Distributed underwater control system and control method

Abstract

The invention discloses a distributed underwater control system and a control method, the control system comprises a cable group with a wire coil, a power system, a control device, at least two relay devices and an underwater device, and the cable group comprises at least three sections of cables; the wire coil and the relay device closest to the wire coil, two adjacent relay devices, and the relay device closest to the underwater device and the underwater device are respectively connected through a cable; the power system transmits electric energy to the relay equipment and / or the underwater equipment through the cable group; the control equipment transmits a control instruction to the relay equipment and the underwater equipment through the cable group so as to control the motion states of the relay equipment and the underwater equipment; and in a motion state, the relay devices are arranged in a depth difference manner according to a water entry sequence. Through the above mode, the distributed nodes for stabilizing the cable group are formed by the relay devices, the impact of water flow on the cable group is reduced, and the stability of the system is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and in particular to a distributed underwater control system and control method. Background Technology

[0002] Currently, underwater robots (ROVs) are crucial equipment for deep-sea operations. During underwater operations, these devices require cables to connect to shore-based equipment. Currently, this is typically done by directly connecting the underwater and shore-based equipment with cables. However, this connection method is susceptible to swaying and swinging due to the lack of effective control over the cables in the water, making them vulnerable to currents and aquatic organisms, thus affecting the stability of the underwater equipment.

[0003] In addition, for deep-water operations, in order to accurately deliver the ROV to the predetermined working depth, it is often necessary to equip the ROV with a cable management system (Tether Management System), which is a device for storing and retrieving cables connected to the ROV. Such devices are often huge in size and weight, and require large cranes to assist in their entry and exit from the water. Summary of the Invention

[0004] This application provides a distributed underwater control system and control method, which can improve the stability of underwater equipment.

[0005] This application provides a distributed underwater control system, which includes a cable assembly with a cable reel, a power system, control equipment, at least two relay devices, and underwater equipment, wherein:

[0006] The cable group includes at least three cable segments, and the cable segment connects the cable reel to the relay device closest to the cable reel, to two adjacent relay devices, and to the relay device closest to the underwater device and the underwater device.

[0007] The power system transmits electrical energy to the relay equipment and / or the underwater equipment through the cable group;

[0008] The control device transmits control commands to the relay device and the underwater device through the cable group to control the movement state of the relay device and the underwater device;

[0009] In operation, the relay devices are arranged in order of water entry with varying depths.

[0010] In one embodiment, the diameter of the cable connecting the underwater device is smaller than the diameter of the cable connecting any two adjacent relay devices; the diameter of the cable between any two adjacent relay devices is smaller than the diameter of the cable provided at the cable reel.

[0011] In one embodiment, the diameter of each segment of the cable constituting the cable group increases sequentially according to the order of entry into the water.

[0012] In one embodiment, the cable group has a split cable structure, the relay device is provided with two interfaces for connecting two adjacent cables, each interface is connected to one end of a cable, and the underwater device is provided with a plug for connecting the cables.

[0013] In one embodiment, the cable group has an integral structure, and any two adjacent cable segments are connected by an adapter; the relay device has an interface for connecting the adapter; the underwater device has a connector for connecting the cable.

[0014] In one embodiment, the relay device is further provided with a Doppler log, an ultra-short baseline positioning system, and multiple thrusters; the relay device has multi-posture motion capability, and the multiple thrusters, driven by the control device, control the relay device to perform forward and backward movement, left and right movement, up and down movement, diagonal movement, or hovering at a designated position.

[0015] In one embodiment, the cable group includes power cables and communication cables, the power cables being used to transmit electrical energy and the communication cables being used to transmit control commands.

[0016] This application also provides a distributed underwater control method, which is applied to the distributed underwater control system described in any of the preceding claims, and the control method includes:

[0017] Configure the cable group based on the water depth measurement results;

[0018] The location information of the underwater equipment and each of the relay devices can be acquired in real time.

[0019] Based on the configuration of the cable group and the location information of each relay device, the movement range of each relay device is determined;

[0020] Based on the location information of the underwater equipment, the movement status of each relay device is adjusted.

[0021] In one embodiment, the method further includes: when any of the relay devices exceeds its range of motion, controlling the cable group to retract the cable according to a preset rule.

[0022] In one embodiment, the step of adjusting the movement state of each relay device based on the location information of the underwater device includes:

[0023] Calculate the distance between the underwater device and the connected relay device;

[0024] Determine if the difference between the distance and the configured cable length is greater than a threshold.

[0025] When the difference exceeds the threshold, the connected relay device is controlled to move upwards; and when the movement position of the connected relay device exceeds the corresponding movement range, other relay devices are synchronously / asynchronously controlled to move upwards.

[0026] Compared with existing technologies, the distributed underwater control system and method provided in this application firstly adopt a segmented design in terms of cable group configuration. At least two relay devices and the underwater equipment are connected using at least three cable segments, ensuring that the cables between the underwater equipment and the relay devices, as well as the cables between the two relay devices, remain independent, facilitating management and configuration. Secondly, since each relay device is controlled by a separate control device, it can execute corresponding actions according to the control device's instructions. Each relay device also forms a node providing a stable cable group, which helps reduce the impact of water flow on the cable group and improves system stability. Furthermore, the relay devices further reduce the influence between adjacent cables, providing stable operating conditions for the underwater equipment. In addition, based on the real-time positional relationship between the underwater equipment and each relay device underwater, the synchronous / asynchronous adjustment of the movement state of each relay device can be completed, making the entire system more controllable and adaptable to complex deep-water environments. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a system architecture diagram of the distributed underwater control system provided in the embodiments of this application;

[0029] Figure 2 This is a system architecture diagram of a distributed underwater control system provided in Embodiment 1 of this application;

[0030] Figure 3 This is a system architecture diagram of a distributed underwater control system provided in Embodiment 2 of this application;

[0031] Figure 4 This is a flowchart illustrating the distributed underwater control method provided in an embodiment of this application;

[0032] Figure 5 yes Figure 4Detailed flowchart of step S4. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0036] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0037] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0038] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a distributed underwater control system provided in an embodiment of this application, as shown below. Figure 1 As shown, the distributed underwater control system 10 includes a cable assembly 101 with a cable reel 111, a power system 102, a control device 103, at least two relay devices 104, and an underwater device 105. The cable reel 111, power system 102, and control device 103 are typically installed in a surface environment, such as on land or on a surface vessel; the relay devices 104 and underwater device 105 are located underwater during operation.

[0039] The cable group 101 consists of at least three cable segments 112, which connect the relay devices 104 to each other and to the underwater equipment 105, supporting the underwater operation of the underwater equipment 105. Specifically, the cable reel 111 can be connected to the nearest relay device 104, to two adjacent relay devices 104, and to the nearest relay device 104 and the underwater equipment 105 via a single cable segment 112. In the distributed underwater control system provided in this embodiment, the number of relay devices 140 and the number of cables constituting the cable group 101 can be multiple, which can be configured according to actual needs. In this embodiment, when the control system is in operation, the relay devices 104 are arranged in the underwater environment with depth differences according to their entry order, that is, the water depth at the location of the relay device that enters the water first is greater than the water depth at the location of the relay device that enters the water later. In some embodiments, the length of the cable between two adjacent repeater devices can be controlled to 50-60 meters, and the depth difference between two adjacent repeater devices can be controlled to about 50 meters.

[0040] Underwater equipment 105 refers to equipment capable of controlled underwater operations, such as underwater robots, underwater vehicles, and underwater drones. In some cases, relay equipment 104 can be the same as underwater equipment 105. Both relay equipment 104 and underwater equipment 105 are equipped with multiple thrusters. These thrusters, driven by control equipment 103, control relay equipment 104 to perform actions such as forward and backward movement, left and right movement, up and down movement, diagonal movement, or hovering at a designated position, giving relay equipment 104 multi-posture movement capabilities. Relay equipment 104 is also equipped with a Doppler Velocity Log (DVL) for measuring its movement speed and various parameters in the underwater environment, and an Ultra-Short Baseline (USBL) system for underwater positioning. Relay equipment 104 can combine the real-time measurement of various parameters in the underwater environment by DVL with the control commands issued by the operator via control equipment 103 to adjust its own steady-state state to achieve anti-current effects. USBL can also be used to detect and locate distances between the device and other relay devices 104, underwater devices 105, or surface devices carrying cable reels 111. Similarly, underwater devices 105 are also equipped with USBL and DVL.

[0041] The power system 102 can supply power to each relay device 104 and / or underwater device 105 via the cable assembly 101. In this embodiment, the relay devices 104 and / or underwater devices 105 are equipped with batteries. When the batteries are sufficiently powered, power is supplied preferentially through their respective batteries. When the batteries are low, the power system 102 charges the batteries of the relay devices 104 and / or underwater devices 105 via the cable assembly 101. The power supply provided by the cable assembly 101 to the power system 102 can be real-time or non-real-time. It is understood that in other embodiments, the relay devices 104 and / or underwater devices 105 may not be equipped with batteries. In this case, the cable assembly 101 will continue to supply power to the power system 102 in real time, providing real-time power to the relay devices 104 and / or underwater devices 105.

[0042] To improve power transmission efficiency and reduce power loss, the diameters of the at least three cable segments 112 constituting the cable group 101 are different. In this embodiment, the cable closer to the water surface has a larger diameter; that is, the diameter of the cable 112 between any two adjacent relay devices 104 is smaller than the diameter of the cable 112 provided at the cable reel 111. The diameter of the cable 112 connecting the relay device 104 and the underwater device 105 is relatively the smallest. The diameter of each cable segment 112 constituting the cable group 101 increases sequentially according to the order of entry into the water. This can also be understood as the cable diameters on both sides of the relay device being different, ensuring that the diameter of the cable entering the water first is smaller than the diameter of the cable entering the water later. In actual operation, for systems containing three or more relay devices, the order of entry into the water for each relay device and the connection of each cable are pre-configured in the above-water environment. When operation is required, the underwater device is first placed in the water, and then, according to the configuration, each relay device is placed in the water sequentially. In other embodiments, for ease of configuration, the cables between adjacent relay devices can be configured with the same diameter.

[0043] In this embodiment, a segmented design is adopted in the cable group configuration. By connecting at least two relay devices and underwater devices with at least three cable segments, the cables between the underwater devices and the relay devices and the cables between the two relay devices can remain independent of each other, which facilitates management and pre-configuration.

[0044] Under the control of the operator, the control device 103 transmits control commands to the relay device 104 and the underwater device 105 through the cable group 101 to control the movement status of each relay device 104 and the underwater device 105.

[0045] The cable assembly 101 is capable of transmitting power and communication to the relay device 104 and the underwater device 105, and is composed of power cables and communication cables. The power cables are used to transmit electrical energy, and the communication cables are used to transmit control commands. The power cables and communication cables can be encased together in a housing.

[0046] The control device 103 can be a portable electronic device carried by the user, such as a smartphone, smartwatch, tablet, personal digital assistant (PDA), smart wearable device, etc. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running various operating systems. It should also be understood that in some other embodiments of this application, the control device 103 can also be a non-portable electronic device, such as a remote control, laptop, laptop computer with a touch-sensitive surface (e.g., touch panel), desktop computer, etc.

[0047] The control device 103 and the power system 102 can be connected to the cable 112 in the cable reel 111 via cables to transmit corresponding information. Alternatively, wireless transceivers can be installed on the control device 103, the power system 102, and the cable reel 111 respectively to transmit information.

[0048] To facilitate understanding, the following will take an underwater control system consisting of a cable group with three cable segments and two relay devices as an example for detailed explanation.

[0049] See Figure 2 This application provides a system architecture diagram for a distributed underwater control system 20, which includes a cable group 201 with a cable reel 211, a power system 202, a control device 203, a first relay device 241, a second relay device 242, and an underwater device 205. The cable group 201 adopts a split structure, consisting of three independent cables: a first cable 221, a second cable 222, and a third cable 223. The cable connecting the cable reel 211 and the first relay device 241 is the first cable 221. The first relay device 241 and the second relay device 242 are connected via the second cable 222. The second relay device 242 is connected to the underwater device 205 via the third cable 223.

[0050] Because the cable assembly adopts a split structure, both the first relay device 241 and the second relay device 242 need to be connected to two independent cables. Therefore, two interfaces for connecting cables are provided on the first relay device 241 and the second relay device 242 respectively. Since the underwater device 205 only needs to be connected to the third cable 223, only one connector for connecting cables is needed on the underwater device 205. To ensure circuit transmission efficiency and reduce power loss, in this embodiment, the diameter of the first cable 221 is larger than the diameter of the second cable 222, and the diameter of the second cable 222 is larger than the diameter of the third cable 223.

[0051] When using Figure 3The control system provided in the illustrated embodiment performs underwater operations, such as controlling the underwater device 205 to perform operations in waters approximately 160 meters underwater. Before commencing operations, the cable lengths of the third cable 223 and the second cable 222 need to be configured, and the cable connections to the first relay device 241, the second relay device 242, and the underwater device 205 need to be completed. Regarding cable configuration, depending on actual operational needs, the third cable 223 can be set to 80 meters, and the second cable 222 to 60 meters. Since the first cable 221 is connected to the cable reel 211, its length can theoretically far exceed the length of the second cable 222 or the third cable 223, so no limitation is imposed here. After the connections are completed, the underwater device 205 is first placed in the water. Under the control of the control device 203, the underwater device 205 can move the first cable 221 underwater. After most of the first cable 221 is submerged, the second repeater 242 is placed in the water, and it can also move under the control of the control device 203. After most of the second cable 222 is submerged, the first repeater 241 is placed in the water, and it can also move under the control of the control device 103. At this point, the second cable 222 and the third cable 223 are completely underwater. The operator can also issue control commands through the control device 203 to control the first repeater 241 and the second repeater 242 to hover at a specified depth, such as controlling the second repeater 242 to hover at a depth of 100 meters and controlling the first repeater 241 to hover at a depth of 50 meters.

[0052] In this embodiment, control commands issued by the operator through control device 203 to the second relay device 242 are sequentially transmitted to the second relay device 242 via the first cable 221, the signal transfer device inside the first relay device 241, and the second cable 222. Similarly, control commands issued by the operator through control device 203 to the underwater device 205 are sequentially transmitted to the underwater device 205 via the first cable 221, the signal transfer device inside the first relay device 241, the second cable 222, the signal transfer device inside the second relay device 242, and the third cable 223. Likewise, the power system 202 can also transmit power in the same manner.

[0053] In this embodiment, since the third cable 223 between the second relay device 242 and the underwater device 205 is 80 meters long, and the second relay device 242 is suspended at a water depth of 100 meters, the underwater device 205 can meet the operational requirements at a depth of 160 meters. Furthermore, since the first relay device 241 is suspended at a water depth of 50 meters, and the second cable 222 is 60 meters long, the second cable 222 is not taut between the first and second relay devices 241, but rather has a certain buffer space to cope with the possibility of changes in the suspension position of the first or second relay device 241 due to water flow impact. For the same reason, the third cable 223 does not need to be kept taut at all times, providing a buffer space for the second relay device 242. Furthermore, even when the second cable 222 is subjected to large deformation and swaying due to water flow impact, the force transmitted through the second cable 222 can be borne by the first relay device 241 and the second relay device 242 in the suspended state, and will not be excessively transmitted to the third cable 223, thereby ensuring the operational stability of the underwater equipment 205.

[0054] Please see Figure 3 , Figure 3 This is a system architecture diagram of a distributed underwater control system provided in Embodiment 2 of this application. The distributed underwater control system 30 includes a cable assembly 301 with a cable reel, a power system 302, a control device 303, two relay devices 304, and underwater equipment 305. This embodiment is similar to... Figure 3 The difference in the provided embodiment lies in that the cable assembly 201 in this embodiment adopts a segmented integrated structure, with any two adjacent cable segments 311 connected through an adapter 306; each relay device 304 has an interface 341 for connecting the adapter 306; and the underwater device 305 has a connector 351 for connecting the cable 311. When performing operations using this embodiment, the length of each cable segment 311 must be calculated in advance according to the operational requirements, and the cable diameter relationship must be further clarified. During pre-configuration, the nodes of two adjacent cable segments 311 with different diameters can be set on the adapter 306, so that two adjacent cable segments 311 with different diameters are connected through the adapter 306. Then, the adapter 306 is set in the interface 341 of the relay device 304, and the end of the cable 212 connected to the underwater device 305 can be directly set in the connector 351 of the underwater device 305.

[0055] The underwater control system provided in this invention allows each relay device to be individually controlled by a control device and to execute corresponding actions according to the instructions of the control device. Each relay device can form a node in a stable cable group, constituting a distributed concept. This helps reduce the impact of water flow on the cable group and improves system stability. Furthermore, the relay devices further reduce the influence between adjacent cables, eliminating the need for additional large TMS equipment and enabling stable operating conditions for the underwater equipment. In addition, due to the distributed design concept, the weight of both the underwater equipment and the relay devices is not excessive, thus eliminating the need for large lifting equipment and saving costs.

[0056] Please see Figure 4 , Figure 4 This is a flowchart illustrating a distributed underwater control method provided in an embodiment of this application. This distributed underwater control method can be applied to the distributed underwater control system described above. Figure 4 As shown, the control method includes the following steps:

[0057] S100. Configure the cable group based on the water depth measurement.

[0058] Water depth can be measured using devices such as sonar. In shallower areas where underwater equipment is operating, a distributed control system may not be necessary due to the less complex underwater environment and limited operational range. However, a distributed underwater control system is suitable when the water depth exceeds a preset value.

[0059] For example, when it is necessary to explore a certain sea area using underwater equipment, the water depth can be measured using the sonar equipment equipped on the surface equipment, and then the total length of the segmented cable group to be used and the number of relay equipment required can be planned reasonably.

[0060] S200: Real-time acquisition of location information of underwater equipment and relay equipment.

[0061] As mentioned earlier, the distance and positioning information of the underwater equipment and each relay equipment can be obtained through the USBL set on the surface equipment, each relay equipment, and the underwater equipment, thereby obtaining the corresponding location information.

[0062] S300: Determine the movement range of each repeater based on the cable group configuration and the location information of each repeater.

[0063] It is understandable that each relay device is capable of movement. Since there are cables between adjacent relay devices, the determined range of movement of the relay device should be within the range defined by the safe distance and the length of the connecting cable.

[0064] For example, if there is a 50-meter cable between two adjacent repeater devices, with a safe distance of 40 meters, the theoretically possible movement range of the lower repeater device is a sphere with a radius of 50 meters centered on the upper repeater device. However, in practice, the lower repeater device will not be allowed to move onto the upper repeater device, as this could cause cable entanglement. Therefore, the confirmed movement range of the lower repeater device is the interval between 40 and 50 meters below the upper repeater device.

[0065] Step S400: Based on the location information of the underwater equipment, adjust the movement status of each relay device.

[0066] Relay equipment moves or hovers to coordinate with the operation of underwater equipment. Therefore, it is necessary to adjust the movement of the relay equipment based on the location information of the underwater equipment, i.e., to control the hovering or movement of the relay equipment. For example, in... Figure 3 In the provided embodiment, after the second relay device 242 arrives at the corresponding area and performs a hovering action, it can meet the operational requirements of the underwater device 205. When the underwater device 205 completes its operation and continues to move upward under the control command of the control device 103, the hovering state of the first relay device 241 and / or the second relay device 242 should be released, and the first relay device 241 and / or the second relay device 242 should also be controlled to move upward, so that the second cable 222 and the third cable 223 will not be tangled due to excessive redundancy.

[0067] Alternatively, after the first relay device 241, the second relay device 242, and the underwater device 205 are all launched, the first relay device 241 and the second relay device 242 can be controlled to move along the direction of movement of the underwater device 205, and the underwater device 205 can perform a hovering action after it reaches the work area.

[0068] Alternatively, after the first relay device 241, the second relay device 242, and the underwater device 205 are all launched into the water, the first relay device 241 and the second relay device 242 move along the direction of movement of the underwater device 205 to the corresponding designated area and then hover.

[0069] Understandably, during subsequent operations, each relay device can adjust its movement according to the underwater environment to reduce the impact of cables on underwater equipment.

[0070] S500: When any relay device exceeds its range of motion, the control cable group will retract the cable according to the preset rules.

[0071] When a relay device moves outside its designated range, it indicates significant cable redundancy. To avoid interfering with underwater equipment operations, the redundant cable can be retrieved. Understandably, during cable retrieval, relay devices closer to the surface may also need to be retrieved. For example, assuming a relay device is positioned every 50 meters, if a lower relay device rises 50 meters, it means one relay device can be removed from the system, and cable retrieval can begin. The preset rules could refer to preset retrieval length, speed, or time.

[0072] Please see Figure 5 ,for Figure 4 A detailed flowchart of step S400, which includes:

[0073] S410. Calculate the distance between the underwater equipment and the relay equipment connected by cable.

[0074] As mentioned above, the distance between pairs is calculated based on the positioning information using USBL on each relay device and / or underwater device.

[0075] S420: Determine whether the difference between the distance and the configured cable length is greater than a threshold.

[0076] If so, proceed to step S430; otherwise, proceed to step S460.

[0077] The purpose of this step is to ensure that the cables between the underwater equipment and the relay equipment connected by cables are not excessively redundant by introducing the concept of threshold comparison. Otherwise, there may be cable tangling or excessive influence from water flow, which may lead to instability of the underwater equipment.

[0078] S430: Control the relay equipment connected to the underwater equipment to move upward.

[0079] Specifically, when there is cable redundancy between the underwater equipment and the relay equipment, the relay equipment should be moved upwards to minimize the impact of water flow. "Upwards" in this step can refer to directly above or diagonally above, meaning moving the relay equipment closer to the water surface.

[0080] S440. Determine if the movement exceeds the range; if so, proceed to step S450; otherwise, return to step S430.

[0081] This step makes a judgment based on the real-time positional relationship between the relay device connecting the underwater equipment and its adjacent relay devices, combined with the movement range determined in step S300, in order to avoid cable entanglement.

[0082] S450, synchronous / asynchronous control to move other relay devices upwards.

[0083] In this step, you can simultaneously release the hovering state of all other relay devices and control all other relay devices to move upwards; or you can use an asynchronous control mode, that is, release the hovering state of each relay device in turn and control each relay device to move upwards in turn.

[0084] S460, Control each relay device to remain in a hovering state, and return to step S410.

[0085] If there is no cable redundancy between the underwater equipment and the relay equipment, then the relay equipment can continue to be kept hovering.

[0086] In a preferred embodiment, when a relay device connected to an underwater device is in a hovering state, it also keeps other relay devices in a hovering state, thereby minimizing the possibility of disturbance.

[0087] Compared with existing technologies, the distributed underwater control system and method provided in this application firstly adopt a segmented design in terms of cable group configuration. At least two relay devices and the underwater equipment are connected using at least three cable segments, ensuring that the cables between the underwater equipment and the relay devices, as well as the cables between the two relay devices, remain independent, facilitating management and configuration. Secondly, since each relay device is controlled by a separate control device, it can execute corresponding actions according to the control device's instructions. Each relay device also forms a node providing a stable cable group, which helps resist the impact of water flow on the cable group and improves system stability. Furthermore, the relay devices further reduce the influence between adjacent cables, providing stable operating conditions for the underwater equipment. In addition, based on the real-time positional relationship between the underwater equipment and each relay device underwater, the synchronous / asynchronous adjustment of the movement state of each relay device can be completed, making the entire system more controllable and adaptable to complex deep-water environments.

[0088] The distributed underwater control system and control method provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A distributed underwater control system, characterized in that, The control system includes a cable assembly with a reel, a power system, control equipment, at least two relay devices, and underwater equipment, wherein: The cable group includes at least three cable segments, and the cable segment connects the cable reel to the relay device closest to the cable reel, to two adjacent relay devices, and to the relay device closest to the underwater device and the underwater device. The power system transmits electrical energy to the relay equipment and / or the underwater equipment through the cable group; The control device transmits control commands to the relay device and the underwater device through the cable group to control the movement state of each of the relay device and the underwater device; In operation, the relay devices are arranged in order of water entry with varying depths.

2. The control system according to claim 1, characterized in that, The diameter of the cable connecting the underwater equipment is smaller than the diameter of the cable connecting any two adjacent relay devices; the diameter of the cable between any two adjacent relay devices is smaller than the diameter of the cable provided at the cable reel.

3. The control system according to claim 1 or 2, characterized in that, The diameter of each segment of the cable constituting the cable group increases sequentially according to the order of entry into the water.

4. The control system according to claim 1, characterized in that, The cable group has a split structure. The relay device is provided with two interfaces for connecting two adjacent cables. Each interface is connected to one end of a cable. The underwater device is provided with a plug for connecting the cables.

5. The control system according to claim 1, characterized in that, The cable group has an integrated structure, and any two adjacent cable segments are connected by an adapter; the relay device has an interface for connecting the adapter; the underwater device has a plug for connecting the cable.

6. The control system according to claim 1, characterized in that, The relay device is also equipped with a Doppler log, an ultra-short baseline positioning system, and multiple thrusters; the relay device has multi-posture motion capability, and the multiple thrusters, driven by the control device, control the relay device to perform forward and backward movement, left and right movement, up and down movement, diagonal movement, or hovering at a designated position.

7. The control system according to claim 1, characterized in that, The cable group includes power cables and communication cables, wherein the power cables are used to transmit electrical energy and the communication cables are used to transmit control commands.

8. A distributed underwater control method, wherein the distributed underwater control method is applied in the distributed underwater control system as described in any one of claims 1-7, characterized in that, The control method includes: Configure the cable group based on the water depth measurement results; The location information of the underwater equipment and each of the relay devices can be acquired in real time. Based on the configuration of the cable group and the location information of each relay device, the movement range of each relay device is determined; Based on the location information of the underwater equipment, the movement status of each relay device is adjusted.

9. The control method according to claim 8, characterized in that, Also includes: When any of the relay devices exceeds its range of motion, the cable group is controlled to retract according to a preset rule.

10. The control method according to claim 8 or 9, characterized in that, The step of adjusting the movement state of each relay device based on the location information of the underwater equipment includes: Calculate the distance between the underwater device and the connected relay device; Determine if the difference between the distance and the configured cable length is greater than a threshold. When the difference is greater than the threshold, the connected relay device is controlled to move upward; and when the movement position of the connected relay device exceeds the corresponding movement range, other relay devices are synchronously / asynchronously controlled to move upward.

Images