission and information transmission between the mud point monitoring underwater robot, increase the ability of information interaction during actual operation, and improve the quality of submarine pipeline laying construction.

[0038] This application reduces the reliance on ships and divers, reduces the risk of personnel safety, and improves the efficiency and accuracy of recovery. In terms of design, the recovery device can be easy to carry and deploy, easy to operate, and can be reused, reducing long-term operating costs. It solves the risk and efficiency problems of traditional recovery methods and has important practical significance and broad application prospects.

[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An underwater robot recovery device, which uses a recovery cage to recover the underwater robot, characterized in that: It includes a frame and a fabric net, the fabric net is arranged on the frame, a guide net is arranged on one side of the frame, the underwater robot enters the frame along the guide net, and the frame is lifted so that the underwater robot abuts against the fabric net for recovery; The frame is connected to a propeller, which is turned on or off by a control box to enable the frame to move in a directional manner; The frame is provided with a fiber optic compass and a GPS antenna, and the GPS antenna and the fiber optic compass are connected to a computer to obtain the position information and direction of the frame.

2. The underwater robot recovery device according to claim 1, characterized in that: A symmetrical guide net is hinged on one side of the frame, and the two guide nets rotate along the frame so that the underwater robot enters the frame along the opening between the two guide nets.

3. The underwater robot recovery device according to claim 2, characterized in that: The two guide nets are both connected with a first propeller so as to make the guide nets rotate along the frame.

4. The underwater robot recovery device according to claim 1, characterized in that: The three vertical surfaces of the frame away from the guide net are all connected with the fabric net, and the horizontal fabric net is connected below the fabric nets on the three vertical surfaces.

5. The underwater robot recovery device according to claim 4, characterized in that: A second propeller is spaced apart and connected to one side of the frame away from the guide net so as to move the frame.

6. The underwater robot recovery device according to claim 5, characterized in that: The frame is connected with a load-bearing beam, on which a computer is arranged, and the computer is connected with a battery so that the computer can obtain signals from the optical fiber compass, the GPS antenna and the radio antenna.

7. The underwater robot recovery device according to claim 6, characterized in that: The control box is arranged in the computer.

8. A method for recovering an underwater robot recovery device, characterized in that: The main steps include: S1. After completing the mud point monitoring task, the underwater robot sends a task completion signal and prepares to float to the surface for recovery; S2, the underwater robot slowly floats to the water surface. After reaching the water surface, the robot sends its own position signal to the recovery cage; S3, after receiving the signal, the recovery cage activates its propulsion system and starts navigation, and the operator sets the target direction of the recovery cage; S4, the recovery cage uses the fiber optic compass data for preliminary navigation, moves to the position signal sent by the underwater robot, and the fiber optic compass monitors the current direction of the recovery cage in real time and sends this data to the control system; S5, the control system of the recovery cage calculates the relative position error between the recovery cage and the underwater robot, and based on the relative position error, the controller of the recovery cage adjusts the output of the thruster to reduce the position error, and adjusts the speed, direction or propulsion force; S6. The control system continuously monitors the directional deviation and adjusts the thruster control signal based on the real-time data to minimize the deviation; S7. The recovery cage is controlled in the bow direction, and the underwater robot autonomously enters the recovery cage to complete the recovery work.

9. The method for recovering an underwater robot recovery device according to claim 8, characterized in that: In S5, the controller will issue a command to adjust the operation of the thruster to make the recovery cage rotate in a directional manner.

10. The method for recovering an underwater robot recovery device according to claim 9, characterized in that: In S5, according to the output of the controller, each thruster needs to adjust the thrust magnitude or the rotation direction so that the recovery cage maintains the desired heading.

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