Recovery auxiliary system and recovery method for underwater rocket-powered vehicle

Abstract

The present invention relates to an auxiliary recovery system and recovery method for underwater rocket-powered vehicles, belonging to the technical field of underwater vehicle marine test recovery. The system includes a jettisoning mechanism for separating a jettisonable nose section from a recovery position-indicating section to jettison the jettisonable nose section, a parachute ejection device for ejecting a parachute inside the system out of the recovery position-indicating section to open the parachute, a smoke generator for emitting smoke for easy identification, a satellite position-indicating device for locating the rocket-powered vehicle's position at sea, a sensor assembly for acquiring the water depth, speed, and attitude information of the rocket-powered vehicle and transmitting it to a control module, and a recovery control module for issuing corresponding instructions to the jettisoning mechanism, the parachute ejection device, the smoke generator, and the satellite position-indicating device based on information fed back by the sensor assembly. Based on this system, rapid recovery of a negatively buoyant underwater rocket-powered vehicle with a speed exceeding 80 knots can be achieved with high recovery reliability.

Description

Technical Field

[0001] The present invention relates to a recovery auxiliary system and a recovery method for an underwater rocket-powered vehicle, belonging to the technical field of recovery of underwater vehicles during marine trials. Background Art

[0002] As China places increasing emphasis on marine environmental monitoring and resource development, scientists and engineers are dedicating themselves to the research and application of underwater vehicles. Currently, the mainstream underwater vehicle is powered by electricity. Upon completion of its mission and needing recovery, the vehicle's propulsion system keeps it afloat, and a satellite antenna transmits its location to a salvage vessel for recovery.

[0003] Unlike electric-powered vehicles, recovering underwater rocket-powered vehicles at sea presents the following challenges: 1) Rocket-powered vehicles are characterized by high speeds and are difficult to control, posing the risk of damage from excessive water pressure. 2) The duration of a vehicle's rocket power is short, and when power is lost, the vehicle experiences negative buoyancy, requiring jettisoning accessories to achieve positive buoyancy. 3) The complex maritime environment makes it difficult to control the position of underwater rocket-powered vehicles after they lose power, requiring rapid orientation and recovery. Therefore, a method for rapid recovery of underwater rocket-powered vehicles at sea is needed. Summary of the Invention

[0004] In response to the technical difficulties in recovering underwater rocket-powered vehicles at sea, the present invention provides an auxiliary recovery system and a recovery method for underwater rocket-powered vehicles. Under the action of the recovery auxiliary system, not only can the underwater rocket-powered vehicle maintain positive buoyancy, but also the risk of the underwater rocket-powered vehicle rising too high out of the water can be effectively reduced, and the rocket-powered vehicle can be quickly located at sea for recovery; the recovery operation based on the recovery auxiliary system is simple, the recovery reliability is high, and it has a good application prospect.

[0005] The objectives of the present invention are achieved through the following technical solutions.

[0006] A recovery auxiliary system for an underwater rocket-powered vehicle includes a jettisoning mechanism, a parachute ejection device, a smoke generator, a satellite position indicating device, a sensor assembly, and a recovery control module. Accordingly, a section of the housing of the rocket-powered vehicle near its head is divided, from the head to the tail, into a jettisonable head section, a recovery position indicating section, and a recovery control section.

[0007] The jettisoning mechanism is installed at the connection between the jettisonable head section and the recovery position-indicating section. After receiving the jettisoning command issued by the recovery control module, it is used to separate the jettisonable head section from the recovery position-indicating section to achieve jettisoning of the jettisonable head section. After jettisoning the jettisonable head section, the underwater rocket-powered vehicle can change its negative buoyancy to positive buoyancy.

[0008] The parachute ejection device is installed in the recovery position indicating section. After receiving the ejection command issued by the recovery control module, it is used to eject the parachute inside it out of the recovery position indicating section to open the parachute, thereby effectively reducing the risk of the underwater rocket-powered vehicle leaving the water too high.

[0009] The smoke generating device is installed in the recovery position indicating section and is used to emit smoke that is easy to identify after receiving the smoke generating command issued by the recovery control module, so as to quickly locate the rocket-powered vehicle at sea;

[0010] The satellite positioning device is installed in the recovery positioning section and is used to locate the position of the rocket-powered aircraft at sea after receiving the start-up command issued by the recovery control module, and can quickly locate the rocket-powered aircraft at sea;

[0011] The sensor assembly is installed in the recovery control section and is used to obtain water depth, speed and attitude information of the rocket-powered vehicle and transmit it to the recovery control module;

[0012] The recovery control module is installed in the recovery control section and issues corresponding instructions to the jettisoning mechanism, parachute ejection device, smoke generating device and satellite positioning device based on the information fed back by the sensor assembly.

[0013] Furthermore, the load-throwing actuation mechanism includes an explosive bolt and a spring actuation mechanism;

[0014] The column of the explosive bolt is provided with a connecting flange, through which the ejectable head section and the recoverable position indicating section are connected;

[0015] The spring actuating mechanism is installed at the connection between the ejectable head section and the recoverable position indicating section. After the explosive bolt explodes, the ejectable head section and the recoverable position indicating section are separated under the action of the spring.

[0016] Furthermore, the sensor assembly includes a pressure sensor and an inertial sensor. The pressure sensor is used to obtain water depth information of the rocket-powered aircraft, and the inertial sensor is used to obtain speed and attitude information of the rocket-powered aircraft.

[0017] Among them, the origin of the inertial sensor is located at the geometric center of the cross section where the buoyancy center of the rocket-powered spacecraft is located. The coordinate system is the translation coordinate system of the geodetic coordinate system translated to the buoyancy center of the rocket-powered spacecraft. The x-axis is vertically upward. When the inertial sensor alignment is completed, the current water depth H is recorded. The x-axis displacement of the rocket-powered spacecraft minus the water depth H is the height of the rocket-powered spacecraft out of the water.

[0018] Furthermore, the recovery assist system is suitable for the rapid recovery of negatively buoyant underwater rocket-powered vehicles with a speed exceeding 80 knots.

[0019] The method for recovering an underwater rocket-powered vehicle based on the recovery auxiliary system of the present invention specifically includes the following steps:

[0020] (1) If the information fed back by the sensor assembly reaches any of the water depth threshold, speed threshold, and pitch angle threshold preset in the recovery control module, the recovery control module issues a jettisoning instruction to the jettisoning actuator to separate the jettisonable head section from the recovery position indicating section;

[0021] (2) After jettisoning the payload from the jettisonable nose section, if the water-exit height of the rocket-powered vehicle calculated based on the water depth information fed back by the sensor assembly reaches the water-exit height threshold preset by the recovery control module, the recovery control module will issue an ejection command to the parachute ejection device to eject the parachute and open it; if the water-exit height threshold is not reached, the parachute does not need to be opened during the recovery process;

[0022] (3) If the water depth continuously fed back by the sensor assembly within a period of more than 2 seconds is within the range of 0 to 2 meters, the recovery control module sends a smoke-generating instruction to the smoke-generating device and a start-up instruction to the satellite positioning device. Based on the emitted smoke and positioning information, the rocket-powered vehicle can be quickly located at sea for recovery.

[0023] Furthermore, the water depth threshold is that the water depth of the underwater rocket-powered aircraft is less than 10m, the speed threshold is that the speed of the underwater rocket-powered aircraft is less than 25 knots, the pitch angle threshold is that the pitch angle of the underwater rocket-powered aircraft is greater than 80°, and the water height threshold is that the water height of the underwater rocket-powered aircraft is greater than 10m.

[0024] Furthermore, the recovery control module also has a timing function, and the maximum waiting time for dumping and the maximum waiting time for positioning are preset in the recovery control module accordingly;

[0025] In step (1), if the timing of the recovery control module reaches the maximum waiting time for jettisoning, the recovery control module will also send a jettisoning instruction to the jettisoning actuator to avoid errors in the sensor component that may cause the jettisonable head section to fail to be jettisoned in time;

[0026] In step (3), if the timing of the recovery control module reaches the maximum waiting time for positioning, the recovery control module will also send a smoke instruction to the smoke device and a start instruction to the satellite positioning device to avoid errors in the sensor components that lead to failure to emit smoke and locate in time.

[0027] Beneficial effects:

[0028] (1) The present invention uses the head section of the rocket-powered vehicle as a jettisonable accessory, which ensures the streamlined shape of the rocket-powered vehicle when the underwater rocket-powered vehicle is in the working mission profile. However, when the underwater rocket-powered vehicle is in the recovery mission profile, after the jettisonable head section is jettisoned, the streamlined shape of the rocket-powered vehicle is destroyed, and the underwater resistance becomes larger, which can change the negative buoyancy of the underwater rocket-powered vehicle into positive buoyancy, and can also effectively reduce the risk of the rocket-powered vehicle being too high out of the water.

[0029] (2) Using any one of the following conditions, namely, water depth, speed, pitch angle, and theoretically calculated maximum waiting time for jettisoning, as the jettisoning condition for the jettisonable head section, fully considers the minimum water depth and speed for the rocket-powered spacecraft to complete the mission, the risk of collision caused by abnormal navigation angle, and the risk of sinking caused by abnormal peripheral sensors that fail to meet the first three conditions, thus ensuring the reliable recovery of the spacecraft;

[0030] (3) The present invention installs a parachute ejection device in the rocket-powered aircraft, which can open the parachute when the rocket-powered aircraft is too high out of the water, thereby effectively reducing the risk of the rocket-powered aircraft being too high out of the water.

[0031] (4) The present invention simultaneously installs a smoke generating device and a satellite positioning device in the rocket-powered aircraft, which can quickly locate the rocket-powered aircraft at sea for recovery through recognizable smoke and positioning information.

[0032] (5) The recovery auxiliary system described in the present invention can realize the rapid recovery of negative buoyancy underwater rocket-powered vehicles with a speed exceeding 80 knots, and fully considers various difficulties in the recovery of underwater rocket-powered vehicles at sea. It has many redundant measures and high recovery reliability, providing new design ideas for the recovery of underwater vehicles at sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the structure of the recovery auxiliary system described in the embodiment.

[0034] Figure 2 Schematic diagram of the process of recovering an underwater rocket-powered vehicle in an embodiment.

[0035] Among them, 1-jettable head section, 2-recovery position indicating section, 3-smoke generating device, 4-satellite position indicating device, 5-recovery control section, 6-MEMS inertial sensor, 7-shell, 8-recovery control module, 9-pressure sensor, 10-parachute ejection device, 11-jet load actuating mechanism. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0037] Example 1

[0038] like Figure 1 As shown, a recovery auxiliary system for an underwater rocket-powered vehicle includes a jettisoning mechanism 11, a parachute ejection device 10, a smoke generating device 3, a satellite position indicating device 4, a sensor assembly, and a recovery control module 8. Accordingly, a section of the housing of the rocket-powered vehicle near its head is divided into a jettisonable head section 1, a recovery position indicating section 2, and a recovery control section 5 in sequence from the head to the tail.

[0039] The load-throwing actuation mechanism 11 comprises an explosive bolt and a spring actuation mechanism, wherein a connecting flange is provided on the column of the explosive bolt;

[0040] The sensor assembly includes a pressure sensor 9 and a MEMS inertial sensor 6, wherein the pressure sensor 9 is used to obtain water depth information of the rocket-powered aircraft, and the MEMS inertial sensor 6 is used to obtain speed and attitude information of the rocket-powered aircraft;

[0041] The smoke generating device 3 is used to emit orange smoke;

[0042] The recovery control module 8 is used to issue corresponding instructions to the jettisoning mechanism 11, the parachute ejection device 10, the smoke generating device 3 and the satellite position indicating device 4, and also has data processing and timing functions;

[0043] like Figure 1 As shown, the assembly relationship of each component is as follows: the spring actuation mechanism in the jettisoning mechanism 11 is installed at the connection between the jettisonable head section 1 and the recovery position indicating section 2, and the jettisonable head section 1 and the recovery position indicating section 2 are connected by the connecting flange on the explosive bolt; the parachute ejection device 10, the smoke generating device 3 and the satellite position indicating device 4 are all installed in the recovery position indicating section 2; the recovery control module 8 and the sensor assembly are all installed in the recovery control section 5; the jettisoning mechanism 11, the parachute ejection device 10, the smoke generating device 3, the satellite position indicating device 4 and the sensor assembly are respectively electrically connected to the recovery control module 8;

[0044] like Figure 2 As shown, the operation of recovering the underwater rocket-powered vehicle based on the recovery auxiliary system is as follows:

[0045] (1) The water depth, speed and navigation attitude information of the underwater rocket-powered vehicle, as well as the time counted by the recovery control module 8, are obtained through the sensor assembly. If one of the four jettisoning conditions preset in the recovery control module 8 is met, the recovery control module 8 issues a jettisoning instruction to the jettisoning actuator 11, and the explosive bolt in the jettisoning actuator 11 explodes. After the explosion, the jettisonable head section 1 and the recovery position indicating section 2 are separated under the action of the spring, thereby achieving the jettisoning of the jettisonable head section 1. After the jettisoning of the jettisonable head section 1, the underwater rocket-powered vehicle can change from negative buoyancy to positive buoyancy;

[0046] The four jettisoning conditions preset in the recovery control module 8 are: 1) the water depth of the rocket-powered vehicle is less than 10 meters; 2) the speed of the underwater rocket-powered vehicle is less than 25 knots; 3) the pitch angle of the underwater rocket-powered vehicle is greater than 80 degrees; 4) the maximum waiting time for jettisoning has expired;

[0047] (2) After the jettisonable head section 1 jettisons the load, if the water-exit height of the rocket-powered vehicle calculated based on the water depth information fed back by the sensor assembly reaches the water-exit height threshold preset by the recovery control module 8 (i.e., the water-exit height is greater than 10 m), the recovery control module 8 issues an ejection command to the parachute ejection device 10 to eject the parachute and open it, thereby effectively reducing the risk of the underwater rocket-powered vehicle exiting the water too high;

[0048] (3) Based on the time counted by the recovery control module 8 and the water depth information obtained by the sensor assembly, if the water depth continuously fed back by the sensor assembly for more than 2 seconds is within the range of 0 to 2 meters, or the time count reaches the maximum positioning waiting time preset in the recovery control module 8, the recovery control module 8 issues a smoke command to the smoke generating device 3 and a start command to the satellite positioning device 4. Based on the emitted orange smoke and positioning information, the rocket-powered vehicle can be quickly located at sea for recovery;

[0049] The recovery control module 8 starts timing from the time when the underwater rocket-powered vehicle completes its work mission and enters the recovery mission.

[0050] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A recovery auxiliary system for an underwater rocket-powered vehicle, characterized by: It includes a jettisoning mechanism, a parachute ejection device, a smoke generating device, a satellite position indicating device, a sensor assembly, and a recovery control module; accordingly, a section of the shell of the rocket-powered spacecraft near its head is divided into a jettisonable head section, a recovery position indicating section, and a recovery control section in sequence from the head to the tail; The jettisoning mechanism is installed at the junction of the jettisonable nose section and the recovery position indicating section. The parachute ejection device, smoke generator, and satellite position indicating device are all installed in the recovery position indicating section. The sensor assembly and recovery control module are all installed in the recovery control section. The load-jetting actuating mechanism is used to separate the jettisonable head section from the recovery position-indicating section to achieve the jettisoning of the jettisonable head section; The parachute ejection device is used to eject the parachute inside it out of the recovery position indicating section to open the parachute; The smoke generating device is used to emit smoke that is easy to identify; The satellite position indicating device is used to locate the position of the rocket-powered aircraft at sea; The sensor assembly is used to obtain water depth, speed and attitude information of the rocket-powered vehicle and transmit it to the recovery control module; The recovery control module is used to issue corresponding instructions to the jettisoning actuation mechanism, the parachute ejection device, the smoke generating device and the satellite position indicating device.

2. The underwater rocket-powered vehicle recovery auxiliary system according to claim 1, characterized in that: The load-jetting actuation mechanism includes an explosive bolt and a spring actuation mechanism; The column of the explosive bolt is provided with a connecting flange, through which the ejectable head section and the recoverable position indicating section are connected; The spring actuating mechanism is installed at the connection between the ejectable head section and the recoverable position indicating section. After the explosive bolt explodes, the ejectable head section and the recoverable position indicating section are separated under the spring force of the spring actuating mechanism.

3. The underwater rocket-powered vehicle recovery auxiliary system according to claim 1, characterized in that: The sensor assembly includes a pressure sensor and an inertial sensor. The pressure sensor is used to obtain water depth information of the rocket-powered aircraft, and the inertial sensor is used to obtain speed and attitude information of the rocket-powered aircraft.

4. The underwater rocket-powered vehicle recovery auxiliary system according to any one of claims 1 to 3, characterized in that: The recovery assist system is suitable for the rapid recovery of a negatively buoyant underwater rocket-powered vehicle with a speed exceeding 80 knots.

5. A method for recovering an underwater rocket-powered vehicle based on the recovery auxiliary system according to any one of claims 1 to 4, characterized in that: The specific steps include: (1) If the information fed back by the sensor assembly reaches any of the water depth threshold, speed threshold, and pitch angle threshold preset in the recovery control module, the recovery control module issues a jettisoning instruction to the jettisoning actuator to separate the jettisonable head section from the recovery position indicating section; (2) After the jettisonable nose section jettisons the payload, if the water-exit height of the rocket-powered vehicle calculated based on the water depth information fed back by the sensor assembly reaches the water-exit height threshold preset by the recovery control module, the recovery control module issues an ejection command to the parachute ejection device to eject the parachute and open it; (3) If the water depth continuously fed back by the sensor assembly within a period of more than 2 seconds is within the range of 0 to 2 meters, the recovery control module sends a smoke-generating instruction to the smoke-generating device and a start-up instruction to the satellite positioning device. Based on the emitted smoke and positioning information, the rocket-powered vehicle can be quickly located at sea for recovery.

6. The method for recovering an underwater rocket-powered vehicle according to claim 5, characterized in that: The water depth threshold is that the water depth of the underwater rocket-powered vehicle is less than 10m, the speed threshold is that the speed of the underwater rocket-powered vehicle is less than 25 knots, the pitch angle threshold is that the pitch angle of the underwater rocket-powered vehicle is greater than 80°, and the water height threshold is that the water height of the underwater rocket-powered vehicle is greater than 10m.

7. The method for recovering an underwater rocket-powered vehicle according to claim 5, characterized in that: The recovery control module also has a timing function, and accordingly presets the maximum waiting time for dumping and the maximum waiting time for positioning in the recovery control module; In step (1), if the timing of the recovery control module reaches the maximum waiting time for the load dumping, the recovery control module will also send a load dumping instruction to the load dumping actuator; In step (3), if the timing of the recovery control module reaches the maximum waiting time for positioning, the recovery control module will also send a smoke instruction to the smoke device and a start instruction to the satellite positioning device.

Images