共查询到18条相似文献，搜索用时 500 毫秒
1.
2.
远程遥控水下机器人系统是一种先进的海洋综合调查设备,能够实现海底长时间、高精度的定点取样作业及其他精细调查,在海洋区域地质调查中利用ROV开展高精度海底取样及其环境调查方面具有其他调查设备无法比拟的优越性。ROV具有功能多、综合作业能力强、安全可靠和实时遥控等优点。目前国内利用ROV进行海洋区域地质调查还处于起步阶段,随着ROV在海洋调查中的应用技术不断成熟和完善,利用ROV进行海洋区域地质调查将大大提高海洋区域地质调查的装备水平和调查精度,具有广阔的应用前景。以＂海狮号＂ROV系统为例,介绍其在我国海洋区域地质调查中的典型应用。 相似文献
3.
4.
深海水下机器人主要用于深远海地质、矿物资源和生物调查研究,以及海洋石油工程服务等水下综合作业,能够实现深海近底高精度、长时间的定点取样作业及其他精细化调查。结合国内外深海ROV装备和技术发展现状,以新研发的6 000 m级"海龙Ⅲ"号ROV搭载"大洋一号"船执行的2018年南海综合海试和48航次为例,从深海试验流程和方法、浅水区功能测试、深水区功能测试、深海观测及取样功能测试等方面,详细阐述了ROV海上试验和应用作业过程,对作业水深、功率配置、水下运动能力、搭载能力等关键性能指标进行了试验验证。海上功能测试和试验性应用结果表明,"海龙Ⅲ"ROV各项性能指标满足设计要求,验证了系统在不同深度、不同地形条件下的观测取样作业能力,创新了深水ROV作业方法手段,分析得出此类装备目前在国内发展存在的不足之处,并结合实际应用提出后期改进计划,以期为深海ROV的海试应用提供技术参考。 相似文献
5.
深海水下机器人主要用于深远海地质、矿物资源和生物调查研究，以及海洋石油工程服务等水下综合作业，能够实现深海近底高精度、长时间的定点取样作业及其他精细化调查。本文结合国内外深海ROV装备和技术发展现状，以新研发的6000米级“海龙III”号ROV搭载“大洋一号”船执行的2018年南海综合海试和48航次为例，从深海试验流程和方法、浅水区功能测试、深水区功能测试、深海观测及取样功能测试等方面，详细阐述了ROV海上试验和应用作业过程，对作业水深、功率配置、水下运动能力、搭载能力等关键性能指标进行了试验验证。经过海上功能测试和试验性应用结果表明，“海龙III”ROV各项性能指标满足设计要求，验证了系统在不同深度、不同地形条件下的观测取样作业能力，创新了深水ROV作业方法手段，分析得出此类装备目前在国内发展存在的不足之处，并结合实际应用提出后期改进计划，以期为深海ROV的海试应用提供技术参考。 相似文献
6.
7.
8.
首先,介绍了 ROV 的分类、特点、组成和应用场景,并基于现实问题提出级联式 ROV 的设计构想,简要说明了级联式 ROV 的特点与组成。然后,从整体控制技术、整体设计技术、水下布放回收技术、 母船与级联式 ROV 之间的通信技术、冗余设计和模块化设计技术、水声与电磁防护技术 6 个方面探讨了级联式 ROV 设计需要解决的关键技术和解决措施。最后,对级联式 ROV 典型的应用场景进行了举例说明。 相似文献
9.
10.
11.
On the motions of the underwater remotely operated vehicle with the umbilical cable effect 总被引：1，自引：0，他引：1
In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation. 相似文献
12.
Parameter identification of a remotely operated vehicle (ROV) is often based on the dynamic responses collected by its onboard sensors. However, for commercial ROVs, the required data for identification may not be available due to the absence of suitable sensors or limitations in accessing onboard sensor data. Therefore, this study proposes a vision-based tracking system to measure the dynamic response of an ROV. The tracking system is independent of the ROV, and is able to localize an ROV to a high degree of precision by means of projective mapping. The validity of the proposed tracking system is demonstrated through identification of a commercial ROV. A simplified nonlinear ROV dynamic model with six degrees of freedom (DOF) is used for identification. Uncoupled motions, including surge, sway, and yaw, are obtained from the ROV dynamic model, and the corresponding experiments are carried out for each DOF. Hydrodynamic parameters are then estimated with numerical optimizations by comparing the measured ROV responses with the output of the mathematical model. The experimental results show that the vision-based tracking system can accurately measure the transient and steady-state responses of an ROV. Additionally, the simulations of the ROV dynamic model, with the optimal parameter estimates, give results in agreement with the measured data. 相似文献
13.
Savaresi S.M. Previdi F. Dester A. Bittanti S. Ruggeri A. 《Oceanic Engineering, IEEE Journal of》2004,29(2):407-417
The topic of this paper is the modeling, parameter identification, and analysis of the heave and pitch dynamics in a remote operated vehicle (ROV). The work presented here is motivated by an unusual dynamic behavior experienced on the Gaymarine Pluto-Gigas ROV: if the depth is regulated using a proportional controller, the ROV exhibits permanent oscillations at high forward speed. The purpose of this paper is to gain insight into ROV dynamics, so as to explain the reason for the oscillations. To this end, a dynamic gray-box model is developed and its uncertain parameters are identified from real data. The analysis of such a model shows that the nonlinear dynamics of the ROV contains a limit cycle. This discovery explains the observed oscillatory behavior. An interesting aspect of this limit-cycling behavior is that it is not due (as usual) to saturation effects of the actuators, but is intrinsic in the ROV dynamics. 相似文献
14.
An adaptive control scheme for dynamic positioning (DP) of remotely operated underwater vehicles (ROV) is proposed based on a recently developed output feedback variable structure control (VSC) algorithm named VS-MRAC. Only position measurement is required. Precise modeling of the ROV is not needed and unmodeled perturbations can be effectively rejected. A simple method for discretizing the original continuous-time VS-MRAC is proposed based on dead-beat response. Other important practical implementation issues are considered. The performance is evaluated by simulation with a realistic ROV model and by full-scale experimental pool tests with an actual ROV 相似文献
15.
介绍一种新研制的用于近海海洋环境检测的轻型机器人,该机器人由智能检测控制台、水下检测器和控制电缆三部分构成;水下检测器由6个独立密封舱室和尾翼组成,具有一个主推进器和两个侧向推进器。特点是采用了潜艇式ROV结构,大幅降低了成本,适度增大了负载,可以满足一般工程检测的需要。通过在控制台上发出指令,可控制ROV完成前进、后退,上浮、下沉、左右转弯等动作;可以实现一定流速下的动力悬停,可以使ROV保持一定的倾角,以配合实现检测作业。该水下机器人可以检测腐蚀电位、温度、深度等最多16个参数,设计深度为40m。 相似文献
16.
This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle(ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test.And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions.Rotation control motion was simulated to verify spatial model proposed.Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment,and accomplish some more challengeable and practical missions. 相似文献
17.
18.
A prototype supervisory control system for a remotely operated vehicle (ROV) is described and several key elements demonstrated in simulation and in-water tests. This system is specifically designed to fill the needs of JASON, a new ROV under development that will perform scientific tasks on the seafloor to depths of 6000 m. JASON will operate from the ARGO towed imaging platform, which is currently operational. Supervisory control is a paradigm for combined human and computer control. Several key elements of the supervisory control system are presented. These include the closed-loop positioning system based on a high-resolution acoustic navigation system, a monitoring capability for assessing performance and detecting undesirable changes, and an interface that allows the human operator and the computer system to specify the desired vehicle trajectory jointly. 相似文献