Attitude regulation and control and retraction and release device for underwater equipment and operation method of attitude regulation and control and retraction and release device

Abstract

The attitude regulation and control and take-up and pay-off device comprises a double-beam gantry crane and a water surface platform, a moon pool opening is formed in the middle of the water surface platform, an umbilical cable take-up reel and a control cabinet are arranged on one side of the moon pool opening, and the double-beam gantry crane is arranged on a deck of the water surface platform; four sets of cable take-up and pay-off devices are mounted on a cross beam of the double-beam gantry crane; the main control computer is placed in the middle of the cross beam; universal pulleys are fixed at four corners of the top of the double-beam gantry crane through bolts; liquid level meters are arranged at four corners of the bottom of the underwater equipment, hanging rings are arranged at four corners of the top, a gyroscope is arranged in the center of the top face, the hanging rings are connected with a tension sensor and a cable, the underwater equipment is provided with a pressure-resistant cabin, and all signals are collected in the pressure-resistant cabin and transmitted to a control cabinet through an umbilical cable. According to the invention, a parallel mechanism in which four-rope driving is matched with feedback of the liquid level meter and the gyroscope is adopted, and the PLC is matched, so that automatic program control can be realized, and a double-feedback mode of the liquid level meter and the gyroscope can be utilized at the same time to improve the precision of pose regulation and control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable winding and unwinding, in particular to a posture adjustment and winding and unwinding device for underwater equipment and an operation method. BACKGROUND

[0002] In the field of marine engineering and underwater equipment maintenance, the posture adjustment and recovery of underwater equipment has always been a technical difficulty. Traditional underwater equipment mostly relies on thrusters for posture adjustment or uses single-rope lifting for winding and unwinding, but in complex environments, there are problems such as poor stability, low control accuracy, and difficulty in recovery. With more and more functions and larger size of underwater equipment, higher requirements are put forward for the accuracy of posture control and the reliability of recovery.

[0003] There are two problems in the prior art: first, the control of the posture of underwater equipment is mostly open-loop, lacking high-precision sensor feedback, making it difficult to achieve real-time and stable closed-loop posture adjustment; second, when recovering the equipment, it is limited by the thrust of the thruster or the conventional winch system, and when the adsorption force is large or the posture is improper, it is difficult to safely detach from the work surface. In view of the above problems, some solutions attempt to introduce a multi-rope system to improve stability, but they still lack system integration and closed-loop control means, making it difficult to adapt to complex operation requirements. Therefore, there is an urgent need for a system that has high-precision posture adjustment capability and can efficiently and safely recover heavy underwater equipment using the tensile strength of the cable, while combining sensors such as liquid level meters and gyroscopes to achieve intelligent closed-loop control of underwater equipment, improving operation accuracy and safety.

[0004] In summary, the technical problem of the posture adjustment system suitable for underwater equipment needs to be solved, so it is necessary to design a posture adjustment system. SUMMARY

[0005] To overcome the lack of high-precision sensor feedback in existing underwater equipment devices, the main purpose of the present application is to provide a posture adjustment and winding and unwinding device for underwater equipment and an operation method. The method uses a four-rope driven parallel mechanism to adjust the posture of underwater equipment, mainly for posture adjustment of underwater equipment. On the one hand, it makes good use of high-precision position data feedback from liquid level meters and gyroscopes to achieve high-precision closed-loop control of equipment position, and can also use servo motor position feedback mode to adjust the position of underwater equipment. On the other hand, it makes good use of the advantage of high tensile strength of the cable to adjust the underwater position of heavy equipment, and when underwater equipment is working, it is adsorbed on the damaged surface. If the adsorption force is too large, the equipment cannot be safely recovered by relying solely on thruster drive or using conventional winding and unwinding methods, solving the problems of posture adjustment accuracy and recovery difficulty of underwater equipment.

[0006] To achieve the above-mentioned purposes, the technical solutions adopted by the present application include:

[0007] A posture control and deployment device for underwater equipment, comprising a double-beam gantry crane 3 and a water surface platform 1, wherein a moon pool opening 2 is arranged in the middle of the water surface platform 1, an umbilical cable take-up reel 12 and a control cabinet 20 are arranged on one side of the moon pool opening 2, the double-beam gantry crane 3 is arranged on the deck of the water surface platform 1, four sets of cable deployment devices are arranged on the crossbeam of the double-beam gantry crane 3, and a main control computer 15 is arranged in the middle of the crossbeam; universal sheaves 11 are fixed on the top corners of the double-beam gantry crane 3 by bolts, and are used for lifting and guiding the cables; liquid level meters 4 are arranged on the bottom corners of an underwater equipment 18, lifting rings 16 are arranged on the top corners of the underwater equipment 18, a gyroscope 5 is arranged in the center of the top surface of the underwater equipment 18, the lifting rings 16 are connected with tension sensors 6 and cables 19, and the underwater equipment 18 is provided with a pressure-resistant cabin 17, all signals are collected in the pressure-resistant cabin 17 in the middle, and are transmitted to the control cabinet 20 on the water surface platform 1 through the umbilical cable 13.

[0008] The bottom of the double-beam gantry crane 3 is provided with a gantry crane sheave 21 which can move in a single direction.

[0009] The cable deployment device is composed of a servo motor 7, a planetary reducer 9 and a cable take-up reel 10, and the three are coaxially arranged.

[0010] The control cabinet 20 is provided with a PLC controller 14 and a servo motor driver 8, and the main control computer 15 controls the PLC controller 14 and the servo motor driver 8.

[0011] The water surface platform 1 is spliced by a plurality of steel pontoons, and provides buoyancy and a working surface for the whole system.

[0012] A working method of a posture control and deployment device for underwater equipment, comprising the following steps:

[0013] (1) connecting the tension sensors 6 and the lifting rings 16 corresponding to each cable;

[0014] (2) lifting the underwater equipment 18 from the deck of the water surface platform 1 by the double-beam gantry crane 3, and then slowly moving the underwater equipment 18 above the moon pool opening 2;

[0015] (3) inputting a target depth and a target posture into the main control computer 15;

[0016] (4) further transmitting the instructions to the PLC controller 14 for calculation, transmitting the pulse signals to the servo motor 7 by the servo motor driver 8 for rotation, and then rotating the cable take-up reel 10 by the planetary reducer 9 to increase the torque, so as to adjust the length of each cable to realize the diving depth and the inclination angle of the equipment, and realize the posture control and deployment control;

[0017] (5) The actual depth of each hanging point and the actual tilt angle of the equipment are fed back to the PLC controller 14 by the liquid level meter 4 and the gyroscope 5. The PLC controller 14 then calculates the difference between the actual posture and the target posture and sends instructions to the servo motor driver 8, thereby adjusting the forward and reverse rotation and the rotation speed of the servo motor 7, thereby realizing closed-loop control of the entire device.

[0018] The relationship between the depth of the liquid level gauge 4 and the inclination angle of the gyroscope 5 in steps (4) and (5) is as follows:

[0019]

[0020] Where a1 and a2 are the distances between the long and short side level gauges, respectively; b1, b2, b3, and b4 are the depth values ​​corresponding to each level gauge 4; θ1 is the inclination angle of the underwater equipment 18 around the a1 side; θ2 is the inclination angle of the underwater equipment 18 around the a2 side;

[0021] The calculation formula for the cable 19 retraction and extension speed is:

[0022]

[0023] Where α is the rated speed of the servo motor 7; N is the reduction ratio of the planetary reducer 9; R is the radius of the cable take-up drum 10, and r is the radius of the cable 19;

[0024] There is a square between the four universal pulleys 11 of the double-beam gantry crane 3, called the upper platform, with a side length of a. B , the hinge points are evenly distributed at the four corners. Assuming the center of the square is (0,0,0), the hinge point coordinates are:

[0025]

[0026] The 18 suspension points of the underwater equipment also form a square, called the lower platform, with a side length of a P , similarly the hinge coordinates:

[0027]

[0028] Upper platform coordinate system B XYZ The origin (center of mass) is in the world coordinate system G XYZ The position and rotation matrices in :

[0029]

[0030] In the formula, s·=sin·; c·=cos·, ψ GB ,θ GB and φ GB is the rotation angle of the platform coordinate system B around the Z, Y and X axes in sequence based on the world coordinate system G; The coordinates in the platform coordinate system B with the world coordinate system G as the reference;

[0031] The lower platform coordinate system P XYZ The position of the origin (center of mass) in the world coordinate system G XYZ :

[0032]

[0033] Similarly;

[0034] From the properties of the rotation matrix, and satisfy the following formula:

[0035]

[0036] In the formula, represents the rotation matrix calculated by the pose of the lower platform P relative to the upper platform B;

[0037] At the initial moment, the upper and lower platforms are in a parallel state, and the lengths of the four driving cables 19 are the same. At this time, the calculation formula of the cable 19 length is:

[0038]

[0039] In the formula, H is the height difference between the upper and lower platforms;

[0040] From the vector closure principle, the relationship is obtained:

[0041]

[0042] Multiply by on both sides of the equation, the expression of the cable 19 length in the B XYZ coordinate system is obtained:

[0043]

[0044] Then the length of the i-th cable 19 is:

[0045]

[0046] That is,

[0047]

[0048] In the formula, are the values of x, y, and z in and respectively;

[0049] The relationship between the rotation angle of the servo motor 7 and the change amount of the cable 19 length is:

[0050]

[0051] wherein α i is the angle of rotation of the cable reel 10, r i is the radius of the cable reel 10.

[0052] Compared with the prior art, the present application has the beneficial effects that:

[0053] 1. The present application adopts a parallel mechanism driven by four ropes, cooperated with a liquid level meter and a gyroscope feedback, and cooperated with a PLC controller, so that program automatic control can be realized, and the precision of pose control can be increased by using the double feedback mode of the liquid level meter and the gyroscope, and the attitude can be maintained for a long time without continuous power consumption.

[0054] 2. The underwater equipment of the hoisted object in the present application has a certain negative pressure inside and a pressure difference with the outside water depth during operation, if the pressure control device fails or the equipment loses power, the method of using multiple ropes can effectively avoid the situation that the equipment cannot be safely recovered.

[0055] 3. The present application adopts the cooperative method of multiple ropes, which can control the diving depth and inclination angle of large underwater equipment, and effectively solves the problem of limited power for diving and attitude adjustment relying on the thruster. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is a perspective view of the underwater equipment attitude control and retraction device;

[0057] Figure 2 is a top view of the underwater equipment attitude control and retraction device;

[0058] Figure 3 is a front view of the underwater equipment attitude control and retraction device;

[0059] Figure 4 is an enlarged view of A in Figure 1 ; is an enlarged view of B in ; is an enlarged view of C in

[0060] ; is an enlarged view of D in Figure 5 ; is an enlarged view of E in Figure 1 ; is an enlarged view of F in ; is an enlarged view of G in

[0061] ; is an enlarged view of H in Figure 6 ; is a hardware structure composition diagram of the underwater equipment attitude control and retraction device;

[0062] REFERENCE SIGNS:

[0063] 1- water surface platform, 2- moon pool, 3- double beam gantry crane, 4- liquid level meter, 5- gyroscope, 6- tension sensor, 7- servo motor, 8- servo motor driver, 9- planetary reducer, 10- cable reel, 11- universal pulley, 12- umbilical cable reel, 13- umbilical cable, 14- PLC controller, 15- main control computer, 16- lifting ring, 17- pressure hull, 18- underwater equipment, 19- cable, 20- control cabinet, 21- gantry crane pulley. DETAILED DESCRIPTION

[0064] The following examples are illustrative of the main experimental evidence, but not limit the core content and application scope of the protection disclosed by the invention. It should be noted that in all these drawings and corresponding descriptions, only the concept, principle and representative experimental evidence of the disclosed embodiment of the invention are exemplarily shown. Without the complete evidence chain, all specific detailed information and extended details of each embodiment listed in the invention do not need to be shown.

[0065] Unless defined, the technical terms used in the following examples have the same meaning as generally understood by those skilled in the art to which the invention belongs.

[0066] The invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0067] A posture control and deployment device for underwater equipment, which adopts a parallel mechanism driven by four ropes, cooperates with a liquid level meter and a gyroscope feedback, and cooperates with a programmable logic controller (PLC controller), can realize program automatic control, adopts the method of multiple ropes in cooperation, can control the diving depth and inclination angle of large underwater equipment, can effectively avoid the situation that the equipment cannot be safely recovered by using the method of multiple ropes, and can simultaneously use the double feedback mode of the liquid level meter and the gyroscope to increase the accuracy of the posture control, and can maintain the posture for a long time without continuous power consumption, effectively solving the problem of limited power for diving and attitude adjustment relying on the propeller;

[0068] As shown in Figures 1 to 2 A posture control and deployment device for underwater equipment, which includes a double beam gantry crane 3 and a water surface platform 1, the water surface platform 1 is spliced by multiple steel pontoons, providing buoyancy and working surface for the whole system, a moon pool 2 is arranged in the middle of the water surface platform 1, so as to place and recover the underwater equipment 18, the umbilical cable reel 12 and the control cabinet 20 are arranged on one side of the moon pool, which can reduce the length of the line and the power loss.

[0069] As shown in Figure 1 , 2As shown in FIG. 1, FIG. 2 and FIG. 3, the double-beam gantry crane 3 is arranged on the deck of the water surface platform 1, the bottom of the double-beam gantry crane 3 is provided with a gantry crane pulley 21 which can move in a single direction, four sets of cable winding and unwinding devices are installed on the crossbeam of the double-beam gantry crane 3, which are composed of a servo motor 7, a planetary reducer 9 and a cable winding disc 10, the three are coaxially arranged, and the main control computer 15 is placed in the middle of the crossbeam. The top four corners are fixed by bolts. The universal pulley 11 is used for lifting and guiding the cable so that the underwater equipment 18 can be lifted to a height above the platform deck.

[0070] As shown in FIG. 1, FIG. 2 and FIG. 3, the double-beam gantry crane 3 is arranged on the deck of the water surface platform 1, the bottom of the double-beam gantry crane 3 is provided with a gantry crane pulley 21 which can move in a single direction, four sets of cable winding and unwinding devices are installed on the crossbeam of the double-beam gantry crane 3, which are composed of a servo motor 7, a planetary reducer 9 and a cable winding disc 10, the three are coaxially arranged, and the main control computer 15 is placed in the middle of the crossbeam. The top four corners are fixed by bolts. The universal pulley 11 is used for lifting and guiding the cable so that the underwater equipment 18 can be lifted to a height above the platform deck. Figure 4 As shown in FIG. 1, FIG. 2 and FIG. 3, the double-beam gantry crane 3 is arranged on the deck of the water surface platform 1, the bottom of the double-beam gantry crane 3 is provided with a gantry crane pulley 21 which can move in a single direction, four sets of cable winding and unwinding devices are installed on the crossbeam of the double-beam gantry crane 3, which are composed of a servo motor 7, a planetary reducer 9 and a cable winding disc 10, the three are coaxially arranged, and the main control computer 15 is placed in the middle of the crossbeam. The top four corners are fixed by bolts. The universal pulley 11 is used for lifting and guiding the cable so that the underwater equipment 18 can be lifted to a height above the platform deck.

[0071] Figure 5 As shown in FIG. 1, FIG. 2 and FIG. 3, the double-beam gantry crane 3 is arranged on the deck of the water surface platform 1, the bottom of the double-beam gantry crane 3 is provided with a gantry crane pulley 21 which can move in a single direction, four sets of cable winding and unwinding devices are installed on the crossbeam of the double-beam gantry crane 3, which are composed of a servo motor 7, a planetary reducer 9 and a cable winding disc 10, the three are coaxially arranged, and the main control computer 15 is placed in the middle of the crossbeam. The top four corners are fixed by bolts. The universal pulley 11 is used for lifting and guiding the cable so that the underwater equipment 18 can be lifted to a height above the platform deck.

[0072] The hardware structure composition diagram of the underwater equipment attitude regulation and winding and unwinding device of the present application is shown in FIG. 1. Figure 6

[0073] The operation method of the present application has the following general steps:

[0074] (1) Preparation work before the underwater equipment diving:

[0075] ① After the water surface platform 1 and the double-beam gantry crane 3 are assembled, the cable 19 is connected to one end of the tension sensor 6, and the other end of the tension sensor 6 is connected to the lifting ring 16;

[0076] ② Slowly lift the underwater equipment 18, and then move the double-beam gantry crane 3 to the above of the moon pool 2.

[0077] (2) Underwater equipment diving process:

[0078] ① Input the current depth and inclination angle in the main control computer 15, and transmit the instruction to the PLC controller 14 in the control cabinet 20 by the main control computer 15;

[0079] ② The PLC controller 14 solves and transmits the motion signal to the servo motor driver 8, and the servo motor driver 8 converts the motion signal into a pulse current signal to the servo motor 7;

[0080] ​​③Servo motor 7 starts to rotate, and is decelerated and increased in torque by planetary reducer 9, and drives cable reel 10 to rotate to adjust the length of the cable 19;

[0081] ④Liquid level meter 4 and gyroscope 5 measure the depth and inclination angle of the underwater equipment in real time and feed back to PLC controller 14, and the PLC controller 14 controls the speed of the servo motor rotation according to the difference between the actual and target values, ensuring accurate target pose.

[0082] (3) Underwater equipment pose control process:

[0083] ①First, connect the corresponding tension sensor 6 and lifting ring 16 of each cable;

[0084] ②The double-beam gantry crane 3 lifts the underwater equipment 18 from the deck of the water surface platform 1, and then slowly moves to above the moon pool 2;

[0085] ③Enter the target depth and target attitude in the main control computer 15;

[0086] ④Further pass the command to the PLC controller 14 for calculation, and pass the pulse signal to the servo motor 7 for rotation by the servo motor driver 8, and then decelerate and increase the torque by the planetary reducer 9 and drive the cable reel 10 to rotate, and then adjust the length of each cable to achieve the depth and inclination angle of the equipment;

[0087] ⑤The actual depth and actual inclination angle of each lifting point are fed back to the PLC controller 14 by the liquid level meter 4 and the gyroscope 5, and the PLC controller 14 calculates the difference between the actual pose and the target pose and sends a command to the servo motor driver 8, and then adjusts the forward and reverse rotation and the speed of the servo motor 7, thereby realizing closed-loop control of the entire device.

[0088] (4) Underwater equipment recovery process:

[0089] ①The PLC controller 14 controls the servo motor 7 to rotate to first adjust the underwater equipment 18 to a horizontal attitude;

[0090] ②Then control the four servo motors 7 to rotate synchronously to slowly lift the underwater equipment 18 above the deck;

[0091] ③Then move the double-beam gantry crane 3 to the empty space on the deck to lower the underwater equipment 18.

[0092] The relationship formula between the depth of the liquid level meter 4 of the underwater equipment and the inclination angle of the gyroscope 5 is:

[0093]

[0094] Wherein a1, a2 are the interval distance between the long side and the short side liquid level meter; b1, b2, b3, b4 are the corresponding depth value of each liquid level meter 4; θ1 is the tilt angle of the underwater equipment 18 around a1 side; θ2 is the tilt angle of the underwater equipment 18 around a2 side.

[0095] The cable 19 take-up speed calculation formula is:

[0096]

[0097] Wherein α is the rated speed of the servo motor 7; N is the reduction ratio of the planetary reducer 9; R is the radius of the cable take-up reel 10, and r is the radius of the cable 19.

[0098] The four universal pulleys 11 of the double-beam gantry crane 3 form a square, called the upper platform, with a side length of a B , and the hinge points are evenly distributed at the four corners. Assuming that the center of the square is (0, 0, 0), the hinge point coordinates are:

[0099]

[0100] The hoisting points of the underwater equipment 18 also form a square, called the lower platform, with a side length of a P , and the hinge point coordinates are:

[0101]

[0102] The upper platform coordinate system B XYZ The origin (centroid) in the world coordinate system G XYZ The position and rotation matrix are:

[0103]

[0104] Wherein s·=sin·; c·=cos·, ψ GB , θ GB and φ GB are the rotation angles of the upper platform coordinate system B around the Z, Y and X axes in turn with the world coordinate system G as the reference; is the coordinate in the upper platform coordinate system B with the world coordinate system G as the reference.

[0105] The lower platform coordinate system P XYZ The origin (centroid) in the world coordinate system G XYZ The position is:

[0106]

[0107] Similarly.

[0108] From the properties of the rotation matrix, and The following equation is satisfied:

[0109]

[0110] wherein represents the rotation matrix of the lower platform P relative to the pose calculation of the upper platform B.

[0111] At the initial moment, the upper and lower platforms are in parallel state, and the lengths of the four driving cables 19 are the same. At this time, the calculation formula of the cable 19 length is:

[0112]

[0113] wherein H is the height difference between the upper and lower platforms.

[0114] The relationship can be obtained from the vector closure principle:

[0115]

[0116] Multiply the equation by The expression of the cable 19 length in B XYZ coordinate system is:

[0117]

[0118] Then the length of the i-th cable 19 is:

[0119]

[0120] That is:

[0121]

[0122] wherein are respectively and the values of x, y, and z in

[0123] The relationship between the rotation angle of the servo motor 7 and the change amount of the cable 19 length is:

[0124]

[0125] wherein α i is the angle through which the cable reel 10 is turned, and r i is the radius of the cable reel 10.

[0126] The above embodiments only describe part of the specific embodiments of the present application, but are not limited to the disclosed embodiments of the present application. In addition, the essential content of the present application is not limited thereto, and any other modifications, equivalent replacements, improvements, etc. according to the ideas, principles and technical means of the present application without departing from the design scope of the present application shall fall within the protection scope of the present application.

Claims

1. A posture control and retraction device for underwater equipment, characterized in that: The invention comprises a double-beam gantry crane (3) and a water surface platform (1), wherein a moon pool opening (2) is provided in the middle of the water surface platform (1), an umbilical cable take-up drum (12) and a control cabinet (20) are provided on one side of the moon pool opening (2), the double-beam gantry crane (3) is arranged on the deck of the water surface platform (1), four sets of cable take-up and release devices are installed on the crossbeam of the double-beam gantry crane (3), and a main control computer (15) is placed in the middle of the crossbeam; universal pulleys (11) are fixed to the four corners of the top of the double-beam gantry crane (3) by bolts. , used for lifting and guiding the cable; the underwater equipment (18) is provided with a liquid level gauge (4) at the four corners of the bottom, a lifting ring (16) is provided at the four corners of the top, and a gyroscope (5) is provided in the center of the top surface. The lifting ring (16) is connected to the tension sensor (6) and the cable (19). The underwater equipment (18) is installed with a pressure cabin (17). All signals are collected in the middle pressure cabin (17) and transmitted to the control cabinet (20) on the surface platform (1) by the umbilical cable (13).

2. The posture control and retraction device for underwater equipment according to claim 1, characterized in that: The bottom of the double-beam gantry crane (3) is provided with a gantry crane pulley (21) that can move in a single direction.

3. The posture control and retracting device for underwater equipment according to claim 1, characterized in that: The cable retracting and releasing device is composed of a servo motor (7), a planetary reducer (9) and a cable reel (10), which are coaxially arranged.

4. The posture control and retracting device for underwater equipment according to claim 1, characterized in that: The control cabinet (20) is provided with a PLC controller (14) and a servo motor driver (8), which are controlled by a main control computer (15).

5. The posture control and retracting device for underwater equipment according to claim 1, characterized in that: The surface platform (1) is formed by splicing together a plurality of steel pontoons, and provides buoyancy and an operating surface for the entire system.

6. An operating method for a posture control and retracting device for underwater equipment, based on the posture control and retracting device for underwater equipment according to any one of claims 1 to 5, characterized in that: Here are the steps: (1) First, connect the tension sensor (6) and the lifting ring (16) corresponding to each cable; (2) The underwater equipment (18) is lifted from the deck of the surface platform (1) by the double-beam gantry crane (3), and then slowly moved to the top of the moon pool mouth (2); (3) Inputting the target depth and target posture into the main control computer (15); (4) The instruction is then transmitted to the PLC controller (14) for solution, and the servo motor driver (8) transmits the pulse signal to the servo motor (7) for rotation, and then the planetary reducer (9) decelerates and increases the torque and drives the cable take-up drum (10) to rotate, thereby adjusting the length of each cable to achieve the diving depth and tilt angle of the equipment, and realizing attitude control and take-up control; (5) The actual depth of each hanging point and the actual tilt angle of the equipment are fed back to the PLC controller (14) by the liquid level meter (4) and the gyroscope (5). The PLC controller (14) then calculates the difference between the actual posture and the target posture and sends instructions to the servo motor driver (8), thereby adjusting the forward and reverse rotation and the rotation speed of the servo motor (7), thereby realizing closed-loop control of the entire device.

7. The method for operating the posture control and retracting device for underwater equipment according to claim 6, characterized in that: The relationship between the depth of the liquid level gauge (4) and the inclination angle of the gyroscope (5) in steps (4) and (5) is as follows: Where a1 and a2 are the distances between the long and short side level gauges, respectively; b1, b2, b3, and b4 are the depth values ​​corresponding to each level gauge (4); θ1 is the inclination angle of the underwater equipment (18) around the a1 side; θ2 is the inclination angle of the underwater equipment (18) around the a2 side; The calculation formula for the cable (19) retraction and extension speed is: Wherein α is the rated speed of the servo motor (7); N is the reduction ratio of the planetary reducer (9); R is the radius of the cable take-up drum (10), and r is the radius of the cable (19); There is a square between the four universal pulleys (11) of the double-beam gantry crane (3), called the upper platform, with a side length of a B , the hinge points are evenly distributed at the four corners. Assuming the center of the square is (0,0,0), the hinge point coordinates are: The underwater equipment (18) also forms a square between the hanging points, called the lower platform, with a side length of a P , similarly the hinge coordinates: Upper platform coordinate system B XYZ The origin (center of mass) is in the world coordinate system G XYZ The position and rotation matrices in : In the formula, s·=sin·; c·=cos·, ψ GB ,θ GB and φ GB is the rotation angle of the platform coordinate system B around the Z, Y and X axes in sequence based on the world coordinate system G; is the coordinate in the platform coordinate system B based on the world coordinate system G; Lower platform coordinate system P XYZ The origin (center of mass) is in the world coordinate system G XYZ Position in: Similarly; According to the properties of the rotation matrix, and Satisfies the following formula: In the formula Represents the rotation matrix calculated from the pose of the lower platform P relative to the upper platform B; At the initial moment, the upper and lower platforms are in a parallel state, and the lengths of the four driving cables (19) are the same. At this time, the calculation formula for the length of the cables (19) is: Where H is the height difference between the upper and lower platforms; According to the vector closure principle, we can get the relationship: Multiply both sides of the equation by The length of the cable (19) is XYZ The expression in the coordinate system is: Then the length of the i-th cable (19) is: Right now: In the formula They are and The values ​​of x, y, and z; The relationship between the rotation angle of the servo motor (7) and the change in the length of the cable (19) is: Where α i is the angle through which the cable take-up drum (10) rotates, r i is the radius of the cable take-up drum (10).

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