Emergency load rejection method for deepwater autonomous underwater vehicle (AUV)

Abstract

The invention relates to an emergency load rejection method for a deepwater autonomous underwater vehicle (AUV), which comprises a master control system and an emergency load rejection module adopting an active load rejection mode. When the emergency load rejection module runs, load rejection time is set, and the load rejection time is up but the triggering signal of the master control system is not received, a load rejection function can be started to throw out a heavy object to force the AUV to float upwards, and then, a reset signal is sent out by the master control system, and timing is started again; when the master control system normally runs, the signals can be continuously sent out to reset the emergency load rejection module to stop load rejection; when an abnormal condition is detected by the master control system, a load rejection command can be directly sent out to force the AUV to carry out rejecting load and floating upwards; when a fault is generated on the master control system per se, a procedure or a circuit is caused to run in faults, and at the time, the emergency load rejection module is capable of automatically judging; the reset signal cannot be received after a timing period is reached, thereby, the load rejection command is sent out, thus, the AUV can be forced to carry out rejecting the load and floating upwards, thereby, the running safety of the AUV is ensured to a greater degree. The emergency load rejection method for the deepwater AUV is capable of ensuring that the AUV to emerge from the water under any abnormal conditions so as to avoid the loss condition of the AUV happening.

Description

technical field [0001] The invention relates to a load dumping for deep water AUV system. In particular, it relates to a deep-water AUV emergency dumping method that adopts safeguard measures such as voltage monitoring, overtime dumping, depth monitoring, and water leakage monitoring to ensure safety in the face of unexpected situations during the AUV working process. Background technique [0002] When the AUV is in the normal operating state, the central control unit needs to regularly send a control command to the emergency floating control system to suspend the floating; if there is an emergency in the system due to operation failure or power supply problems, or even a power outage due to a system failure, emergency floating Once the control system fails to receive the suspend floating command, it will take action immediately to realize the heavy object dumping and force the AUV to float upward. Simultaneously activate wireless beacons, GPS / Iridium antennas and signal fl...

AI Technical Summary

Problems solved by technology

However, there are many problems in this mode: the absolute safety of the main control system cannot be guaranteed. When there is a problem with the power supply and program of the main control system, the load dump command may not be sent or cannot be sent, resulting in a crash. Loading failure, causing adverse hidden dangers to the safe operation of AUV

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