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Threat degree based UUV (Unmanned Underwater Vehicle) multi-grade survival emergency self-rescue method

A technology of threat degree and emergency plan, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of poor safety and single self-rescue mode of UUV, and achieve the effect of improving navigation safety

Inactive Publication Date: 2016-09-21
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing UUV self-rescue method is single and the safety is poor. The present invention provides a UUV multi-level survival emergency self-rescue method based on threat degree

Method used

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  • Threat degree based UUV (Unmanned Underwater Vehicle) multi-grade survival emergency self-rescue method
  • Threat degree based UUV (Unmanned Underwater Vehicle) multi-grade survival emergency self-rescue method
  • Threat degree based UUV (Unmanned Underwater Vehicle) multi-grade survival emergency self-rescue method

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Embodiment Construction

[0036] The UUV multi-level survival emergency self-rescue method based on the degree of threat described in this embodiment includes:

[0037] Step 1: Establish the set of discrete dangerous events that UUV may encounter:

[0038] Fully consider the sudden emergencies that UUV may encounter, and summarize the dangerous events that UUV may encounter in the actual environment. The discrete dangerous event set ∑ in this embodiment includes the following discrete dangerous events: obstacles in the environment, excessive ocean currents exceeding the set level, sensor failure, main thruster failure, steering gear failure, ultra-deep or too shallow, out of safety Areas, events beyond the cognitive range of UUV artificial intelligence, etc.

[0039] Step 2: Determine the threat degree V of each discrete hazardous event in the discrete hazardous event set ∑:

[0040] The definition of threat degree refers to the degree of danger brought by the normal operation of the discrete dangerous events...

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Abstract

The invention discloses a threat degree based UUV (Unmanned Underwater Vehicle) multi-grade survival emergency self-rescue method, and relates to a UUV self-rescue method in order to solve a problem that the existing UUV is single in self-rescue mode and poor in safety. The method disclosed by the invention is embedded into a mission computer in the mode of a computer program, and comprises the steps of receiving fault alarm information sent by other computer nodes of a UUV, determining a dangerous event giving rise to an alarm according to the fault alarm information, determining the threat degree according to the determined dangerous event, determining an emergency plan according to the threat degree, and carrying out self-rescue according to the determined emergency plan. According to the invention, the corresponding emergency plan is adopted independently for unexpected discrete dangerous events which are possibly encountered by the UUV in the process of executing a mission so as to carry out self-rescue.

Description

Technical field [0001] The invention relates to a UUV multi-level survival emergency self-rescue method based on the degree of threat, which is used for autonomously adopting corresponding emergency plans for self-rescue for emergencies that the UUV may encounter in the mission process. Background technique [0002] Unmanned Underwater Vehicle (UUV), as an important substitute and executor of human activities in the ocean, has been widely used in scientific investigation, deep-sea operations, salvage and life-saving and other fields, and its application prospects are extremely broad. However, due to the complexity of the marine environment, the arduous nature of missions, and the unmanned nature of UUVs, UUVs often face various dangers when performing missions in the ocean, which are manifested as various discrete dangerous events. If the UUV crashes or sinks to the seabed due to various discrete dangerous events, it will cause great losses. Therefore, the UUV's emergency self-re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 徐健宋晓萍徐铭泽严浙平张耕实
Owner HARBIN ENG UNIV
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