A method and system for joint control of an operation and maintenance ship and an underwater robot for dynamic submarine cable inspection
Patent Information
- Application Number
- CN202611061036.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-16
- Publication Date
- 2026-09-18
AI Technical Summary
[0006]本发明的目的在于解决现有技术中无人船与ROV协同巡检速度自适应分配精度低、供电缆跟随控制不及时的问题，提供一种面向动态海缆巡检的运维船与水下机器人联合控制方法及系统
本发明提出的一种面向动态海缆巡检的运维船与水下机器人联合控制方法，首先，部署步骤明确了系统初始状态，运维船与ROV通过具备回弹弹性的供电缆连接，这个前提条件决定了后续所有控制动作都必须在缆长约束下进行，而非各自独立运动。其次，ROV控制步骤中，采集空间路径数据后识别极值点并统计其分布的投影平面数量，动态海缆在三维空间中的弯曲方向是随机的，单一方向的速度控制无法适应各个方向上的曲率变化，通过判断极值点出现在哪一个或哪几个投影平面，系统就知道当前路径段主要在哪些方向上发生了弯曲，进而为对应方向分配不同的速度分量。由于ROV的合速度受额定推进速度限制，各方向分量之间此消彼长，这种分配机制确保了ROV在维持额定速度的前提下，在弯曲剧烈的方向上适当减速以精确转向，在弯曲平缓的方向上保持较快行进，避免因速度分配不当导致偏离轨迹或反复调整航向。最后，运维船控制步骤中，监测供电缆拉伸长度而非直接跟随ROV位置，是因为缆长直接反映了两者之间的实际间距是否处于安全范围，当缆长达到阈值时船才启动跟随，当缆回弹至基准长度时船即停止，这使得运维船以间歇步进的方式跟随，既防止缆线过拉伸断裂，又避免频繁移动导致控制紊乱。因此，解决了无人船与ROV在动态海缆巡检场景下的协同控制问题。
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Figure CN122776833A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of offshore wind power operation and maintenance technology, specifically relating to a joint control method and system for operation and maintenance vessels and underwater robots for dynamic submarine cable inspection. Background Technology
[0002] Floating wind turbines transmit electricity to the outside world via dynamic submarine cables. The dynamic submarine cables are the most vulnerable point for failure in the entire floating wind power system. Their outer armor and rubber protective sleeves are prone to cracking and other damage under long-term marine environmental conditions, thus requiring regular inspections.
[0003] Currently, dynamic submarine cable inspection mainly adopts the following two methods: The maintenance vessel carries divers to conduct underwater inspections. Once the vessel approaches the target wind turbine, divers, equipped with underwater cameras and testing equipment, descend to conduct close-range visual and tactile inspections along the dynamic submarine cable, observing for breaks in the cable's outer armor and cracks in the protective sheath. This method is a common practice in current engineering, its advantage being that divers can identify minor damage through direct visual judgment and tactile feedback. However, floating wind turbines are generally located far from shore (typically tens or even hundreds of kilometers), requiring personnel to be deployed to sea for each inspection, resulting in high overall costs for vessel leasing, personnel scheduling, and logistical support. Furthermore, diving operations are severely constrained by sea conditions; large waves prevent diving, limiting inspection windows. In addition, deep-sea diving itself poses significant personal safety risks. Therefore, this method cannot meet the economic and safety requirements of frequent wind farm inspections.
[0004] Independent inspections using unmanned surface vessels (USVs) or underwater robots (ROVs). With the development of unmanned equipment technology, the industry is exploring the use of USVs carrying inspection equipment on the surface to inspect dynamic submarine cables, or the use of underwater robots to probe along the cables. Both USVs and ROVs, as standalone equipment, have relatively mature technologies for autonomous navigation and path tracking. However, the unique challenge of inspecting dynamic submarine cables lies in the fact that the object of inspection is a curved surface cable extending from a floating wind turbine to the seabed, exhibiting a large curvature in three-dimensional space. The underwater robot needs to travel along this curve, and the power supply cable is connected to the maintenance vessel (or USV) on the surface. If relying solely on an ROV, the limited length of the power supply cable prevents the ROV from traveling long distances along the cable; if relying solely on an USV, it is impossible to obtain the true path and damage status of the underwater portion of the cable. Neither method can independently complete the full-path, long-distance inspection of dynamic submarine cables.
[0005] Theoretically, combining unmanned surface vessels (USVs) with ROVs (Remotely Operated Vehicles) can solve the above problems. The ROV would be deployed to inspect the cable, while the USV would follow on the surface, providing power and communication support to the ROV. However, there is currently no mature technical solution for achieving coordinated control between the two. The core challenges are: first, how to adaptively plan the propulsion speed and direction of the ROV based on the bending shape of the submarine cable in three-dimensional space, enabling it to smoothly and efficiently follow the cable's trajectory; second, how the USV, as a surface support platform, can dynamically adjust its position according to the actual movement of the ROV, ensuring the power supply cable remains within a safe tension range, preventing cable breakage due to excessive tension or control disruption due to frequent movement. These two problems are interdependent: the ROV's speed directly affects the cable's tension rate, while the USV's following timing and speed, in turn, affect the cable's drag force on the ROV. Currently, existing autonomous navigation control methods are mostly independent controls for single equipment (USVs or ROVs), thus failing to address the issues of high-precision adaptive speed allocation and timely cable following control during coordinated USV-ROV inspections. Summary of the Invention
[0006] The purpose of this invention is to solve the problems of low accuracy in adaptive allocation of speed for collaborative inspection between unmanned vessels and ROVs and untimely control of power cables in the prior art, and to provide a joint control method and system for maintenance vessels and underwater robots for dynamic submarine cable inspection.
[0007] To achieve the above objectives, the present invention employs the following technical solution: This invention proposes a joint control method for maintenance vessels and underwater robots for dynamic submarine cable inspection, comprising the following steps: The maintenance vessel and underwater robot are deployed to the starting position of the inspection of the dynamic submarine cable, and the maintenance vessel and underwater robot are connected by a power supply cable with resilience. The underwater robot is controlled to travel and inspect along a dynamic submarine cable. During the journey, the spatial path data of the dynamic submarine cable is collected in real time. Based on the spatial path data, the extreme points of path curvature within a preset range ahead are identified. According to the number of projection planes where the extreme points are distributed, the underwater robot's travel speed components in each projection plane are allocated and adjusted. During the inspection, the actual tensile length of the power supply cable is monitored in real time. When the actual tensile length reaches the preset trigger threshold, the maintenance vessel is controlled to move in the direction of the underwater robot. When the power supply cable rebounds to the reference length, the maintenance vessel is controlled to stop moving and remain in place.
[0008] Preferably, the step of identifying the extreme points of path curvature within a preset range based on spatial path data specifically involves: Obtain the spatial curve equation of the dynamic submarine cable, and differentiate the spatial curve equation in three coordinate planes respectively. If the derivative of the path point within the preset range in a certain coordinate plane is zero, then the path point is determined to be an extreme point in that coordinate plane.
[0009] Preferably, when the extreme points are distributed on one projection plane, the velocity component of the plane where the extreme point is located is set as the first component value, and the velocity components of the other two projection planes are set as the second component value; the first component value is less than the second component value, and the resultant velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
[0010] Preferably, when the extreme points are distributed on two projection planes, the velocity components of the planes containing the two extreme points are set as the first component value, and the velocity components of the remaining projection plane are set as the third component value; the first component value is less than the third component value, and the combined velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
[0011] Preferably, when the extreme points are distributed on three projection planes, the travel velocity components of the three projection planes are all set to the fourth component value, and the resultant velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
[0012] Preferably, the first component value is 0.5x, the second component value is 0.63x, the third component value is 0.71x, and the fourth component value is 0.58x.
[0013] Preferably, the single-step advance distance is equal to the minimum turning radius of the dynamic submarine cable; The real-time acquisition of the spatial path data of the dynamic submarine cable is obtained by scanning and collecting the data using a detection device carried by an underwater robot. The detection device includes an acoustic detection device or an optical detection device. The preset trigger threshold is 1.25 times the reference length L of the power cable. When the actual stretch length of the power cable reaches the maximum allowable stretch length, the maintenance vessel is controlled to move in the direction of travel of the underwater robot.
[0014] This invention proposes a joint control system for maintenance vessels and underwater robots for dynamic submarine cable inspection, comprising: The inspection initialization module is used to deploy the maintenance vessel and the underwater robot to the inspection starting position of the dynamic submarine cable. The maintenance vessel and the underwater robot are connected by a power supply cable with elasticity. The underwater robot control module is used to control the underwater robot to travel and inspect along the dynamic submarine cable. During the travel, the module collects the spatial path data of the dynamic submarine cable in real time, identifies the extreme points of path curvature within a preset range based on the spatial path data, and allocates and adjusts the travel speed components of the underwater robot in each projection plane according to the number of projection planes where the extreme points are distributed. The maintenance vessel control module is used to monitor the actual tensile length of the power supply cable in real time during the inspection process. When the actual tensile length reaches a preset trigger threshold, the maintenance vessel is controlled to move in the direction of travel of the underwater robot. When the power supply cable springs back to the reference length, the maintenance vessel is controlled to stop moving and remain in place.
[0015] A terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection.
[0016] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the joint control method of the maintenance vessel and underwater robot for dynamic submarine cable inspection.
[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention proposes a joint control method for maintenance vessels and underwater robots (ROVs) for dynamic submarine cable inspection. First, the deployment steps define the initial system state: the maintenance vessel and the ROV are connected by a resilient power cable. This prerequisite dictates that all subsequent control actions must be performed under cable length constraints, rather than independent movements. Second, in the ROV control steps, after collecting spatial path data, extreme points are identified, and the number of projection planes on which they are distributed is counted. The bending direction of the dynamic submarine cable in three-dimensional space is random; single-direction speed control cannot adapt to curvature changes in all directions. By determining which projection plane(s) the extreme points appear on, the system knows which directions the current path segment is mainly bending, and thus assigns different speed components to the corresponding directions. Since the ROV's resultant velocity is limited by its rated propulsion speed, the components in different directions increase and decrease in opposite directions. This allocation mechanism ensures that, while maintaining its rated speed, the ROV appropriately decelerates in directions of severe bending for precise steering, and maintains a relatively fast pace in directions of gentle bending, avoiding deviation from the trajectory or repeated course adjustments due to improper speed allocation. Finally, in the control steps of the maintenance vessel, monitoring the cable extension length instead of directly following the ROV's position is crucial because cable length directly reflects whether the actual distance between them is within a safe range. The vessel only initiates following when the cable length reaches a threshold, and stops when the cable springs back to the reference length. This allows the maintenance vessel to follow in an intermittent, step-by-step manner, preventing cable breakage due to overstretching and avoiding control malfunctions caused by frequent movements. Therefore, the collaborative control problem between unmanned vessels and ROVs in dynamic submarine cable inspection scenarios is solved.
[0018] This invention proposes a joint control system for maintenance vessels and underwater robots for dynamic submarine cable inspection. By dividing the system into an inspection initialization module, an underwater robot control module, and a maintenance vessel control module, it achieves joint control of the maintenance vessel and underwater robot for dynamic submarine cable inspection. The modular approach ensures that each module is independent, facilitating unified management of all modules. Attached Figure Description
[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 This is a flowchart of the joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection according to the present invention.
[0021] Figure 2 This is a schematic diagram illustrating the collaborative operation of the unmanned vessel and the underwater robot (ROV) for dynamic submarine cable inspection according to the present invention.
[0022] Figure 3 This is a schematic diagram of the dynamic submarine cable spatial projection relationship of the present invention.
[0023] Figure 4 This is a flowchart of the control algorithm for the underwater robot (ROV) of the present invention.
[0024] Figure 5 This is a flowchart of the control algorithm for the maintenance vessel of the present invention.
[0025] Figure 6 This is a diagram of the joint control system of maintenance vessel and underwater robot for dynamic submarine cable inspection according to the present invention.
[0026] Figure 7 This is a schematic diagram of the structure of an electronic device according to the present invention. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0030] The present invention will now be described in further detail with reference to the accompanying drawings: Example 1 This invention proposes a joint control method for maintenance vessels and underwater robots for dynamic submarine cable inspection, such as... Figure 1 As shown, it includes the following steps: S1. Deploy the maintenance vessel and underwater robot to the starting position of the inspection of the dynamic submarine cable. The maintenance vessel and the underwater robot are connected by a power supply cable with elasticity. S2. Control the underwater robot to travel and inspect along the dynamic submarine cable. During the travel, collect the spatial path data of the dynamic submarine cable in real time. Based on the spatial path data, identify the extreme points of path curvature within a preset range ahead. According to the number of projection planes where the extreme points are distributed, allocate and adjust the travel speed components of the underwater robot in each projection plane. The identification of extreme points of path curvature within a preset range based on spatial path data specifically involves: Obtain the spatial curve equation of the dynamic submarine cable, and differentiate the spatial curve equation in three coordinate planes respectively. If the derivative of the path point within the preset range in a certain coordinate plane is zero, then the path point is determined to be an extreme point in that coordinate plane.
[0031] When the extreme points are distributed on a projection plane, the velocity component of the plane where the extreme point is located is set as the first component value, and the velocity components of the other two projection planes are set as the second component value; the first component value is less than the second component value, and the resultant velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
[0032] When the extreme points are distributed on two projection planes, the velocity components of the planes containing the two extreme points are set as the first component value, and the velocity components of the remaining projection plane are set as the third component value; the first component value is less than the third component value, and the resultant velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
[0033] When the extreme points are distributed across three projection planes, the velocity components of the three projection planes are all set to the fourth component value, and the combined velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
[0034] The first component value is 0.5x, the second component value is 0.63x, the third component value is 0.71x, and the fourth component value is 0.58x.
[0035] S3. During the inspection, the actual tensile length of the power supply cable is monitored in real time. When the actual tensile length reaches the preset trigger threshold, the maintenance vessel is controlled to move in the direction of the underwater robot. When the power supply cable rebounds to the reference length, the maintenance vessel is controlled to stop moving and remain in place.
[0036] The single-step advance distance is equal to the minimum turning radius of the dynamic submarine cable; The real-time acquisition of the spatial path data of the dynamic submarine cable is obtained by scanning and collecting the data using a detection device carried by an underwater robot. The detection device includes an acoustic detection device or an optical detection device. The preset trigger threshold is 1.25 times the reference length L of the power cable. When the actual stretch length of the power cable reaches the maximum allowable stretch length, the maintenance vessel is controlled to move in the direction of travel of the underwater robot.
[0037] like Figure 2 As shown, the inspection system involved in this invention includes: a maintenance vessel (unmanned surface vessel), an underwater robot (ROV), and a power supply cable connecting the two. The maintenance vessel is positioned on the water surface and is equipped with a power supply cable winch and a first control unit; the underwater robot is connected to the maintenance vessel via the power supply cable and is equipped with a second control unit and detection equipment.
[0038] At the start of the inspection, the maintenance vessel and underwater robot are deployed to the starting position of the dynamic submarine cable inspection. Figure 2 (Point A in the middle). The maintenance vessel and the underwater robot are connected by a resilient power supply cable. This power supply cable provides power to the underwater robot and is also resilient, allowing it to expand and contract adaptively within a certain range.
[0039] The underwater robot carries detection equipment (acoustic or optical detection devices) that scans the dynamic submarine cable in real time, collects its spatial path data, and transmits it to the second control unit. The second control unit then obtains the spatial curve equation of the dynamic submarine cable based on the scan data.
[0040] like Figure 3 As shown, the dynamic submarine cable appears as a spatial curve in three-dimensional space. This curve has projection relationships in the three coordinate planes XOZ, XOY, and YOZ.
[0041] like Figure 4 As shown, the control logic of the underwater robot is as follows: Using the current position of the underwater robot as a reference, candidate path points on the curve of the dynamic submarine cable are searched within a preset step size range (the distance of a single step, which is equal to the minimum turning radius r of the dynamic submarine cable, typically r = 15m). Assume the current position of the underwater robot is point A, the candidate path point is point A′, and the spatial distance between A and A′ is r.
[0042] The second control unit determines whether a candidate path point is an extreme point in each coordinate plane of the three-dimensional space. The determination criterion adopts the traditional mathematical definition of an extreme point: considering that the dynamic submarine cable curve is a continuous function and differentiable outside the endpoints, the determination is made by taking the partial derivative of the space curve equation f(x,y,z) in each coordinate plane. XOZ:
[0043] XOY:
[0044] YOZ:
[0045] If the derivative of a candidate path point in a certain coordinate plane is zero, then the path point is determined to be an extreme point in that coordinate plane.
[0046] The underwater robot's rated propulsion speed is x m / s (typically x = 1 m / s). To ensure stable movement of the underwater robot at its rated propulsion speed, and to adaptively adjust its direction of travel based on the bending characteristics of the dynamic submarine cable curve in each plane, the second control unit allocates and adjusts the underwater robot's travel speed components in each projection plane according to the number of projection planes containing extreme points. The specific allocation scheme is as follows: The velocity components of the three projection planes are all set to the fourth component value. For example... Figure 4 As shown, in this scenario, the underwater robot's velocity components in all three coordinate planes are 0.58 m / s (i.e., 0.58x), and the composite velocity is (0.58...). 0.58 3) ^0.5 = 1 m / s, which satisfies the constraint of rated propulsion speed x = 1 m / s.
[0047] The velocity components of the planes containing the two extreme points are both set as the first component value, and the velocity components of the remaining projection plane are set as the third component value. The first component value is less than the third component value. For example... Figure 4 As shown, in this scenario, the velocity components in the two projection planes where the extreme point is located are 0.5 m / s (i.e., 0.5x), and the velocity components in the projection planes where no extreme point appears are 0.71 m / s (i.e., 0.71x). The combined velocity is (0.5×0.5×2+0.71×0.71)^0.5=1 m / s, which satisfies the constraint of rated propulsion speed x=1 m / s.
[0048] The velocity component of the plane containing the extreme point is set as the first component value, and the velocity components of the other two projection planes are set as the second component values. The first component value is less than the second component value. For example... Figure 4 As shown, in this scenario, the velocity component in the projection plane where the extreme point is located is 0.5 m / s (i.e., 0.5x), and the velocity components in the two projection planes where no extreme point appears are 0.63 m / s (i.e., 0.63x). The combined velocity is (0.5×0.5+0.63×0.63×2)^0.5=1 m / s, which satisfies the constraint of rated propulsion speed x=1 m / s.
[0049] Through the above allocation strategy, the underwater robot can adaptively adjust its travel speed in each direction according to the bending characteristics of the dynamic submarine cable in different directions, ensuring that the underwater robot always travels stably along the dynamic submarine cable at the rated propulsion speed.
[0050] like Figure 5As shown, during the underwater robot's inspection along the cable, the first control unit monitors the actual elongation of the power supply cable in real time. One end of the power supply cable is connected to the maintenance vessel, and the other end is connected to the underwater robot. As the underwater robot moves away from the maintenance vessel, the power supply cable is gradually stretched.
[0051] When the actual stretching length of the power supply cable reaches the preset trigger threshold (i.e., 1.25 times the reference length L of the power supply cable), the first control unit controls the maintenance vessel to move in the direction of the underwater robot's travel to shorten the actual stretching length of the power supply cable and prevent the power supply cable from being damaged due to excessive stretching.
[0052] When the power cable springs back to its initial reference length L, the first control unit controls the maintenance vessel to stop moving and remain in place, waiting for the next trigger.
[0053] Through the aforementioned follow-control strategy, the maintenance vessel intermittently follows the underwater robot in a "step-stop-step" manner, which ensures that the power cable is always within the safe stretching range and avoids the control complexity and energy consumption caused by the continuous movement of the maintenance vessel.
[0054] This invention achieves unmanned inspection of dynamic submarine cables through coordinated control of an underwater robot's cable-tracking inspection and a maintenance vessel's intermittent following. The underwater robot's velocity component allocation strategy enables it to adaptively adjust its direction of travel based on the curvature characteristics of the cable's spatial curve, ensuring the accuracy of the inspection path. The maintenance vessel's following control strategy effectively protects the power supply cable, avoiding the risk of breakage due to excessive stretching. The entire inspection process requires no human intervention, significantly reducing offshore wind power operation and maintenance costs and improving the safety and efficiency of inspection operations. This invention can be widely applied to dynamic submarine cable inspection operations in floating offshore wind farms and is also suitable for unmanned inspection scenarios of other underwater cables (such as umbilical cables and submarine communication optical cables), showing broad industrial application prospects.
[0055] Example 2 This invention proposes a joint control system for maintenance vessels and underwater robots for dynamic submarine cable inspection, such as... Figure 6 As shown, it includes: The inspection initialization module is used to deploy the maintenance vessel and the underwater robot to the inspection starting position of the dynamic submarine cable. The maintenance vessel and the underwater robot are connected by a power supply cable with elasticity. The underwater robot control module is used to control the underwater robot to travel and inspect along the dynamic submarine cable. During the travel, the module collects the spatial path data of the dynamic submarine cable in real time, identifies the extreme points of path curvature within a preset range based on the spatial path data, and allocates and adjusts the travel speed components of the underwater robot in each projection plane according to the number of projection planes where the extreme points are distributed. The maintenance vessel control module is used to monitor the actual tensile length of the power supply cable in real time during the inspection process. When the actual tensile length reaches a preset trigger threshold, the maintenance vessel is controlled to move in the direction of travel of the underwater robot. When the power supply cable springs back to the reference length, the maintenance vessel is controlled to stop moving and remain in place.
[0056] Example 3 Please see Figure 7 As shown, the present invention also provides an electronic device 100 for a joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection; the electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on the at least one processor 102, and at least one communication bus 104.
[0057] The memory 101 can be used to store the computer program 103. The processor 102 implements the steps of the joint control method for maintenance vessels and underwater robots for dynamic submarine cable inspection described in Embodiment 1 by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101. The memory 101 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 100 (such as audio data), etc. In addition, the memory 101 may include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.
[0058] The at least one processor 102 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or any conventional processor. The processor 102 is the control center of the electronic device 100, connecting various parts of the electronic device 100 via various interfaces and lines.
[0059] The memory 101 in the electronic device 100 stores multiple instructions to implement a joint control method for a maintenance vessel and an underwater robot for dynamic submarine cable inspection. The processor 102 can execute the multiple instructions to achieve the following: The maintenance vessel and underwater robot are deployed to the starting position of the inspection of the dynamic submarine cable, and the maintenance vessel and underwater robot are connected by a power supply cable with resilience. The underwater robot is controlled to travel and inspect along a dynamic submarine cable. During the journey, the spatial path data of the dynamic submarine cable is collected in real time. Based on the spatial path data, the extreme points of path curvature within a preset range ahead are identified. According to the number of projection planes where the extreme points are distributed, the underwater robot's travel speed components in each projection plane are allocated and adjusted. During the inspection, the actual tensile length of the power supply cable is monitored in real time. When the actual tensile length reaches the preset trigger threshold, the maintenance vessel is controlled to move in the direction of the underwater robot. When the power supply cable rebounds to the reference length, the maintenance vessel is controlled to stop moving and remain in place.
[0060] Example 4 If the modules / units integrated in the electronic device 100 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).
[0061] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0062] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0063] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0064] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims
1. A joint control method for maintenance vessels and underwater robots for dynamic submarine cable inspection, characterized in that, Includes the following steps: The maintenance vessel and underwater robot are deployed to the starting position of the inspection of the dynamic submarine cable, and the maintenance vessel and underwater robot are connected by a power supply cable with resilience. The underwater robot is controlled to travel and inspect along a dynamic submarine cable. During the journey, the spatial path data of the dynamic submarine cable is collected in real time. Based on the spatial path data, the extreme points of path curvature within a preset range ahead are identified. According to the number of projection planes where the extreme points are distributed, the underwater robot's travel speed components in each projection plane are allocated and adjusted. During the inspection, the actual tensile length of the power supply cable is monitored in real time. When the actual tensile length reaches the preset trigger threshold, the maintenance vessel is controlled to move in the direction of the underwater robot. When the power supply cable rebounds to the reference length, the maintenance vessel is controlled to stop moving and remain in place.
2. The joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection according to claim 1, characterized in that, The identification of extreme points of path curvature within a preset range based on spatial path data specifically involves: Obtain the spatial curve equation of the dynamic submarine cable, and differentiate the spatial curve equation in three coordinate planes respectively. If the derivative of the path point within the preset range in a certain coordinate plane is zero, then the path point is determined to be an extreme point in that coordinate plane.
3. The joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection according to claim 1, characterized in that, When the extreme points are distributed on a projection plane, the velocity component of the plane where the extreme point is located is set as the first component value, and the velocity components of the other two projection planes are set as the second component value; the first component value is less than the second component value, and the resultant velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
4. The joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection according to claim 1, characterized in that, When the extreme points are distributed on two projection planes, the velocity components of the planes containing the two extreme points are set as the first component value, and the velocity components of the remaining projection plane are set as the third component value; the first component value is less than the third component value, and the resultant velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
5. The joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection according to claim 1, characterized in that, When the extreme points are distributed across three projection planes, the velocity components of the three projection planes are all set to the fourth component value, and the combined velocity of the velocity components of the three planes is equal to the rated propulsion speed x of the underwater robot.
6. The joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection according to any one of claims 3 to 5, characterized in that, The first component value is 0.5x, the second component value is 0.63x, the third component value is 0.71x, and the fourth component value is 0.58x.
7. The joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection according to claim 1, characterized in that, The single-step advance distance is equal to the minimum turning radius of the dynamic submarine cable; The real-time acquisition of the spatial path data of the dynamic submarine cable is obtained by scanning and collecting the data using a detection device carried by an underwater robot. The detection device includes an acoustic detection device or an optical detection device. The preset trigger threshold is 1.25 times the reference length L of the power cable. When the actual stretch length of the power cable reaches the maximum allowable stretch length, the maintenance vessel is controlled to move in the direction of travel of the underwater robot.
8. A joint control system for maintenance vessels and underwater robots for dynamic submarine cable inspection, characterized in that, include: The inspection initialization module is used to deploy the maintenance vessel and the underwater robot to the inspection starting position of the dynamic submarine cable. The maintenance vessel and the underwater robot are connected by a power supply cable with elasticity. The underwater robot control module is used to control the underwater robot to travel and inspect along the dynamic submarine cable. During the travel, the module collects the spatial path data of the dynamic submarine cable in real time, identifies the extreme points of path curvature within a preset range based on the spatial path data, and allocates and adjusts the travel speed components of the underwater robot in each projection plane according to the number of projection planes where the extreme points are distributed. The maintenance vessel control module is used to monitor the actual tensile length of the power supply cable in real time during the inspection process. When the actual tensile length reaches a preset trigger threshold, the maintenance vessel is controlled to move in the direction of travel of the underwater robot. When the power supply cable springs back to the reference length, the maintenance vessel is controlled to stop moving and remain in place.
9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection as described in any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the joint control method of maintenance vessel and underwater robot for dynamic submarine cable inspection as described in any one of claims 1 to 7.