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CN-121973897-A - Underwater robot laying system for fire rescue

CN121973897ACN 121973897 ACN121973897 ACN 121973897ACN-121973897-A

Abstract

The invention relates to the field of control of water rescue equipment, and discloses a fire-fighting rescue underwater robot laying system, which comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring operation data in the laying process of an underwater robot and performing time synchronization and pretreatment; the system comprises a hoisting system, a hoisting system dynamic description system, a rolling optimization module, a control execution module, a safety monitoring module and a control execution module, wherein the hoisting system dynamic description system is constructed by constructing a linear variable parameter prediction model, the rolling optimization module is used for calculating and obtaining control instructions for a winch and a hoisting arm in each control period, the control execution module is used for driving the winch and the hoisting arm to perform corresponding actions, and the safety monitoring module is used for judging safety indexes of a hoisting process in real time. By carrying out synchronization and fusion pretreatment on multi-source heterogeneous operation data, a linear variable parameter prediction model capable of adapting to cable length and ocean current change is established, and dynamic constraint fused with ship motion disturbance and real-time obstacle avoidance requirements is generated, so that optimal tracking control on a preset space path in a dynamic environment is realized.

Inventors

  • HAO JIANFEI

Assignees

  • 郝建飞

Dates

Publication Date
20260505
Application Date
20260228

Claims (10)

  1. 1. An underwater robot deployment system for fire rescue, comprising: The system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring operation data in the laying process of the underwater robot, performing time synchronization and preprocessing to form preprocessing data, and the operation data comprises ship motion data, marine environment data, state data of a laying device and underwater environment sensing data; The construction fusion module is used for constructing a linear variable parameter prediction model to describe the dynamics of the hoisting system based on the preprocessing data, and fusing the ship motion data and the underwater environment perception data to generate dynamic constraint; The rolling optimization module is used for constructing and solving a finite time domain control problem based on the linear variable parameter prediction model and the dynamic constraint in each control period, and calculating to obtain a control instruction for the winch and the suspension arm; The control execution module is used for driving the winch and the suspension arm to perform corresponding actions according to the control instruction, so that the underwater robot is distributed along a preset space path; the safety monitoring module is used for judging safety indexes of the laying process in real time and triggering an emergency control strategy when the safety indexes exceed a preset value.
  2. 2. The underwater robot deployment system for fire rescue according to claim 1, wherein the time synchronization and pretreatment are performed, comprising the following steps: acquiring ship motion data, marine environment data, deployment device state data and underwater environment perception data in the deployment process of the underwater robot to form operation data; And performing time stamp alignment and data packet analysis on the operation data, and performing filtering denoising and standardization processing to form preprocessing data with synchronous time and uniform scale.
  3. 3. The underwater robot deployment system for fire rescue as set forth in claim 1, wherein the constructing the linear variable parameter prediction model describes the dynamics of the deployment system, comprising the steps of: based on dynamics analysis of the hoisting system, defining a state vector comprising position deviation, speed deviation, cable swing angle and swing angle speed of the underwater robot; Defining a control input vector comprising a winch speed increment, a boom azimuth speed increment and a pitch speed increment; Establishing a discrete time state space equation taking the real-time length of the cable and the real-time ocean current speed as scheduling parameters; And updating a coefficient matrix of the state space equation according to the real-time length of the cable and the real-time ocean current speed which are acquired in real time to form a linear variable parameter prediction model.
  4. 4. The underwater robot deployment system for firefighting rescue according to claim 3, wherein said updating of said coefficient matrix of said state space equation comprises the steps of: Inquiring a preset parameter scheduling table according to the real-time length of the mooring rope and the real-time ocean current speed to obtain corresponding model updating parameters; Using the model to update parameters, and calculating and replacing corresponding coefficient elements in the state space equation; And taking the state space equation after updating the coefficients as a linear variable parameter prediction model used in the current control period.
  5. 5. The underwater robot deployment system for firefighting rescue of claim 1, wherein said fusing said ship motion data with underwater environment awareness data generates dynamic constraints comprising the steps of: calculating a ship motion disturbance sequence in a time domain in the future through a time sequence prediction model based on the history and the current ship motion data; Calculating the distance between each point on a predetermined space reference track and an obstacle based on the underwater environment sensing data; Dynamically calculating the radius of the safety corridor corresponding to each point of the reference track according to the distance, the current speed of the underwater robot and the ocean current speed; based on the safety corridor radius, generating a dynamic safety boundary which changes with time and space, and taking the dynamic safety boundary and the ship motion disturbance sequence together as dynamic constraint.
  6. 6. The underwater robot deployment system for firefighting rescue according to claim 5, wherein said dynamic calculation of the radius of the safety corridor corresponding to each point of said reference trajectory comprises the steps of: acquiring a preset basic safety radius, a preset minimum safety radius and preset influence coefficients of a current point on the reference track; Acquiring the distance between the current point and the obstacle, the current speed of the underwater robot and the real-time ocean current speed; subtracting the decrement determined by multiplying the distance, the current speed of the underwater robot and the real-time ocean current speed by the corresponding influence coefficients respectively in sequence based on the basic safety radius; And comparing the calculation result with the minimum safety radius, and taking the safety corridor radius with the large value as the current point.
  7. 7. The underwater robot deployment system for firefighting rescue according to claim 1, wherein the calculation results in control instructions for a winch and a boom, and the method comprises the following steps: in each control period of the rolling optimization module, track tracking error and control increment change in the future prediction time domain are minimized as objective functions; taking the linear variable parameter prediction model as equality constraint, taking physical amplitude limiting and control increment amplitude limiting of a winch and a suspension arm as inequality constraint, and taking a dynamic safety boundary in the dynamic constraint as output soft constraint to construct a quadratic programming problem; calling an embedded quadratic programming solver to solve the quadratic programming problem in real time to obtain a control increment sequence; And extracting a first control increment from the control increment sequence, and combining a control instruction at the last moment with a feedforward compensation quantity calculated based on the real-time ship movement angular velocity to generate the control instruction of the current period.
  8. 8. The underwater robot deployment system for firefighting rescue of claim 7, wherein said calling an embedded quadratic programming solver solves said quadratic programming problem in real time, comprising the steps of: Converting the objective function, the equality constraint, the inequality constraint, and the output soft constraint into a standard quadratic programming form; Initializing the embedded quadratic programming solver, carrying out iterative solving within preset time, outputting a control increment sequence when the solution is successfully solved within the preset time, and triggering a degradation control strategy when the solution is overtime or fails.
  9. 9. The underwater robot deployment system for firefighting rescue according to claim 1, wherein said driving said winch and said boom to perform the corresponding actions comprises the steps of: Analyzing the control instruction to obtain a winch target speed, a boom target azimuth speed and a boom target pitch angle speed; calculating a boom motion feedforward compensation quantity for counteracting the rotation influence of the ship body according to the real-time ship motion angular speed; Respectively superposing the boom movement feedforward compensation quantity to the boom target azimuth angle speed and the boom target pitch angle speed to form a compensated boom control instruction; and converting the winch target speed and the compensated boom control instruction into driving signals to control the winch and the boom to execute.
  10. 10. The underwater robot deployment system for firefighting rescue according to claim 1, wherein said triggering of an emergency control strategy when said safety index exceeds a preset value comprises the steps of: Continuously reading real-time measurement values of cable tension and cable swing angle and the distance between the underwater robot and the obstacle in the state data of the laying device; Continuously monitoring the state of a solver of the rolling optimization module; And when the cable tension exceeds a corresponding preset safety threshold, or the cable swing angle exceeds a corresponding preset safety threshold, or the distance is lower than a corresponding preset safety threshold, or the state of the solver is overtime failure, judging that the safety index is out of limit, and triggering a preset emergency control strategy.

Description

Underwater robot laying system for fire rescue Technical Field The invention relates to the technical field of control of water rescue equipment, in particular to a deployment system of an underwater robot for fire rescue. Background With the increasing demands of marine rescue, underwater detection and operation, underwater robots have become key equipment for performing tasks such as deep sea rescue, target salvage and the like. The operation efficiency of the system is highly dependent on the safe and accurate deployment process from the mother ship to the underwater target point. This is typically accomplished by means of an on-board crane, a-frame, L-frame or a dedicated deployment winch. The existing laying system generally adopts a manual control and instrument monitoring mode based on experience of an operator, the operator needs to stare at various instrument data, the running parameters of equipment are manually adjusted by means of personal experience, an underwater robot is firstly lifted off a deck steadily, then slowly goes over a shipboard and is gradually lowered into water, the system depends on real-time response and experience judgment of the operator, the system lacks self-adaptive capacity to environment change, in emergency task scenes such as fire rescue and the like, the marine environment has strong dynamic property and uncertainty, the ship is easily influenced by wind waves to generate continuous gesture disturbance, the disturbance can be directly transmitted to a sling, so that the lifted underwater robot generates intense and complex swing, the laying path deviates from a preset track, and the operation efficiency is reduced. Disclosure of Invention Aiming at the defects of the prior art, the invention provides an underwater robot laying system for fire rescue, which solves the problems that the existing underwater robot laying system for fire rescue is easy to cause severe and complex swing of the suspended underwater robot, and not only causes deviation of laying paths from preset tracks and reduces operation efficiency. In order to achieve the above purpose, the invention is realized by the following technical scheme: an underwater robot deployment system for fire rescue, comprising: The system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring operation data in the laying process of the underwater robot, performing time synchronization and preprocessing to form preprocessing data, and the operation data comprises ship motion data, marine environment data, state data of a laying device and underwater environment sensing data; The construction fusion module is used for constructing a linear variable parameter prediction model to describe the dynamics of the hoisting system based on the preprocessing data, and fusing the ship motion data and the underwater environment perception data to generate dynamic constraint; The rolling optimization module is used for constructing and solving a finite time domain control problem based on the linear variable parameter prediction model and the dynamic constraint in each control period, and calculating to obtain a control instruction for the winch and the suspension arm; The control execution module is used for driving the winch and the suspension arm to perform corresponding actions according to the control instruction, so that the underwater robot is distributed along a preset space path; the safety monitoring module is used for judging safety indexes of the laying process in real time and triggering an emergency control strategy when the safety indexes exceed a preset value. By adopting the technical scheme, the linear variable parameter prediction model capable of adapting to cable length and ocean current change is established by carrying out synchronization and fusion pretreatment on multi-source heterogeneous operation data, dynamic constraint fused with ship motion disturbance and real-time obstacle avoidance requirements is generated, the problem of optimal control of a limited time domain with constraint is solved on line in each control period, optimal tracking control of a preset space path in a dynamic environment is realized, the influence of ship motion is actively counteracted by combining feedforward compensation, and the problems that the existing underwater robot deployment system for fire rescue is easy to cause severe and complex swing of the suspended underwater robot, and the deployment path deviates from a preset track and the operation efficiency is reduced are solved. Preferably, the time synchronization and pretreatment are performed, which specifically includes the following steps: acquiring ship motion data, marine environment data, deployment device state data and underwater environment perception data in the deployment process of the underwater robot to form operation data; And performing time stamp alignment an