Self-sensing water collecting and releasing system and control method

Abstract

The self-sensing water collecting and releasing system comprises an unmanned ship, an outer cover, a length calculator, a stress wheel, a motor and a ship-borne main control unit, the outer cover, the length calculator, the stress wheel, the motor and the ship-borne main control unit are arranged on the unmanned ship, a wire spool is rotationally connected into the outer cover, the motor is in transmission connection with the wire spool, and the stress wheel is rotationally connected to an opening in the front side of the outer cover; the length calculator is arranged in front of the outer cover, the sensing end of the length calculator is rotationally connected with a measuring roller, a cable wound on the wire spool sequentially winds the stress wheel and the measuring roller, the end, away from the wire spool, of the cable is connected with a load, and the motor is connected with a motor controller. The motor controller, the length calculator and the stress wheel are all in signal connection with a shipborne main control unit, and the shipborne main control unit is in signal connection with an android terminal on the shore; according to the invention, the underwater depth of the load can be accurately obtained, so that the load can be accurately distributed to water layers with different depths for data acquisition according to the requirements of different industries and the requirements of operation specifications.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water operation equipment, in particular to a self-sensing water launching and recovering system and control method. BACKGROUND

[0002] The current water operation scene on the market involves collaborative operation of various aspects such as layered monitoring of the water bottom environment, hydro-acoustic information of the water bottom, water quality state, fishery information acquisition, and water bottom survey.

[0003] In traditional water operation, the deployment and recovery of loads (such as water quality sensors, water samplers, sonar equipment, etc.) usually relies on manual operation on the ship. In actual operation, multiple post personnel are required to cooperate, involving transportation, installation and debugging of a large number of heavy equipment and auxiliary equipment, long operation cycle, high labor cost, and during the operation process, the operator estimates the cable release length or observes the tension change to judge the water depth of the load. This way not only is inefficient, but also is easily affected by human error, resulting in inaccurate positioning of the load and affecting the accuracy of data collection. Especially in the industries of marine investigation, water quality monitoring, underwater exploration, etc., the load needs to be accurately deployed to different depth water layers according to different industry needs, and the traditional method is difficult to meet the accurate water bottom data collection of different depth water layers. SUMMARY

[0004] The purpose of the present application is to design a self-sensing water launching and recovering system and control method, which can solve the technical problems mentioned in the background.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: A self-sensing water launching and recovering system, comprising an unmanned ship and an outer cover, a length calculator, a stress wheel, a motor and a shipborne main control unit arranged on the unmanned ship, a winding reel is rotatably connected in the inner part of the outer cover, the motor is in transmission connection with the winding reel, the stress wheel is rotatably connected at the opening of the front side of the outer cover, the length calculator is arranged in front of the outer cover, a measuring roller is rotatably connected to the sensing end of the length calculator, the cable wound on the winding reel passes through the stress wheel and the measuring roller in sequence, a load is connected to the end of the cable away from the winding reel, the motor is connected with a motor controller, the motor controller, the length calculator and the stress wheel are in signal connection with the shipborne main control unit, and the shipborne main control unit is in signal connection with an Android terminal on the shore.

[0006] Further, it further comprises a motor shell and a backing plate, the motor and the motor controller are both installed in the inner part of the motor shell, the outer cover and the motor shell are both fixed on the backing plate, and the length calculator is fixed on the backing plate through the support.

[0007] Further, the rear side of the outer cover is provided with a protective mesh cover, the opening of the front side of the outer cover is rotationally connected with a limiting roller, the stress wheel and the limiting roller are arranged in an up-down mode, and the cable sequentially passes through the stress wheel, the measuring roller and the limiting roller.

[0008] Further, the stress wheel is internally provided with a pressure sensor.

[0009] Further, a water-based launching and recovering system control method comprises the following steps. Step S1: after the water-based launching and recovering system is powered on, self-checking is performed to confirm that the states of units are normal. Step S2: receiving target depth, lowering speed and stress threshold parameters set by a user through the Android terminal; Step S3: starting the motor to lower the cable at a set speed, and collecting data of the length calculator and the stress wheel; Step S4: the shipborne master control unit fuses and processes the data, identifies whether the current state is a normal lowering state, a bottom-touching state, a loading state or a load loss state, and automatically executes corresponding control actions according to different states; Step S5: recording operation data throughout the whole process, and generating an exportable operation report after the task is completed; Step S6: recovering the load 7.

[0010] Further, the identification basis of the bottom-touching state is that the stress value suddenly increases in a short time and is higher than the set threshold for a predetermined time length, and the shipborne master control unit immediately cuts off the motor power and triggers a bottom-touching alarm.

[0011] Further, the identification basis of the loading state is that the stress value appears high-frequency and violent jitter, and the shipborne master control unit executes a tentative escape program.

[0012] Further, the identification basis of the load loss state is that the stress value drops to near zero in a cliff-like manner and lasts for a certain time, and the shipborne master control unit immediately starts an emergency recovery program and sends an alarm.

[0013] Further, the shipborne master control unit continuously records time stamp, depth, stress, motor current and operation instruction data, and automatically generates an operation report after the task is completed, and supports export and sharing.

[0014] Further, after completing the lowering task or receiving a recovery instruction, the shipborne master control unit controls the motor to reverse to recover the cable at a set speed until the load is completely returned.

[0015] The present application has the following advantages: By integrating a length calculator, stress wheel, motor, cables, load, and shipboard main control unit onto the unmanned vessel, the depth of the load underwater can be accurately obtained. This allows the load to be precisely deployed to different water depths according to the operational specifications for data collection, based on the needs of different industries. This achieves full automation of the load deployment and retrieval operation on water, eliminating the need for on-site manual operation, significantly reducing labor costs, improving operational efficiency, and ensuring personnel safety. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a partial structural diagram of the self-sensing water-based launch and recovery system of the present invention. Figure 1 ; Figure 2 This is a partial structural diagram of the self-sensing water-based launch and recovery system of the present invention. Figure 2 ; Figure 3 This is a partial structural diagram of the self-sensing water-based launch and recovery system of the present invention. Figure 3 .

[0018] The names of the components shown in the diagram are as follows: 1. Outer casing; 2. Length calculator; 3. Stress wheel; 4. Winding reel; 5. Measuring roller; 6. Cable; 7. Load; 8. Motor housing; 9. Pad; 10. Bracket; 11. Protective mesh cover; 12. Limiting roller. Detailed Implementation

[0019] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0020] Example 1 like Figures 1-3 As shown, a self-sensing waterborne deployment and retrieval system includes an unmanned boat and an outer casing 1, a length calculator 2, a stress wheel 3, a motor housing 8, a pad 9, a motor, and a shipborne main control unit installed on the unmanned boat. The outer cover 1 is fixedly installed on the pad 9, and an enclosed space is formed in the inner part of the outer cover 1 to accommodate key mechanical and electrical elements, effectively isolating the external seawater environment and preventing the equipment from being damaged due to corrosion or collision; the inner part of the outer cover 1 is rotationally connected with the winding drum 4 through a rotating shaft, and is used for orderly winding the cable 6; the motor is drivingly connected with the winding drum 4 through a shaft coupling, and provides power for the forward rotation and reverse rotation of the winding drum 4, wherein the motor is provided with an encoder feedback, and can be switched between the forward rotation and the reverse rotation, so as to realize the lowering and recovery actions of the cable 6; the motor and the motor controller connected therewith are installed in the inner part of the motor shell 8, and the motor shell 8 is fixed on the pad 9, and plays a waterproof, shockproof and electrical isolation role, and guarantees the stable operation of the motor in a complex water environment; The length calculator 2 is fixedly installed on the pad 9 through the support 10, so as to ensure that it maintains a stable posture during operation and avoids vibration interference with the measurement accuracy; the stress wheel 3 is rotationally connected to the opening at the front side of the outer cover 1, and the opening at the front side of the outer cover 1 is rotationally connected with the limiting roller 12, the stress wheel 3 and the limiting roller 12 are arranged in an up-down manner, the length calculator 2 is arranged in front of the outer cover 1, and the sensing end of the length calculator 2 is rotationally connected with the measuring roller 5; the cable 6 wound on the winding drum 4 is sequentially wound around the stress wheel 3, the measuring roller 5 and the limiting roller 12, the cable 6 passes through the surface of the stress wheel 3 and generates a pressing force, the stress wheel 3 is internally provided with a pressure sensor, which can realize real-time sensing of the tension change of the cable 6, and convert the sensed pressure signal into an electric signal; the measuring roller 5 is in close contact with the surface of the cable 6, and when the cable 6 moves, the measuring roller 5 is driven to rotate synchronously, the length calculator 2 receives the rotation pulse signal of the measuring roller 5, calculates the released length of the cable 6 after internal algorithm processing, and further obtains the current lowering depth value of the load 7, and uploads the data to the shipborne main control unit in real time, and the limiting roller 12 plays a limiting role, so that the cable 6 and the measuring roller 5 can be kept in close contact; The end of the cable 6 away from the winding drum 4 is connected with the load 7, the cable 6 serves as a power and signal transmission channel, supplies power from the ship end to the load 7, and simultaneously transmits the data collected by the load 7 back; the pad 9 is fixed on the deck of the unmanned ship, and realizes rigid connection with the ship body, and the rear side of the outer cover 1 is provided with a protective mesh cover 11, so as to prevent sundries from entering and causing the cable 6 to be wound or abraded; The motor controller, the length calculator 2 and the pressure sensor are signal connected with the shipborne main control unit, the shipborne main control unit is signal connected with the Android terminal on the shore, the shipborne main control unit obtains the lowering depth of the load 7 by using the length calculator 2, senses the tension change of the cable 6 by using the stress wheel 3, and combines the current feedback information of the motor to jointly form multi-source sensing data, the main control unit fuses and processes the multi-source sensing data, identifies the current working condition, dynamically adjusts the running state of the motor, realizes intelligent and unmanned control of the lowering and recovery, and the multi-source sensing data is uploaded to the Android terminal through signal processing, so that the control of the forward rotation, reverse rotation or pause motion of the motor can be realized through the Android terminal.

[0021] Embodiment 2 As shown in Figure 1 Embodiment 1 is further illustrated, a water-based launch and recovery system control method, comprising the following steps: Step S1: After the water-based launch and recovery system is powered on, self-checking is performed to confirm that the state of each unit is normal, specifically: System power-on: the system receives power supply from the shipborne master control system, and each unit starts power-on self-checking.

[0022] Unit diagnosis: motor controller, length calculator 2, and pressure sensor perform self-diagnosis to check communication link, sensor zero position, and mechanical structure state.

[0023] State reporting: the self-checking result is packaged and sent to the Android terminal, displaying "ready", "warning" or "fault" state.

[0024] Step S2: receiving the target depth, lowering speed and stress threshold parameters set by the user through the Android terminal, specifically: Parameter setting: the operator inputs the following operation parameters in the Android terminal interface, Target depth: specifies the specific water depth (such as 25.5 meters) that the load 7 needs to be lowered; Lowering / recovery speed: set the speed of the motor (such as 0.5 meters / second); Pressure threshold: set the safety threshold of bottom touch, jamming or abnormal tension.

[0025] Instruction issuing: the Android terminal encapsulates the parameters into control instructions and sends them to the shipborne master control unit through the communication link.

[0026] Task start: after the shipborne master control unit confirms that the parameters are correct, it drives the motor to start and begins the lowering operation.

[0027] Step S3: start the motor to lower the cable at the set speed, and collect the data of the length calculator 2 and the stress wheel 3, specifically: Motor drive: the shipborne master control unit sends a speed regulation signal to control the motor to rotate forward at the set speed, driving the reel 4 to release the cable 6.

[0028] Data collection: the length calculator 2 collects length data, the pressure sensor collects pressure data, and the motor controller synchronously records current value.

[0029] Data fusion: the shipborne master control unit performs timestamp alignment and filtering processing on the length and pressure data to eliminate fluctuation interference.

[0030] Real-time display: all data is uploaded to the Android terminal and dynamically displayed in the form of digital instrument and trend curve on the Android terminal interface.

[0031] Step S4: The shipborne master control unit fuses the data, automatically identifies the current state using a rule engine and trend prediction algorithm, identifies whether it is currently in a normal lowering, bottoming, loading, or load 7 loss state, and automatically executes corresponding control actions according to different states. Specifically: Normal lowering state: stress value is stable, load 7 is lowered at current speed.

[0032] Bottoming state: Determination condition: stress value increases sharply in a short time and remains above the set threshold for a predetermined period of time; Response action: the shipborne master control unit immediately cuts off the motor power and executes emergency braking to prevent the reel 4 from overpaying, and at the same time pops up an "bottomed" alarm on the Android terminal interface and records the bottoming position coordinates.

[0033] Loading state: Determination condition: pressure value appears high-frequency and violent shaking; Response action: the shipborne master control unit controls the motor to stop running and continuously monitors the pressure state. If the shaking continues, it automatically executes a tentative escape program to recover the cable 6 slightly (such as 10 cm) to tentatively escape, and at the same time pops up a "suspected loading" alarm on the Android terminal interface.

[0034] Load 7 loss state: Determination condition: pressure value drops to near zero and remains for a certain period of time; Response action: the shipborne master control unit immediately controls the motor to stop running and starts the emergency recovery program, and at the same time pops up a "load loss" alarm on the Android terminal interface.

[0035] Target depth reached state: Response action: the shipborne master control unit immediately controls the motor to stop running, and at the same time pops up a "target depth reached" signal on the Android terminal interface.

[0036] Step S5: Record the operation data throughout the process, and generate an exportable operation report after the task is completed. Specifically: Whole process recording: the shipborne master control unit continuously records timestamp, depth, stress, motor current, operation instruction and other data at a sampling rate of 1 Hz.

[0037] Data local storage: after the operation is completed, a data file (such as CSV format) is automatically generated and stored in the Flash or SD card.

[0038] Report generation: the Android terminal can generate an operation report with one key, including lowering depth-time curve, pressure-depth curve, event log (such as bottoming time point), operation summary and other information, supporting export and sharing.

[0039] Step S6: Recycle the load 7, specifically: Recycling start: The recycling button can be manually clicked on the Android terminal, or the shipborne master control unit can automatically start after completing the lowering task, touching the bottom, or abnormal conditions.

[0040] Constant speed recovery: The motor is reversed to recover the cable 6 at a set speed, and the length counter 2 counts backward to ensure that the load 7 is completely returned.

[0041] Return standby: After the load 7 is completely recovered, the system automatically powers off or enters a low-power standby state, waiting for the next command.

[0042] Working principle: As shown in Figure 1 The self-aware water recovery system is based on the "perception-analysis-decision-execution" closed-loop control logic, uses the length counter 2 to obtain the lowering depth of the load 7, uses the stress wheel 3 built-in pressure sensor to perceive the cable 6 tension change, combines the motor current feedback information, forms a multi-source sensing data stream, and the shipborne master control unit processes the data, identifies the current working condition, dynamically adjusts the motor running state, realizes intelligent control of the recovery, can accurately obtain the depth of the load 7 underwater, and according to the needs of different industries, the load 7 is accurately placed to different depths of water layer according to the operation specification requirements to collect data, realizes the full-process automation of the water load 7 recovery operation, without manual on-site operation, greatly reduces the labor cost, improves the operation efficiency and ensures the safety of personnel.

[0043] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed as above, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to make equivalent embodiments with equivalent changes, but as long as it does not deviate from the technical solution of the present application, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application are still within the scope of the technical solution of the present application.

Claims

1. A self-sensing water-based deployment and retrieval system, characterized in that, The system includes an unmanned boat and an outer shell (1), a length calculator (2), a stress wheel (3), a motor, and a shipboard main control unit. The inner part of the outer shell (1) is rotatably connected to a winding disc (4). The motor is connected to the winding disc (4) via a transmission. The stress wheel (3) is rotatably connected to the opening on the front side of the outer shell (1). The length calculator (2) is located in front of the outer shell (1). The sensing end of the length calculator (2) is rotatably connected to a measuring roller (5). The cable (6) wound on the winding disc (4) passes through the stress wheel (3) and the measuring roller (5) in sequence. The end of the cable (6) away from the winding disc (4) is connected to a load (7). The motor is connected to a motor controller. The motor controller, the length calculator (2), and the stress wheel (3) are all connected to the shipboard main control unit via signal. The shipboard main control unit is connected to an Android terminal on shore via signal.

2. The self-sensing water-based deployment and retrieval system according to claim 1, characterized in that, It also includes a motor housing (8) and a pad (9). The motor and motor controller are both installed inside the motor housing (8). The outer cover (1) and the motor housing (8) are both fixed on the pad (9). The length calculator (2) is fixed on the pad (9) by a bracket (10).

3. The self-sensing water-based deployment and retrieval system according to claim 1, characterized in that, The outer cover (1) is provided with a protective net cover (11) on the rear side. The opening on the front side of the outer cover (1) is rotatably connected to a limiting roller (12). The stress wheel (3) and the limiting roller (12) are arranged vertically. The cable (6) passes through the stress wheel (3), the measuring roller (5) and the limiting roller (12) in sequence.

4. The self-sensing water-based launching and retrieving system according to claim 1, characterized in that, The stress wheel (3) has a built-in pressure sensor.

5. A control method for a water-based launch and recovery system, wherein the control method is applied to the self-sensing water-based launch and recovery system as described in any one of claims 1-4, characterized in that, Includes the following steps: Step S1: After the water-based launch and recovery system is powered on, it performs a self-test to confirm that each unit is in normal condition; Step S2: Receive the target depth, descent speed, and stress threshold parameters set by the user via the Android terminal; Step S3: Start the motor and lower the cable at the set speed, while collecting data from the length calculator (2) and the stress wheel (3); Step S4: The shipborne main control unit performs data fusion processing to identify whether it is currently in a normal descent, bottoming, loading, or load (7) loss state, and automatically executes corresponding control actions according to different states; Step S5: Record all work data throughout the process and generate an exportable work report after the task is completed; Step S6: Recover the load (7).

6. The control method for the water-based launching and recovering system according to claim 5, characterized in that, The identification criteria for the bottoming state are: if the stress value increases sharply in a short period of time and continues to be higher than the set threshold for a predetermined time, the ship's main control unit will then cut off the motor power and trigger the bottoming alarm.

7. The control method for the water-based launching and recovering system according to claim 5, characterized in that, The identification criteria for the loading status are: the stress value shows high-frequency and violent fluctuations, and the ship's main control unit executes a trial escape procedure.

8. The control method for the water-based launching and recovering system according to claim 5, characterized in that, The identification criteria for the loss of load (7) are: the stress value drops sharply to near zero and continues for a certain period of time, the shipboard main control unit immediately starts the emergency recovery procedure and issues an alarm.

9. The control method for the water-based launching and recovering system according to claim 5, characterized in that, The shipboard main control unit continuously records timestamps, depth, stress, motor current, and operation command data, and automatically generates a work report after the mission is completed, which can be exported and shared.

10. The control method for the water-based launching and recovering system according to claim 5, characterized in that, After completing the deployment task or receiving a recovery command, the shipboard main control unit controls the motor to reverse and recover the cable at a set speed until the load is fully returned to its original position.

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