An unmanned underwater vehicle failure emergency system

Abstract

The application discloses an unmanned underwater vehicle fault emergency system and relates to the technical field of unmanned underwater vehicles.The system comprises an emergency unit, a main control unit, a motion planning unit, an intermediate unit and an execution unit.The emergency unit is used for monitoring the fault information of each system and device of the unmanned underwater vehicle in real time under normal working conditions of the unmanned underwater vehicle through the main control unit, performing fault diagnosis and emergency decision according to a fault table, and enabling the unmanned underwater vehicle to enter an emergency working condition when a fault that needs emergency floating is monitored.The motion planning unit is used for acquiring the pose state information, navigation information and navigation task instructions of the unmanned underwater vehicle under normal working conditions of the unmanned underwater vehicle through the main control unit, planning task execution instructions and sending the task execution instructions to the execution unit through the intermediate unit to control the unmanned underwater vehicle to complete the execution of the navigation task.The application can realize effective emergency treatment of the faults of each subsystem of the unmanned underwater vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned underwater vehicle, in particular to an unmanned underwater vehicle emergency system. BACKGROUND

[0002] Unmanned underwater vehicle shows important strategic significance and application value in many key fields such as military application, deep sea research, resource exploration, underwater search and rescue, and topographic mapping.

[0003] Due to the complexity of unmanned underwater vehicle system, the unmanned nature and the unpredictability of the environment, the unmanned underwater vehicle is prone to enter an emergency state. However, the traditional emergency mode is processed by a single controller, which has the risk of being unable to recover due to the failure of a single processing unit, and it is difficult to ensure the safety of underwater navigation of the unmanned underwater vehicle. SUMMARY

[0004] The present application provides an unmanned underwater vehicle emergency system, which can effectively handle the faults of each subsystem of the unmanned underwater vehicle.

[0005] In a first aspect, the present application provides an unmanned underwater vehicle emergency system, which comprises an emergency unit, a main control unit, a motion planning unit, an intermediate unit and an execution unit.

[0006] The emergency unit is used to monitor the fault information of each system and device of the unmanned underwater vehicle in real time through the main control unit under normal working conditions of the unmanned underwater vehicle, and to perform fault diagnosis and emergency decision-making according to the fault table. When the emergency up-floating fault is monitored, the unmanned underwater vehicle enters an emergency working condition.

[0007] The motion planning unit is used to obtain the pose state information, navigation information and navigation task instructions of the unmanned underwater vehicle through the main control unit under normal working conditions of the unmanned underwater vehicle, and then plan the task execution instructions and send them to the execution unit through the intermediate unit to control the unmanned underwater vehicle to complete the execution of the navigation task.

[0008] The intermediate unit is used to process and convert the received task execution instructions, and send them to the execution unit for specific actions.

[0009] The execution unit is used to execute the specific actions corresponding to the task execution instructions.

[0010] In combination with the first aspect, in an embodiment,

[0011] Under the emergency working condition, the emergency unit directly accesses each system of the unmanned underwater vehicle, obtains the state information of the unmanned underwater vehicle, and controls the execution unit to perform emergency processing.

[0012] The state information includes a position, a depth, a speed, an attitude of the unmanned underwater vehicle, and state information of each system of the unmanned underwater vehicle.

[0013] In combination with the first aspect, in an implementation manner,

[0014] The emergency handling of the fault includes a global emergency function of the emergency unit and a local emergency function of a non-emergency unit.

[0015] The global emergency function of the emergency unit is that the emergency unit controls the execution unit to realize emergency floating of the unmanned underwater vehicle by acquiring state information of the unmanned underwater vehicle and according to a fault level specified in a fault table.

[0016] The local emergency function of the non-emergency unit is a supplement of the global emergency function of the emergency unit, and is used to ensure navigation safety of the unmanned underwater vehicle.

[0017] In combination with the first aspect, in an implementation manner,

[0018] The global emergency function of the emergency unit includes fault monitoring and diagnosis, emergency scheduling, emergency action escalation, and emergency intervention.

[0019] The emergency unit includes two states of a standby emergency state and an emergency state.

[0020] When the emergency unit works in the standby emergency state, the fault monitoring and diagnosis and the emergency intervention are completed, and the emergency unit enters the emergency state after detecting a third-level fault and above or receiving an emergency intervention instruction under water.

[0021] When the emergency unit works in the emergency state, the emergency scheduling and the emergency action escalation are completed.

[0022] The third-level fault is that a function of a system of the unmanned underwater vehicle is affected, but does not affect navigation safety of the unmanned underwater vehicle, and the unmanned underwater vehicle does not need to float immediately; the second-level fault is that normal underwater autonomous navigation of the unmanned underwater vehicle is affected, but does not affect subsequent tests, or there is a potential safety hazard, and the unmanned underwater vehicle needs to float immediately; and the first-level fault is that underwater navigation safety of the unmanned underwater vehicle is affected, and the unmanned underwater vehicle needs to float immediately when the fault cannot be ruled out and the test cannot be continued.

[0023] The emergency measure corresponding to the third-level fault is only recording, the emergency measure corresponding to the second-level fault is to control the unmanned underwater vehicle to float to the water surface with less cost, and the emergency measure corresponding to the first-level fault is to control the unmanned underwater vehicle to float to the water surface as soon as possible without cost.

[0024] In combination with the first aspect, in an implementation manner,

[0025] The fault monitoring and diagnosis of the global emergency function of the emergency unit specifically comprises that the emergency unit acquires fault information of each system of the unmanned underwater vehicle in real time through the master control unit in the standby emergency state.

[0026] The emergency scheduling of the global emergency function of the emergency unit specifically comprises that after the emergency unit monitors a primary fault or a secondary fault, the emergency unit sends an emergency request message to the master control unit and waits for confirmation of the master control unit, and if no confirmation feedback is received within a set number of periods, the emergency unit is forced to enter an emergency state and starts to periodically schedule each system of the unmanned underwater vehicle, acquires state information and sends a task execution instruction to the execution unit.

[0027] In combination with the first aspect, in an implementation manner,

[0028] The emergency action escalation of the global emergency function of the emergency unit specifically comprises that after the emergency unit enters the emergency state, the emergency unit periodically schedules each system of the unmanned underwater vehicle, and at the same time, the emergency unit keeps monitoring the fault state of each system of the unmanned underwater vehicle.

[0029] The emergency intervention of the global emergency function of the emergency unit specifically comprises that the emergency unit receives an emergency intervention instruction from the surface workboat in any working condition, the emergency intervention instruction comprises emergency measures corresponding to each level of fault, and after receiving the emergency intervention instruction, if the emergency unit is in the standby emergency state, the emergency unit sends an emergency request message to the master control unit, the master control unit sends a confirmation feedback or waits for a set number of periods, and then the emergency unit enters the emergency state and starts emergency scheduling; if the emergency unit is in the emergency state, the emergency unit compares the intervention level with the maximum fault level obtained by monitoring, and executes the emergency measures corresponding to the higher fault level.

[0030] In combination with the first aspect, in an implementation manner,

[0031] The fault table is a basis for the emergency unit to perform fault diagnosis, and comprises a fault name and a fault level.

[0032] The fault name comprises faults judged and reported by each system of the unmanned underwater vehicle and faults judged by the emergency unit itself.

[0033] In combination with the first aspect, in an implementation manner,

[0034] The local emergency function is an emergency function executed by a non-emergency unit, and comprises three cases.

[0035] The first case is an emergency floating measure that needs more comprehensive information and functions to complete, and the information and functions are not mastered or implemented by the emergency unit.

[0036] The second case is that when the communication between a certain unit in the unmanned underwater vehicle failure emergency system and a superior unit is interrupted, the unit executes a predetermined emergency measure;

[0037] The third case is that when an emergency measure is set in multiple units in the unmanned underwater vehicle failure emergency system, each unit judges the failure according to different emergency trigger thresholds, and executes a predetermined emergency measure if the failure occurs.

[0038] In combination with the first aspect, in an implementation manner,

[0039] For the motion planning unit, the local emergency function of the motion planning unit belongs to the emergency function of the first case;

[0040] The motion planning unit is used to control the rudder according to a path tracking algorithm, control the elevator according to a strategy of limiting the range of pitch, give the propeller rotation speed, and control the unmanned underwater vehicle to emergently float to the water surface along a predetermined path while blowing off the keel group ballast water tank.

[0041] In combination with the first aspect, in an implementation manner,

[0042] For the intermediate unit, the local emergency function of the intermediate unit belongs to the emergency function of the second case and the third case;

[0043] For the execution unit, the local emergency function of the execution unit belongs to the emergency function of the second case and the third case.

[0044] The technical scheme provided by the embodiments of the present application has the beneficial effects of:

[0045] (1) The emergency unit can realize effective emergency processing of the failures of each subsystem of the unmanned underwater vehicle through failure monitoring and diagnosis, emergency scheduling, emergency action escalation, and emergency intervention;

[0046] (2) The global emergency function of the emergency unit can cope with system and device failures of different damage levels by taking different emergency measures according to the failure classification;

[0047] (3) The present application has distributed failure diagnosis and emergency processing functions, and through the emergency unit, the motion planning unit, the intermediate unit, and the execution unit, the risk caused by the failure of a single emergency processing unit can be effectively avoided. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 FIG. 1 is a structural schematic diagram of an unmanned underwater vehicle failure emergency system according to an embodiment of the present application;

[0049] Figure 2 FIG. 2 is a structural schematic diagram of a failure emergency system in an example. DETAILED DESCRIPTION

[0050] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0052] In the first aspect, embodiments of this application provide an emergency system for unmanned underwater vehicles (UUVs) that enables distributed fault diagnosis and emergency handling, avoids the dangers caused by the failure of a single emergency handling unit, and ensures the navigation safety of UUVs.

[0053] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the emergency response system for the unmanned underwater vehicle (UUV) of this application. Figure 1 As shown, the emergency response system for unmanned underwater vehicles includes an emergency unit, a main control unit, a motion planning unit, an intermediate unit, and an execution unit. The emergency unit is a global emergency module, while the motion planning unit, intermediate unit, and execution unit are local emergency modules.

[0054] The emergency unit is used to monitor the fault information of various systems and equipment of the UUV in real time through the main control unit under normal operating conditions. Based on the fault table, it performs fault diagnosis and emergency decision-making. When a fault requiring emergency ascent is detected, the UUV enters emergency mode. In emergency mode, the emergency unit directly accesses the various systems of the UUV to obtain its status information and controls the execution unit to handle fault emergencies. The status information includes the UUV's position, depth, speed, attitude, and the status information of each system.

[0055] The motion planning unit is used to acquire the attitude status information, navigation information and navigation mission instructions of the unmanned underwater vehicle through the main control unit under normal operating conditions. Then, it plans the mission execution instructions and sends them to the execution unit through the intermediate unit to control the unmanned underwater vehicle to complete the navigation mission.

[0056] The intermediate unit is used to process and transform the received task execution instructions, and then send them to the execution unit to perform specific actions. Specifically, there can be multiple intermediate units.

[0057] The execution unit is used to perform the specific action corresponding to the task execution instruction. In the specific implementation process, the execution unit includes multiple, generally includes thrusters, rudders, blow valves, disposable ballast, airbags, etc., and in normal working conditions and emergency working conditions, the execution unit can receive the task execution instruction to complete the specific action. Figure 1 In the embodiment, the number of intermediate units and execution units is only an example, and in actual application, it can be flexibly set according to actual conditions.

[0058] Further, the fault emergency treatment includes the global emergency function of the emergency unit and the local emergency function of the non-emergency unit; the global emergency function of the emergency unit is that the emergency unit controls the execution unit to realize the emergency floating of the unmanned underwater vehicle by acquiring the state information of the unmanned underwater vehicle and according to the fault level specified in the fault table; generally, at least three fault levels are set according to the harm degree of the fault to the navigation safety of the unmanned underwater vehicle and the fault emergency measures.

[0059] The local emergency function is a supplement to the global emergency function of the emergency unit, and is used to ensure the navigation safety of the unmanned underwater vehicle.

[0060] Further, the global emergency function of the emergency unit includes fault monitoring and diagnosis, emergency scheduling, emergency action upgrade, and emergency intervention; the emergency unit includes two states of standby emergency state and emergency state; when the emergency unit works in the standby emergency state, it is used to complete fault monitoring and diagnosis and emergency intervention, and the unmanned underwater vehicle detects a third-level fault and above (i.e. detects a third-level fault, a second-level fault or a first-level fault) or receives an emergency intervention instruction, the emergency unit enters the emergency state; when the emergency unit works in the emergency state, it is used to complete emergency scheduling and emergency action upgrade.

[0061] In the present application, the third-level fault is that the function of the system of the unmanned underwater vehicle is affected, but does not affect the navigation safety of the unmanned underwater vehicle, and the unmanned underwater vehicle does not need to float immediately; the second-level fault is that the normal underwater autonomous navigation of the unmanned underwater vehicle is affected, but does not affect the subsequent test, or there is a potential safety hazard, and the unmanned underwater vehicle needs to float immediately; the first-level fault is that the underwater navigation safety of the unmanned underwater vehicle is affected, and the test cannot continue when the fault is not ruled out, and the unmanned underwater vehicle needs to float immediately; wherein, the emergency measure corresponding to the third-level fault is only recording, not processing, the emergency measure corresponding to the second-level fault is to control the unmanned underwater vehicle to float to the water surface with less cost, and the emergency measure corresponding to the first-level fault is to control the unmanned underwater vehicle to float to the water surface as soon as possible without cost.

[0062] Further, the fault monitoring and diagnosis of the global emergency function of the emergency unit, specifically including that the emergency unit obtains the fault information of each system of the unmanned underwater vehicle in real time through the master control unit in the standby emergency state. Obtain the fault information of each unit of the unmanned underwater vehicle. After obtaining the fault information, for the surface mooring state, no matter what level of failure occurs to the unmanned underwater vehicle, the emergency unit only records, does not process; for the surface navigation state (depth less than the first set of meters), the emergency unit only executes the maneuvering up to the rudder and emergency vehicle order measures; for the underwater navigation state (depth greater than the first set of meters), the emergency unit compares it with the fault table, takes the highest level of fault among the faults that occur, and executes the corresponding emergency action, if the most serious fault level is three, the emergency unit does not enter the emergency scheduling, records the fault while monitoring the state of the unmanned underwater vehicle, if the most serious fault level is one or two, the emergency unit enters the emergency scheduling, executes the emergency action of the corresponding level, and continues to monitor and record the fault.

[0063] Further, the emergency scheduling of the global emergency function of the emergency unit, specifically including that after the emergency unit detects a level one fault or a level two fault, it sends an emergency request message to the master control unit and waits for the master control unit to confirm, if no confirmation feedback is received within a set number of periods (for example, 5 periods), the emergency unit is forced to enter the emergency state and starts to periodically schedule each system of the unmanned underwater vehicle, obtains the state information and sends the task execution instruction to the execution unit.

[0064] Further, the emergency action escalation of the global emergency function of the emergency unit, specifically including that after the emergency unit enters the emergency state, the emergency unit periodically schedules each system of the unmanned underwater vehicle, at the same time, the emergency unit keeps monitoring the fault state of each system of the unmanned underwater vehicle; if a higher level fault occurs, or it is judged that the current emergency measure is invalid, the emergency unit will escalate the current emergency action to the highest level. The judgment logic for the invalid emergency measure is that after taking the emergency measure, the depth data is collected once every period, if it is greater than the depth at the last time, it is added by 1, if it is less than the depth at the last time, it is reduced by 1, when the accumulated value reaches the second set of meters, it is judged that the current executed emergency measure is invalid.

[0065] Further, the emergency intervention of the global emergency function of the emergency unit specifically includes that the emergency unit issues an emergency intervention instruction to the emergency unit under any working condition, the emergency intervention instruction including emergency measures corresponding to each level of failure, and after receiving the emergency intervention instruction, if the emergency unit is in a standby emergency state, the emergency unit sends an emergency request message to the main control unit, and after the main control unit confirms the feedback or waits for a set number of periods (for example, 5 periods), the emergency unit enters an emergency state and starts emergency scheduling; if the emergency unit is in an emergency state, the emergency unit compares the intervention level with the maximum failure level obtained by current monitoring, and executes the emergency measures corresponding to the higher failure level.

[0066] In this application, the fault table is the basis for the emergency unit to diagnose faults, including fault name and fault level; the fault name includes faults judged and reported by each system of the unmanned underwater vehicle, and faults judged by the emergency unit itself. The faults judged and reported by each system of the unmanned underwater vehicle are determined by the properties of each system and device. The faults judged by the emergency unit itself include communication, timeout, and over-depth faults. Specifically:

[0067] (1) In a non-emergency state, if the communication error or communication interruption between the emergency unit and the main control unit exceeds the set threshold, the emergency unit determines that the communication with the main control unit is faulty, the emergency unit applies for scheduling authority to the main control unit, enters an emergency state, executes the emergency measures of a secondary failure, and floats to the water surface;

[0068] (2) In an emergency state, if the communication error or communication timeout between the emergency unit and the non-execution unit exceeds the set threshold, the emergency unit determines that the communication with the unit is faulty, records the fault, and maintains the current failure level until it floats to the water surface;

[0069] (3) In an emergency state, if the communication error or communication timeout between the emergency unit and the execution unit exceeds the set threshold, the emergency unit determines that the communication with the unit is faulty, and the emergency unit executes the emergency measures of a primary failure and floats to the water surface;

[0070] (4) In a normal working condition or an emergency working condition, the emergency unit detects the distance from the bottom once every period, and if the distance from the bottom is less than a third set of meters, the count is increased by 1, otherwise it is decreased by 1 (cannot be negative), and when the count reaches a fourth set of times and the depth is greater than a first set of meters, the emergency unit determines that the distance from the bottom of the unmanned underwater vehicle exceeds the safety range, and the emergency unit executes the emergency measures of a primary failure and floats to the water surface;

[0071] (5) In normal or emergency conditions, the emergency unit detects the depth value once per cycle, and if the depth is less than the fifth set of meters, the count is incremented by 1, otherwise it is decremented by 1. If the count reaches the sixth set of times, and the depth is greater than the first set of meters, the emergency unit determines that the self-sailing depth exceeds the safe range, and the emergency unit executes the emergency measures of the second level fault to float to the water surface;

[0072] (6) In normal or emergency conditions, after the depth exceeds the seventh set of meters, the emergency unit detects the depth change once per cycle. If the depth increases by more than the eighth set of meters within one cycle, the count is incremented by 1, otherwise it is decremented by 1. If the count reaches 3 times, and the depth is greater than the first set of meters, the emergency unit determines that the depth increases for a long time, and the emergency unit executes the emergency measures of the first level fault to float to the water surface;

[0073] (7) If the underwater autonomous sailing time of the unmanned underwater vehicle exceeds the task time threshold, the emergency unit determines that the underwater sailing is overtime, and the emergency unit executes the emergency measures of the second level fault to float to the water surface;

[0074] (8) If the running time of the emergency unit exceeds the set threshold, the emergency unit determines that the running is overtime, and the emergency unit executes the emergency measures of the first level fault to float to the water surface;

[0075] (9) In remote control mode, if the radio communication between the main control unit and the water surface monitoring unit fails and the depth is greater than the tenth set of meters, the emergency unit executes the emergency measures of the second level fault to float to the water surface.

[0076] Further, the local emergency function is an emergency function executed by a non-emergency unit, including three cases;

[0077] The first case is an emergency floating measure that requires more comprehensive information and functions to complete, and these information and functions cannot be mastered or implemented by the emergency unit. The second case is that when the communication between a unit in the unmanned underwater vehicle fault emergency system and the upper unit is interrupted, the unit executes the predetermined emergency measures. The third case is that when a certain fault is provided with emergency measures in multiple units in the unmanned underwater vehicle fault emergency system, each unit judges the fault according to different emergency trigger thresholds, and executes the predetermined emergency measures if the fault occurs.

[0078] Further, for the motion planning unit, the local emergency function of the motion planning unit belongs to the emergency function of the first case. The motion planning unit is used to control the rudder according to the path tracking algorithm, control the elevator according to the strategy of limiting the pitch range, give the propeller speed, and at the same time blow off the bilge group ballast water tank, control the unmanned underwater vehicle to emergency float to the water surface along the predetermined path, so as to better guarantee the navigation safety of the unmanned underwater vehicle in the emergency floating process. Specifically, it includes the following 7 kinds of emergency measures for faults:

[0079] (1) When the unmanned underwater vehicle autonomously navigates, the navigation time exceeds a task time threshold, the motion planning determines that the autonomous navigation is overtime, and the motion planning unit locally controls the unmanned underwater vehicle to emergently float to the water surface in an emergency;

[0080] (2) When the unmanned underwater vehicle autonomously navigates, the navigation depth exceeds a safe depth threshold (greater than an eleventh set number of meters or less than a twelfth set number of meters), the motion planning determines that the autonomous navigation is over-depth, and the motion planning unit locally controls the unmanned underwater vehicle to emergently float to the water surface in an emergency;

[0081] (3) When the unmanned underwater vehicle autonomously navigates, the trim exceeds a safe trim threshold, the motion planning determines that the autonomous navigation is over-trim, and the motion planning unit locally controls the unmanned underwater vehicle to emergently float to the water surface in an emergency;

[0082] (4) When the unmanned underwater vehicle autonomously navigates, the navigation distance exceeds a safe distance threshold, the motion planning determines that the autonomous navigation is over-distance, and the motion planning unit locally controls the unmanned underwater vehicle to emergently float to the water surface in an emergency;

[0083] (5) When the unmanned underwater vehicle autonomously navigates, the navigation offset distance exceeds a safe lateral offset distance threshold, the motion planning determines that the autonomous navigation is over-lateral offset distance, and the motion planning unit locally controls the unmanned underwater vehicle to emergently float to the water surface in an emergency;

[0084] (6) When the unmanned underwater vehicle autonomously navigates, the heading exceeds a safe heading threshold, the motion planning determines that the autonomous navigation is over-heading, and the motion planning unit locally controls the unmanned underwater vehicle to emergently float to the water surface in an emergency;

[0085] (7) When the unmanned underwater vehicle autonomously navigates, the distance from the center of a forbidden navigation area exceeds a safe radius threshold, the motion planning determines that the unmanned underwater vehicle enters the forbidden navigation area, and the motion planning unit locally controls the unmanned underwater vehicle to emergently float to the water surface in an emergency.

[0086] Further, for the intermediate unit, the local emergency function of the intermediate unit belongs to the emergency functions of the second case and the third case; for the intermediate unit containing depth and attitude information, the specific emergency measures include the following:

[0087] (1) In a normal mode, the intermediate unit and the master control unit communication failure

[0088] In a normal mode, the intermediate unit and the master control unit communication failure, which is manifested that the intermediate unit cannot receive the instruction packet of the master control unit for a thirteenth set number of consecutive seconds, the intermediate unit enters a local emergency mode, the unmanned underwater vehicle is controlled by the intermediate unit to emergently float to the water surface in an emergency, and the unmanned underwater vehicle floats to the water surface, and the intermediate unit exits the local emergency mode;

[0089] (2) In an emergency mode, the intermediate unit and the emergency unit communication failure

[0090] In the emergency mode, the communication between the intermediate unit and the emergency unit fails, which means that the intermediate unit cannot receive the instruction message from the emergency unit for a continuous fourteenth set number of seconds. The intermediate unit enters the local emergency mode, and controls the unmanned underwater vehicle to emergency float to the water surface. After the unmanned underwater vehicle floats to the water surface, the intermediate unit exits the local emergency mode.

[0091] (3) In the normal mode and the emergency mode, the intermediate unit 1 judges the underwater navigation timeout

[0092] In all modes, the intermediate unit starts timing after detecting that the depth value exceeds a fourteenth set number of meters. If the depth is less than or equal to a fifteenth set number of meters, the timing is cleared. If the duration exceeds a sixteenth set number of minutes, the intermediate unit enters the local emergency mode, and controls the unmanned underwater vehicle to emergency float to the water surface. After the unmanned underwater vehicle floats to the water surface, the intermediate unit exits the local emergency mode.

[0093] (4) In the normal mode and the emergency mode, the intermediate unit runs out of time

[0094] In the normal mode or the emergency mode, the intermediate unit starts timing after starting running. If the running time exceeds a seventeenth set number of hours, the intermediate unit enters the local emergency mode, and controls the unmanned underwater vehicle to emergency float to the water surface. After the unmanned underwater vehicle floats to the water surface, the intermediate unit exits the local emergency mode.

[0095] (5) In the normal mode and the emergency mode, the intermediate unit judges the navigation over-depth

[0096] In the normal mode and the emergency mode, the intermediate unit enters the local emergency mode after detecting that the depth exceeds a nineteenth set number of meters for a continuous eighteenth set number of periods. The intermediate unit controls the unmanned underwater vehicle to emergency float to the water surface. After the unmanned underwater vehicle floats to the water surface, the intermediate unit exits the local emergency mode.

[0097] (6) In the normal mode and the emergency mode, the intermediate unit judges the navigation over-pitch

[0098] In the normal mode and the emergency mode, the intermediate unit enters the local emergency mode after detecting that the pitch exceeds a twentieth set number of degrees for a continuous twentieth set number of periods. The intermediate unit controls the unmanned underwater vehicle to emergency float to the water surface. After the unmanned underwater vehicle floats to the water surface, the intermediate unit exits the local emergency mode.

[0099] Further, for the execution unit, the local emergency function of the execution unit belongs to the emergency function of the second case and the third case. Specifically, the following emergency measures are included:

[0100] (1) In the normal mode and the emergency mode, the communication between the execution unit and the intermediate unit fails

[0101] In normal mode or emergency mode, the communication fault between the execution unit and the intermediate unit is shown as that the execution unit cannot receive the instruction message from the intermediate unit for 22 set seconds, and the execution unit enters local emergency mode, and the execution unit controls the unmanned underwater vehicle to emergently float to the water surface, and the execution unit exits the local emergency mode after the unmanned underwater vehicle floats to the water surface.

[0102] (2) In normal mode and emergency mode, the execution unit is over time in underwater navigation

[0103] In normal mode or emergency mode, the execution unit starts timing after detecting that the depth value exceeds 23 set meters, and the timing is cleared if the depth is less than or equal to the first set meter, and the execution unit enters local emergency mode if the duration exceeds 25 set minutes, and the execution unit controls the unmanned underwater vehicle to emergently float to the water surface, and the execution unit exits the local emergency mode after the unmanned underwater vehicle floats to the water surface.

[0104] (3) In normal mode and emergency mode, the execution unit is over time in running

[0105] In normal mode or emergency mode, the execution unit starts timing after starting running, and the execution unit enters local emergency mode if the running time exceeds 26 set hours, and the execution unit controls the unmanned underwater vehicle to emergently float to the water surface, and the execution unit exits the local emergency mode after the unmanned underwater vehicle floats to the water surface.

[0106] (4) In normal mode and emergency mode, the execution unit is over depth in navigation

[0107] In normal mode or emergency mode, the execution unit enters local emergency mode if the depth value exceeds 28 set meters in 27 set cycles, and the execution unit controls the unmanned underwater vehicle to emergently float to the water surface, and the execution unit exits the local emergency mode after the unmanned underwater vehicle floats to the water surface.

[0108] (5) In normal mode and emergency mode, the execution unit judges that the navigation is over pitch

[0109] In normal mode and emergency mode, the execution unit enters local emergency mode if the pitch exceeds the set degree in 29 set cycles, and the execution unit controls the unmanned underwater vehicle to emergently float to the water surface, and the execution unit exits the local emergency mode after the unmanned underwater vehicle floats to the water surface.

[0110] It needs to be explained that for the threshold setting of the motion planning timeout, over-depth, over-longitudinal and other fault judgment, for the motion planning unit, emergency unit, intermediate unit, execution unit, in the fault type of underwater navigation timeout, the time threshold value is increased in turn, in the fault type of running timeout, the time threshold value is increased in turn, in the fault type of over-depth, the depth threshold value is increased in turn, in the fault type of over-tilt, the degree threshold value is increased in turn. In addition, the intermediate unit or the execution unit of the same level sets the threshold value according to the execution cost of the emergency measures, and the higher the cost, the higher the threshold value.

[0111] The unmanned underwater vehicle fault emergency system of the present application is specifically described below in combination with an example.

[0112] Referring to Figure 2 In this example, the fault emergency processing system includes an emergency unit, a motion planning unit, a comprehensive motion control unit, a 1# signal acquisition unit, a 2# signal acquisition unit, a power propulsion unit and a jettisonable ballast unit. Among them, the comprehensive motion control unit is an intermediate unit, and the 1# signal acquisition unit, the 2# signal acquisition unit, the power propulsion unit and the jettisonable ballast unit are execution units. The 1# signal acquisition unit controls the operation of the 1# rudder of the unmanned underwater vehicle and the blowing of the ballast water tank, the 2# signal acquisition unit controls the operation of the 2# rudder of the unmanned underwater vehicle and the blowing of the ballast water tank, the power propulsion unit controls the vehicle order, and the jettisonable ballast unit controls the load throwing. Of course, in this example, the fault emergency processing system can also include other units or execution units.

[0113] In this example, the fault emergency processing system functions include: global emergency functions of the emergency unit, local emergency functions of the motion planning unit, local emergency functions of the comprehensive motion control unit, local emergency functions of the 1# signal acquisition unit, local emergency functions of the 2# signal acquisition unit, local emergency functions of the power propulsion unit, and local emergency functions of the jettisonable ballast unit.

[0114] The global emergency functions of the emergency unit are realized through fault monitoring and diagnosis, emergency scheduling, emergency action escalation and emergency intervention.

[0115] The fault table is the basis for fault diagnosis. In this example, the faults of each device of the unmanned underwater vehicle are divided into four levels according to the degree of harm of the faults to the navigation safety of the unmanned underwater vehicle and the emergency measures for the faults. Specifically, the fourth level is that the corresponding function of the system is affected, the navigation safety of the unmanned underwater vehicle is not affected, and immediate floating is not needed. The corresponding emergency action or emergency measure is only recording and no processing. The third level is that the normal underwater autonomous navigation is affected, the subsequent test is not affected, or there is a potential safety hazard, and immediate floating is needed. The corresponding emergency action or emergency measure is to blow off the keel group ballast tank, operate the floating rudder, and stop the vehicle. The second level is that the underwater navigation safety is immediately and seriously affected, the test cannot continue when the fault is not ruled out, and immediate floating is needed. The corresponding emergency action or emergency measure is to blow off all ballast tanks, operate the floating rudder, and stop the vehicle. The first level is that the underwater navigation safety is immediately and seriously affected, the test cannot continue when the fault is not ruled out, the function fault is blown off, and immediate floating is needed. The corresponding emergency action or emergency measure is to throw the load, operate the floating rudder, and stop the vehicle.

[0116] Secondly, in the running process of the unmanned underwater vehicle, the emergency unit monitors the fault information transmitted by other units in real time and the fault information judged by the emergency unit itself. The fault information judged by other units is determined by the units themselves, and the fault information judged by the emergency unit itself includes:

[0117] (1) In a non-emergency state, if the communication error or communication interruption between the emergency unit and the main control unit exceeds the set threshold, the emergency unit determines that the communication between the emergency unit and the main control unit is faulty, the emergency unit applies for scheduling authority to the main control unit, enters an emergency state, and executes a third-level fault emergency measure to float to the water surface;

[0118] (2) In an emergency state, if the communication error or communication timeout between the emergency unit and the non-execution unit exceeds the set threshold, the emergency unit determines that the communication between the emergency unit and the unit is faulty, records the fault, maintains the current emergency level, and executes the corresponding operation;

[0119] (3) In an emergency state, if the communication error or communication timeout between the emergency unit and the rudder order execution unit exceeds the set threshold, the emergency unit determines that the communication between the emergency unit and the unit is faulty, and the emergency unit executes a third-level fault emergency measure to float to the water surface;

[0120] (4) In an emergency state, if the communication error or communication timeout between the emergency unit and the rudder order execution unit exceeds the set threshold, the emergency unit determines that the communication between the emergency unit and the unit is faulty, and the emergency unit executes a third-level fault emergency measure to float to the water surface;

[0121] (5) In normal or emergency conditions, the emergency unit detects the height from the bottom once every cycle. If the height from the bottom is less than N30 meters, the count is increased by 1, otherwise it is decreased by 1 (cannot be negative). If the count reaches N31 times and the depth is greater than N1 meters, the emergency unit determines that the height from the bottom of the unmanned underwater vehicle exceeds the safe range, and the emergency unit executes the secondary fault emergency measure to float to the water surface;

[0122] (6) In normal or emergency conditions, the emergency unit detects the depth value once every cycle. If the depth is less than N32 meters, the count is increased by 1, otherwise it is decreased by 1. If the count reaches N33 times and the depth is greater than N1 meters, the emergency unit determines that the self-navigation depth exceeds the safe range, and the emergency unit executes the secondary fault emergency measure to float to the water surface;

[0123] (7) In normal or emergency conditions, after the depth exceeds N34 meters, the emergency unit detects the depth change once every cycle. If the depth increases by more than 2 meters within 1 cycle, the count is increased by 1, otherwise it is decreased by 1. If the count reaches N35 times and the depth is greater than N1 meters, the emergency unit determines that the depth has increased for a long time, and the emergency unit executes the secondary fault emergency measure to float to the water surface;

[0124] (8) If the underwater autonomous navigation time of the unmanned underwater vehicle exceeds the task time threshold, the emergency unit determines that the underwater navigation is overtime, and the emergency unit executes the secondary fault emergency measure to float to the water surface;

[0125] (9) If the running time of the emergency unit exceeds the set threshold, the emergency unit determines that the running is overtime, and the emergency unit executes the secondary fault emergency measure to float to the water surface;

[0126] (10) In remote control mode, if the radio communication between the main control unit and the water surface monitoring unit fails and the depth is greater than N36 meters, the emergency unit determines that the communication between the workboat and the unmanned underwater vehicle fails, and the emergency unit executes the tertiary fault emergency measure to float to the water surface.

[0127] After the emergency unit collects fault information, for the water surface mooring state, regardless of any level of failure of the unmanned underwater vehicle, the emergency unit only records and does not process; for the water surface navigation state (depth less than N1 meters), the emergency unit only executes the maneuvering float rudder and emergency stop measure; for the underwater navigation state (depth greater than N1 meters), the emergency unit compares it with the fault table, and executes the corresponding emergency action with the highest level of fault among the faults. If the most serious fault level is level four, the emergency unit does not enter the emergency mode, only records and does not process, and at the same time, the monitoring of the state of the unmanned underwater vehicle is maintained.

[0128] If the most serious fault level is level three and above, the emergency unit sends an emergency request message to the main control unit, and then waits for the permission of the main control unit. If the emergency unit does not receive the permission within 5 cycles, it forcibly replaces the main control unit to enter the emergency scheduling state, and starts to periodically access other units or systems of the unmanned underwater vehicle. The units receive the instructions of the emergency unit and execute the corresponding level of emergency action. At the same time, the emergency unit continues to monitor the fault state of each system of the unmanned underwater vehicle.

[0129] If the emergency unit monitors a more serious fault, or the current emergency measure is invalid, the emergency unit will upgrade the emergency action until the first-level fault emergency measure is executed. For the invalidity of the emergency measure, the judgment logic is that the depth data is collected once every cycle. If the depth is greater than that of the previous moment, it is added by 1, and if the depth is less than that of the previous moment, it is reduced by 1. When the accumulation reaches N37, it is determined that the current emergency action is invalid.

[0130] If the unmanned underwater vehicle is found to be in a dangerous state under any working condition underwater, the emergency intervention instruction can be sent to the emergency unit through the underwater acoustic channel of the surface monitoring system, so that the unmanned underwater vehicle floats to the water surface. The intervention mode can be selected from any one or more emergency measures in the fault table. After receiving the emergency intervention instruction, if the emergency unit is in the standby emergency state, it will send an emergency request message to the main control unit. After the permission of the main control unit or waiting for more than 5 cycles, the emergency unit enters the emergency state and starts the emergency scheduling. If it is already in the emergency state, the emergency unit compares the intervention level with the maximum fault level monitored at present, and executes the emergency measure corresponding to the higher level fault.

[0131] The local emergency function of the motion planning unit belongs to the first type of emergency function in the local emergency function. The motion planning unit controls the rudder according to the path tracking algorithm, controls the elevator according to the strategy of limiting the range of pitch, gives the propeller speed N, and at the same time blows off the ballast water tank of the keel group, so as to control the unmanned underwater vehicle to emergency float to the water surface along the predetermined path, which can better guarantee the navigation safety of the unmanned underwater vehicle in the narrow channel. The specific emergency measures include the following 7 kinds of faults:

[0132] (1) When the unmanned underwater vehicle is autonomously navigating, the navigation time exceeds the task time threshold (more than N38 seconds), the motion planning unit judges that the autonomous navigation is overtime, and the motion planning unit locally controls the unmanned underwater vehicle to emergency float to the water surface;

[0133] (2) When the unmanned underwater vehicle is autonomously navigating, the navigation depth exceeds the safety depth threshold (N39 cycles of depth greater than N40 meters or less than N41 meters), the motion planning unit judges that the autonomous navigation is overdeep, and the motion planning unit locally controls the unmanned underwater vehicle to emergency float to the water surface;

[0134] (3) When the unmanned underwater vehicle is autonomously navigating, if the trim exceeds the safe trim threshold (N42 cycles of trim greater than N43 degrees), the motion planning unit determines that the autonomous navigation is over-trimmed, and the motion planning unit locally controls the unmanned underwater vehicle to perform emergency surfacing to the water surface;

[0135] (4) When the unmanned underwater vehicle is autonomously navigating, if the navigation distance exceeds the safe distance threshold (N44 cycles of navigation distance greater than N45 meters), the motion planning unit determines that the autonomous navigation is over-distance, and the motion planning unit locally controls the unmanned underwater vehicle to perform emergency surfacing to the water surface;

[0136] (5) When the unmanned underwater vehicle is autonomously navigating, if the navigation lateral distance exceeds the safe lateral distance threshold (N4 cycles of navigation lateral distance greater than N46 meters), the motion planning unit determines that the autonomous navigation is over-lateral distance, and the motion planning unit locally controls the unmanned underwater vehicle to perform emergency surfacing to the water surface;

[0137] (6) When the unmanned underwater vehicle is autonomously navigating, if the heading exceeds the safe heading threshold (N42 cycles of trim greater than N43 degrees), the motion planning unit determines that the autonomous navigation is over-heading, and the motion planning unit locally controls the unmanned underwater vehicle to perform emergency surfacing to the water surface;

[0138] (7) When the unmanned underwater vehicle is autonomously navigating, if the distance from the center of the forbidden navigation area exceeds the safe radius threshold (N4 cycles of distance from the center of the forbidden navigation area greater than N46 meters), the motion planning unit determines that the unmanned underwater vehicle is entering the forbidden navigation area, and the motion planning unit locally controls the unmanned underwater vehicle to perform emergency surfacing to the water surface.

[0139] The local emergency functions of the comprehensive motion control unit belong to the second and third types of local emergency functions, and specifically include the following emergency measures:

[0140] (1) In the remote control mode, the main control unit and the water surface monitoring system communication fails, or the comprehensive motion control unit and the main control unit communication fails, which is manifested as that the comprehensive motion control unit cannot receive the main control unit command message for N47 consecutive seconds, the comprehensive motion control unit enters the local emergency mode, the 1# rudder and the 2# rudder are operated to 48 degrees of surfacing rudder, the rudder is operated to full rudder or zero according to the rudder angle command before the communication is interrupted, and if the depth exceeds N1 meters, the blowing of the ballast tank group is performed for N49 seconds. After the communication between the main control unit and the water surface monitoring system is restored, the comprehensive motion control unit exits the local emergency mode and executes the command of the main control unit. If the communication is restored and the unmanned underwater vehicle has entered the emergency mode, the comprehensive motion control unit exits the local emergency mode and executes the command of the emergency unit.

[0141] (2) In autonomous mode, the communication between the integrated motion control unit and the master control unit fails, which is manifested by that the integrated motion control unit cannot receive the instruction message from the master control unit for N50 seconds continuously, the integrated motion control enters the local emergency mode, the 1st rudder and the 2nd rudder are operated to make the float rudder N51 degrees, the steering wheel is set to zero, if the depth exceeds N1 meters, the blowing of the ballast water tank of the keel group is executed for N5 seconds while the rudder is operated, and the unmanned underwater vehicle is floated to the water surface to switch to the remote control mode, and then the integrated motion control unit exits the local emergency mode. If the integrated motion control unit receives the emergency unit instruction during the local emergency, the integrated motion control unit exits the local emergency mode and executes the emergency unit instruction.

[0142] (3) In emergency mode, the communication between the integrated motion control unit and the emergency unit fails, which is manifested by that the integrated motion control unit cannot receive the instruction message from the emergency unit for N53 seconds continuously, the integrated motion control enters the local emergency mode, the 1st rudder and the 2nd rudder are operated to make the float rudder N54 degrees, the steering wheel is set to zero, if the depth exceeds N1 meters, the blowing of the ballast water tank of the keel group is executed for N55 seconds while the rudder is operated. The unmanned underwater vehicle is floated to the water surface to switch to the remote control mode, and then the integrated motion control unit exits the local emergency mode. If the communication between the integrated motion control unit and the emergency unit is restored during the local emergency, the integrated motion control unit exits the local emergency mode and executes the emergency unit instruction.

[0143] (4) In remote control / autonomous mode, the network communication and the serial communication between the master control unit and the emergency unit both fail, and the integrated motion control unit enters the local emergency mode, the 1st rudder and the 2nd rudder are operated to make the float rudder N57 degrees, the steering wheel is set to zero, if the depth exceeds N1 meters, the blowing of the ballast water tank of the keel group is executed for N58 seconds while the rudder is operated. In the remote control mode, the unmanned underwater vehicle is floated to the water surface, and then the integrated motion control unit exits the local emergency mode; in the autonomous mode, the unmanned underwater vehicle is floated to the water surface to switch to the remote control mode, and then the integrated motion control unit exits the local emergency mode. If the emergency unit enters the emergency mode during the emergency, the integrated motion control unit exits the local emergency mode and executes the emergency unit instruction.

[0144] (5) In remote control / autonomous mode, the depth of the unmanned underwater vehicle exceeds the set value or the trim exceeds the set value, the integrated motion control enters the local emergency mode, the 1st rudder and the 2nd rudder are operated to make the float rudder N59 degrees, the steering wheel is set to zero, if the depth exceeds N1 meters, the blowing of the ballast water tank of the keel group is executed for N60 seconds while the rudder is operated. In the remote control mode, the unmanned underwater vehicle is floated to the water surface, and then the integrated motion control unit exits the local emergency mode; in the autonomous mode, the unmanned underwater vehicle is floated to the water surface to switch to the remote control mode, and then the integrated motion control unit exits the local emergency mode. If the emergency unit enters the emergency mode during the emergency, the integrated motion control unit exits the local emergency mode and executes the emergency unit instruction.

[0145] 1# signal acquisition unit local emergency function, belongs to the second and third type of local emergency function, specifically includes:

[0146] (1) in all modes, the bow signal acquisition box does not receive the command message of the integrated motion control device for N61 consecutive periods, and the depth exceeds N1 meters, the bow signal acquisition box enters the local emergency mode, according to the 1# rudder operation, the rudder is N62 degrees, and all ballast water tanks are blown off for N63 seconds. After the unmanned underwater vehicle floats to the water surface and the communication with the integrated motion control device is restored, the local emergency mode is exited; if the communication between the bow signal acquisition box and the integrated motion control device is restored during blowing, the local emergency mode is exited after waiting for the blowing to end, and the integrated motion control device command is continued to be executed.

[0147] (2) in all modes, the bow signal acquisition box detects that the depth exceeds N65 meters for N64 consecutive periods, the bow signal acquisition box enters the local emergency mode, according to the 1# rudder operation, the rudder is N66 degrees, and all ballast water tanks are blown off for N67 seconds. After the unmanned underwater vehicle floats to the water surface, the bow signal acquisition box exits the local emergency mode; if the communication between the bow signal acquisition box and the integrated motion control device is restored during blowing, the local emergency mode is exited after waiting for the blowing to end, and the integrated motion control device command is continued to be executed.

[0148] (3) in all modes, the bow signal acquisition box starts timing after detecting that the depth value exceeds N1 meters, if the depth is less than or equal to N1 meters, the timing is cleared, and if the duration exceeds N68 minutes, the bow signal acquisition box enters the local emergency mode, according to the 1# rudder operation, the rudder is N69 degrees, and all ballast water tanks are blown off for N70 seconds. After the unmanned underwater vehicle floats to the water surface, the bow signal acquisition box exits the local emergency mode, and the timing is cleared.

[0149] (4) in all modes, the bow signal acquisition processing device software starts running, then starts timing: if the running time exceeds N7 hours, the bow signal acquisition box enters the local emergency mode, according to the 1# rudder operation, the rudder is N72 degrees, and all ballast water tanks are blown off for N73 seconds. The bow signal acquisition processing device is restarted to exit the emergency, and the timing is cleared.

[0150] The local emergency function of the 2# signal acquisition unit belongs to the second and third type of local emergency function, specifically including:

[0151] (1) In all modes, if the tail signal acquisition box does not receive the integrated motion device command message for N74 consecutive periods, and the depth exceeds N1 meters, the tail signal acquisition box enters the local emergency mode, and according to the 2# rudder operation, the rudder is N75 degrees, and all ballast water tanks are blown for N76 seconds. After the unmanned underwater vehicle floats to the water surface and the communication with the integrated motion control device is restored, the local emergency mode is exited; if the communication between the tail signal acquisition box and the integrated motion control device is restored during blowing, the local emergency mode is exited after the blowing is completed, and the integrated motion control device command is continued to be executed.

[0152] (2) In all modes, if the tail signal acquisition box detects that the depth exceeds N78 meters for N77 consecutive periods, the tail signal acquisition box enters the local emergency mode, and according to the 2# rudder operation, the rudder is N79 degrees, and all ballast water tanks are blown for N80 seconds. After the unmanned underwater vehicle floats to the water surface, the tail signal acquisition box exits the local emergency mode; if the communication between the tail signal acquisition box and the integrated motion control device is restored during blowing, the local emergency mode is exited after the blowing is completed, and the integrated motion control device command is continued to be executed.

[0153] (3) In all modes, the tail signal acquisition box starts timing after detecting that the depth value exceeds N1 meters, and if the depth is less than or equal to N1 meters, the timing is cleared, and if the duration exceeds N81 minutes, the tail signal acquisition box enters the local emergency mode, and according to the 2# rudder operation, the rudder is N8 degrees, and all ballast water tanks are blown for N83 seconds. After the unmanned underwater vehicle floats to the water surface, the tail signal acquisition box exits the local emergency mode, and the timing is cleared.

[0154] (4) In all modes, the tail signal acquisition processing device software starts running, and then timing starts: if the running time exceeds N84 hours, the tail signal acquisition box enters the local emergency mode, and according to the 2# rudder operation, the rudder is N85 degrees, and all ballast water tanks are blown for N86 seconds. After the tail signal acquisition processing device is restarted, the emergency is exited, and the timing is cleared.

[0155] The local emergency function of the electric propulsion unit belongs to the second type of local emergency functions, and specifically includes:

[0156] (1) In the remote control mode, if the main control unit does not receive the water surface monitoring system communication message for N87 periods and N88 seconds, the main control unit sends a query message to the electric propulsion unit, and the electric propulsion system enters the local emergency mode and executes the parking operation. After the water surface monitoring system and the main control unit communicate, the electric propulsion unit executes the command of the main control unit.

[0157] (2) The power propulsion unit needs to enter the local emergency mode to execute the parking operation when the power propulsion unit does not receive the master control unit command for N89 cycles N90 seconds or the emergency unit command for N91 cycles N92 seconds in the emergency mode. After the communication is restored, the power propulsion unit executes the master control unit command or the emergency unit command.

[0158] The local emergency function of the ballast unit belongs to the second and third types of local emergency functions, and specifically includes the following emergency measures:

[0159] (1) The ballast unit enters the local emergency mode to execute the ballast operation when the ballast unit continuously detects a depth value greater than N1 for N93 cycles. If the detected depth value is less than N1 during this period, the count is cleared.

[0160] (2) The ballast unit enters the local emergency mode to execute the ballast operation when the ballast unit continuously detects a depth value greater than N1 for N95 cycles and the network and serial port communication of the ballast unit and the emergency unit fails, and the accumulated time exceeds N96 minutes. If the Ethernet or serial port communication of the ballast unit and the emergency unit is restored during the timing period, the communication disconnection flag is reset and the timing is cleared, and the operation is performed according to the emergency control command.

[0161] (3) The ballast unit enters the local emergency mode to execute the ballast operation when the ballast unit continuously detects a depth value greater than N1 for N97 cycles and the network and serial port communication of the ballast unit and the emergency unit fails. If the detected depth value is less than N1 during this period, the count is cleared.

[0162] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally further include steps or units not listed, or can optionally further include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0163] In the description of the embodiments of the present application, "exemplary", "for example", "for instance" or the like is used to represent an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary", "for example", "for instance" or the like are intended to present the relevant concept in a specific manner.

[0164] In the description of the embodiments of the present application, unless otherwise specified, " / " means the meaning of or, for example, A / B can mean A or B; "and / or" in the text only describes the relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0165] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or in parallel without the order in which they appear in the embodiments of the present application, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0166] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0167] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An emergency response system for unmanned underwater vehicles, characterized in that, The unmanned underwater vehicle malfunction emergency system includes an emergency unit, a main control unit, a motion planning unit, an intermediate unit, and an execution unit; The emergency unit is used to monitor the fault information of various systems and equipment of the unmanned underwater vehicle in real time through the main control unit under normal operating conditions, and to perform fault diagnosis and emergency decision-making based on the fault table. When a fault requiring emergency ascent is detected, the unmanned underwater vehicle enters the emergency operating condition. The motion planning unit is used to obtain the attitude status information, navigation information and navigation mission instructions of the unmanned underwater vehicle through the main control unit under normal operating conditions, and then plan the mission execution instructions and send them to the execution unit through the intermediate unit to control the unmanned underwater vehicle to complete the execution of the navigation mission. The intermediate unit is used to process and transform the received task execution instructions and send them to the execution unit to perform specific actions; The execution unit is used to execute the specific actions corresponding to the task execution instructions; in, In emergency situations, the emergency unit directly accesses each system of the unmanned underwater vehicle to obtain the status information of the unmanned underwater vehicle and controls the execution unit to perform emergency fault handling. The status information includes the unmanned underwater vehicle's position, depth, speed, attitude, and the status information of each system of the unmanned underwater vehicle; in, The fault emergency handling includes the global emergency function of the emergency unit and the local emergency function of the non-emergency unit. The global emergency function of the emergency unit is that the emergency unit obtains the status information of the unmanned underwater vehicle and controls the execution unit to realize the emergency ascent of the unmanned underwater vehicle according to the fault level specified in the fault table. The local emergency function of the non-emergency unit supplements the global emergency function of the emergency unit and is used to ensure the navigation safety of the unmanned underwater vehicle. in, The global emergency functions of the emergency unit include fault monitoring and diagnosis, emergency dispatch, emergency action escalation, and emergency intervention; The emergency unit includes two states: a pending emergency state and an emergency state. When the emergency unit is in standby emergency state, it is used to complete fault monitoring and diagnosis, emergency intervention, and the emergency unit enters emergency state after the unmanned underwater vehicle detects a level 3 or above fault underwater or receives an emergency intervention command. When the emergency unit is in emergency status, it is used to complete emergency dispatch and escalate emergency actions; Among them, a Level 3 fault means that the system function of the unmanned underwater vehicle is affected, but the navigation safety of the unmanned underwater vehicle is not affected, and the unmanned underwater vehicle does not need to surface immediately; a Level 2 fault means that the normal autonomous underwater navigation of the unmanned underwater vehicle is affected, but the subsequent test is not affected, or there is a potential safety hazard, and the unmanned underwater vehicle needs to surface immediately; a Level 1 fault means that the underwater navigation safety of the unmanned underwater vehicle is affected, and the test cannot continue if the fault is not eliminated, and the unmanned underwater vehicle needs to surface immediately. The emergency measures for the Level 3 fault are to record the fault but not to process it; the emergency measures for the Level 2 fault are to control the unmanned underwater vehicle to surface at a lower cost; and the emergency measures for the Level 1 fault are to control the unmanned underwater vehicle to surface as quickly as possible at any cost.

2. The emergency response system for unmanned underwater vehicles as described in claim 1, characterized in that: The fault monitoring and diagnosis of the global emergency function of the emergency unit specifically includes that the emergency unit obtains fault information of each system of the unmanned underwater vehicle in real time through the main control unit when in standby emergency state. The emergency scheduling of the global emergency function of the emergency unit specifically includes the following steps: after the emergency unit detects a level one or level two fault, it sends an emergency request message to the main control unit and waits for confirmation from the main control unit. If no confirmation feedback is received within a set number of cycles, the emergency unit forcibly enters an emergency state and begins to periodically schedule the various systems of the unmanned underwater vehicle, obtain status information, and send task execution instructions to the execution unit.

3. The emergency response system for unmanned underwater vehicles as described in claim 2, characterized in that: The emergency response upgrade of the global emergency function of the emergency unit specifically includes the following: after the emergency unit enters the emergency state, the emergency unit periodically schedules each system of the unmanned underwater vehicle, and at the same time, the emergency unit maintains monitoring of the fault status of each system of the unmanned underwater vehicle. The emergency intervention function of the global emergency unit specifically includes the following: under any operating condition, the surface work vessel issues an emergency intervention command to the emergency unit. The emergency intervention command includes emergency measures corresponding to each level of fault. After receiving the emergency intervention command, if the emergency unit is in a standby state, it sends an emergency request message to the main control unit. After the main control unit confirms the response or waits for a set number of cycles, the emergency unit enters the emergency state and begins emergency dispatch. If the emergency unit is in an emergency state, it compares the intervention level with the currently monitored maximum fault level and executes the emergency measures corresponding to the higher fault level.

4. The emergency response system for unmanned underwater vehicles as described in claim 1, characterized in that: The fault table serves as the basis for the emergency unit to diagnose faults, including the fault name and fault level. The fault names include faults identified and reported by various systems of the unmanned underwater vehicle, as well as faults identified by the emergency response unit itself.

5. The emergency response system for unmanned underwater vehicles as described in claim 1, characterized in that: The local emergency function is an emergency function executed by a non-emergency unit, including three situations; The first scenario involves emergency ascent measures that require comprehensive information and functionalities to complete, information and functionalities that the emergency response unit cannot grasp or implement. The second scenario is that when communication between a unit in the unmanned underwater vehicle malfunction emergency system and its superior unit is interrupted, that unit will execute the predetermined emergency measures. The third scenario is when a certain fault is set up in multiple units of the unmanned underwater vehicle fault emergency system, each unit judges the fault according to different emergency trigger thresholds, and executes the predetermined emergency measures if the fault occurs.

6. The emergency response system for unmanned underwater vehicles as described in claim 5, characterized in that: For the motion planning unit, the local emergency function of the motion planning unit is the emergency function of the first situation; The motion planning unit is used to control the rudder according to the path tracking algorithm, control the elevator according to the strategy of limiting the pitch range, give the thruster speed, blow out the midships ballast tanks, and control the unmanned underwater vehicle to rise to the surface in an emergency along a predetermined path.

7. The emergency response system for unmanned underwater vehicles as described in claim 5, characterized in that: For the intermediate unit, the local emergency function of the intermediate unit belongs to the emergency functions of the second and third situations; For the execution unit, the local emergency function of the execution unit belongs to the emergency functions of the second and third situations.

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