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A deep sea operation type rov control system and control method thereof

A control method and control system technology, applied in the deep sea operation ROV control system and its control field, can solve problems such as complex mission planning, and achieve the effects of easy system maintenance, high intelligence, and good stability

Inactive Publication Date: 2017-01-18
HARBIN ENG UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

The task planning of deep-sea operation ROV underwater operation is relatively complicated, and the surface part can be completed. Therefore, the above three structural systems have many inappropriate points for deep-sea operation ROV.

Method used

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  • A deep sea operation type rov control system and control method thereof
  • A deep sea operation type rov control system and control method thereof
  • A deep sea operation type rov control system and control method thereof

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with accompanying drawing:

[0026] The invention provides a deep-sea operation type ROV control system software structure and control method. The structure is suitable for the ROV control system based on the VxWorks real-time embedded system. It is divided into four parts: monitoring layer, control layer, execution layer, and data management layer: monitoring The layer is used to monitor sensor data and ROV equipment status and complete data communication; the control layer and execution layer together complete ROV movement and underwater operation control; the data management layer is used to store ROV system global variables. The ROV control system software also includes: the control method based on the ROV task control process; the ROV detailed task process characterized by the operation of the task function (Task) in the VxWorks embedded software program; ROV motion control and stability control me...

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Abstract

The invention belongs to the field of underwater main control over deep-sea work type ROVs, and particularly relates to a control system and a control method for a deep-sea work type ROV. The control system comprises a monitoring layer, a control layer, an execution layer and a public data layer, wherein the monitoring layer comprises an information processing module, an equipment communication module and an equipment state monitoring module, and the control layer comprises a resource allocation module, a task decision-making module, a task control module and an instruction output module. According to the control system and the control method for the deep-sea work type ROV, a VxWorks embedded real-time operation system is applied, ensures the real-time processing of multiple ROV tasks due to high performance, and is good in stability and high in expansibility; the structure is simple, the tasks of all parts are clear, operation is efficient, the tasks are distinct in gradation, and the system is convenient to maintain; the control system and the control method for the deep-sea work type ROV are good in universality and can be widely applied to deep-sea work type ROV control systems.

Description

technical field [0001] The invention belongs to the field of underwater main control of deep-sea operation type ROV, and in particular relates to a deep-sea operation type ROV control system and a control method thereof. Background technique [0002] With the continuous maturity and development of deep-sea operation ROV technology, it has been widely used in underwater surveys, ocean engineering, deep-sea oil development, military affairs, etc., and deep-sea operation ROV technology has gradually entered the market. The underwater movement and operating environment of deep-sea operating ROV are complex, and the control is difficult. The design of the control system determines its control performance. The core of the control system is the control system software. [0003] The ROV underwater control system for deep-sea operation must take into account the tasks of communication with the surface control system, underwater ROV status monitoring, ROV motion and operation control,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 魏延辉杜振振高延滨周卫祥何爽韩寒王泽鹏刘鑫胡佳兴贾献强
Owner HARBIN ENG UNIV
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