Control system of underwater vehicle docking device with locking function

Abstract

The invention discloses a control system of an underwater vehicle docking device with a locking function, which comprises a detection unit, a central control unit, a motion unit, a locking unit and a water pumping pressure stabilizing unit, and is characterized in that the detection unit is used for positioning the position of a main submersible vehicle, detecting the distance between the main submersible vehicle and an auxiliary submersible vehicle and transmitting an optical image; the motion control unit controls the propeller to enable the main submersible vehicle to approach the auxiliary submersible vehicle for butt joint, the locking unit locks and fixes the butt-jointed submersible vehicles and prevents the butt-jointed submersible vehicles from disengaging, and the water pumping pressure stabilizing unit pumps water in the locked auxiliary submersible vehicle and supplements pressure until the pressure is balanced, so that danger caused by pressure difference is prevented. The central control unit receives signals sent by all the units and controls all the units to work in a wireless remote control mode. The automation mode of the butt joint device reduces the operation error of workers, and effectively improves the butt joint efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of ships and marine engineering, and in particular to a control system of an underwater submersible docking device with a locking function. Background Art

[0002] With the rapid development of information technology, digital technology, artificial intelligence technology, navigation and positioning systems, control hardware and logic, and technology, underwater submersibles have also developed rapidly. Underwater submersibles can undertake various experiments and scientific research work underwater, such as the Jiaolong manned submersible. Such submersibles need certain supplies and personnel transfers for long-term underwater navigation, and underwater docking devices have emerged. However, the existing docking device control system is remotely controlled by the mother ship on the surface, which requires multi-level signal transmission, has low intelligence, and is difficult to control in high sea conditions. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention discloses a control system for an underwater submersible docking device with a locking function, comprising a detection unit, a central control unit, a motion unit, a locking unit and a pumping and pressure-stabilizing unit. The detection unit is used to locate the position of the main submersible and detect the distance between the main submersible and the auxiliary submersible, and transmit optical images. The motion unit controls the thruster to make the main submersible approach the auxiliary submersible for docking. The locking unit locks and fixes the docked submersible. The pumping and pressure-stabilizing unit extracts water from the auxiliary submersible after locking and replenishes the pressure to a balanced pressure. The central control unit receives signals from each unit and controls the operation of each unit by wireless remote control, thereby completing the entire docking process.

[0004] The technical means adopted by the present invention are as follows:

[0005] A control system for an underwater submersible docking device with a locking function, comprising: a detection unit, a central control unit, a motion unit, a locking unit, and a pumping and pressure stabilizing unit;

[0006] The detection unit is used to locate the position of the main submersible and detect the distance between the main submersible and the auxiliary submersible, and transmit optical images to the central control unit;

[0007] The motion unit controls the thruster to make the main submersible approach the auxiliary submersible to achieve docking between the main submersible and the auxiliary submersible;

[0008] The locking unit locks and fixes the docked submersible;

[0009] The pumping and pressure stabilizing unit extracts water from the locked auxiliary submersible and replenishes the pressure until the pressure inside and outside the submersible is balanced;

[0010] The central control unit receives signals from each unit, controls the operation of each unit through wireless remote control, and completes the docking.

[0011] Furthermore, the central control unit includes: a main control chip, a power supply unit, a motion control unit and a component control unit;

[0012] The main control chip is arranged on the power supply unit and is used to control the operation of each unit;

[0013] The motion control unit and the element control unit are arranged on the main control chip; the motion control unit is used to control the thruster; and the element control unit is used to control the coordinated work of various actuators in the control system.

[0014] Furthermore, the detection unit includes: a positioning module, a lidar rangefinder and an underwater camera; the Beidou positioning of the positioning module determines the position of the main submersible in real time; the lidar rangefinder is used to detect the distance and deviation between the main submersible and the auxiliary submersible, and upload the distance and deviation signals to the central control unit in real time; the underwater camera transmits the main submersible's interface environment image to the central control unit in real time.

[0015] Furthermore, the motion unit includes: a vertical motion propeller and a horizontal motion propeller, and the propellers ensure that the main submersible dives along a predetermined route.

[0016] Furthermore, the locking unit includes: an external locking mechanism and an internal locking mechanism, the external locking mechanism is the first locking mechanism, and the internal locking mechanism is the second locking mechanism, which complete the locking in sequence; the external locking mechanism includes: a hydraulic cylinder and an external locking buckle, the hydraulic cylinder drives the external locking buckle on the main submersible to hook the external locking buckle on the auxiliary submersible; the internal locking mechanism includes: an electric motor, a transmission gear and an internal locking buckle; the transmission gear drives the internal locking buckle on the main submersible to lock with the internal locking buckle of the auxiliary submersible one by one.

[0017] Furthermore, the water pumping and pressure-stabilizing unit includes: a water pump and a gas cylinder; the water pump and the gas cylinder are installed on the main submersible, and the water pump and the gas cylinder work independently. After the two locking mechanisms are locked, the water pump pumps out the accumulated water after docking, and the gas cylinder replenishes the lost pressure again.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] The system of the present invention can realize good motion function during the docking process of underwater submersibles, get rid of the remote control of the surface mother ship, and use the main submersible as a carrier to realize signal collection, transmission and control. The system is arranged in units, and each unit coordinates with each other and can work independently. It does not require human participation and only needs to be initialized and set according to the plan designed by people. It has high intelligence and improves the docking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 It is a structural block diagram of the control system of the present invention;

[0022] Figure 2 is a logic diagram of the control system of the present invention;

[0023] Figure 3 It is a schematic diagram of the docking working state of the control system of the present invention.

[0024] Among them, 1 is the main submersible, 2 is the docking device, and 3 is the auxiliary submersible. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] like Figure 1A control system of an underwater submersible docking device with a locking function is shown, comprising a detection unit, a central control unit, a motion unit, a locking unit and a pumping and voltage-stabilizing unit. The detection unit is used to locate the position of the main submersible and detect the distance between the main submersible and the auxiliary submersible, and transmit optical images. The motion unit controls the vertical and horizontal motion thrusters so that the main submersible approaches the auxiliary submersible along a predetermined route for docking. The locking unit receives instructions from the main control chip to lock and fix the docked submersible. The pumping and voltage-stabilizing unit receives instructions from the locking unit to complete work, extracts the accumulated water in the auxiliary submersible after locking, and replenishes the pressure to a pressure balance. The central control unit receives signals from each unit, and issues corresponding instructions to control the operation of each unit by wireless remote control, thereby completing the entire docking process.

[0028] As a preferred embodiment, in the present application, the central control unit includes a main control chip, a power supply unit, a motion control unit and an element control unit. The main control chip is installed on the power supply unit, receives feedback signals from each unit and issues corresponding instructions to control the work of each unit, the motion control unit and the element control unit are installed on the main control chip, the motion control unit receives motion instructions issued by the main control chip, and issues corresponding instructions to control the execution element, and the element control unit is used to control the coordinated work of each execution element in the control system.

[0029] As a preferred embodiment, in the present application, the detection unit includes a positioning module, a laser radar rangefinder, and an underwater camera. The positioning module determines the position of the main submersible in real time, the laser radar rangefinder is used to detect the distance and deviation between the main submersible and the auxiliary submersible, and the underwater camera transmits the main submersible interface environment image in real time to facilitate observation of the underwater environment.

[0030] Preferably, when the main and auxiliary submersibles are docked, the information transmitted by the positioning module can be fed back to the main control chip, and the main control chip issues a command to make the relative distance between the main and auxiliary submersibles within L1 and the centering deviation within X1. Subsequently, based on the position feedback from the lidar rangefinder, the main control chip issues a command to adjust the relative distance between the main and auxiliary submersibles to within L2 and the centering deviation to within X2, so that the main and auxiliary submersibles can be successfully docked, wherein L1>L2 and X1>X2.

[0031] As a preferred embodiment, the motion unit includes a vertical motion propeller and a horizontal motion propeller to ensure that the main submersible dives and adjusts according to a predetermined route.

[0032] Preferably, the locking unit comprises an external locking mechanism and an internal locking mechanism, the external locking mechanism comprises a hydraulic cylinder and an external locking buckle for external locking, and the internal locking mechanism comprises a motor, a transmission gear and an internal locking buckle for internal locking.

[0033] Furthermore, the water pumping and pressure stabilizing unit includes a water pump and a gas storage bottle, the water pump extracts the accumulated water after docking, and the gas storage bottle is used to supplement the pressure.

[0034] The control system workflow of an underwater submersible docking device with a locking function disclosed in the present invention comprises the following steps:

[0035] P1: The main control chip of the central control unit controls the vertical and horizontal motion thrusters to make the main submersible dive along the predetermined route.

[0036] P2: The main control chip detects the position and relative distance of the main submersible in real time through the position information fed back by the positioning module and the lidar rangefinder, and controls the motion unit to dock the main submersible with the auxiliary submersible. The underwater camera can detect the underwater environment in real time and upload optical images for easy observation.

[0037] P3: The locking unit receives the command from the main control chip to lock the main and auxiliary submersibles twice inside and outside to prevent them from detaching and ensure sealing.

[0038] P4: The pumping and pressure-stabilizing unit receives instructions to pump out the accumulated water in the auxiliary submersible and pressurize it.

[0039] The control logic of the underwater submersible docking device of the present invention is as follows Figure 2 As shown:

[0040] The positioning module locates the main submersible in real time, making the main submersible close to the auxiliary submersible.

[0041] The relative distance and centering deviation of the main and auxiliary submersibles were initially set to 15 meters and 0.5 meters, and the distance was further set to 0.5 meters and 0.1 meters.

[0042] When the transmission distance of the positioning module is less than 15 meters and the centering deviation is less than 0.5 meters, the laser radar rangefinder transmits distance and deviation signals, and the main control chip adjusts the position of the main submersible so that the distance between the main and auxiliary submersibles is less than 0.5 meters and the centering deviation is less than 0.1 meters.

[0043] After the main and auxiliary submersibles come into contact, the locking unit is gradually locked.

[0044] After the external locking work is completed, the pumping and stabilizing unit starts working to process the working environment. The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. In the above embodiments of the present invention, the descriptions of each embodiment have their own emphases. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control system for an underwater submersible docking device with a locking function, characterized in that: include: Detection unit, central control unit, motion unit, locking unit and pumping and pressure stabilizing unit; The detection unit is used to locate the position of the main submersible and detect the distance between the main submersible and the auxiliary submersible, and transmit optical images to the central control unit; The motion unit controls the thruster to make the main submersible approach the auxiliary submersible to achieve docking between the main submersible and the auxiliary submersible; The locking unit locks and fixes the docked submersible; The pumping and pressure stabilizing unit extracts water from the locked auxiliary submersible and replenishes the pressure until the pressure inside and outside the submersible is balanced; The central control unit receives signals from each unit, controls the operation of each unit through wireless remote control, and completes the docking.

2. The control system of the underwater submersible docking device with locking function according to claim 1, characterized in that: The central control unit includes: a main control chip, a power supply unit, a motion control unit and a component control unit; The main control chip is arranged on the power supply unit and is used to control the operation of each unit; The motion control unit and the element control unit are arranged on the main control chip; the motion control unit is used to control the thruster; and the element control unit is used to control the coordinated work of various actuators in the control system.

3. The control system of the underwater submersible docking device with locking function according to claim 1, characterized in that: The detection unit includes: a positioning module, a laser radar rangefinder and an underwater camera; the Beidou positioning of the positioning module determines the position of the main submersible in real time; the laser radar rangefinder is used to detect the distance and deviation between the main submersible and the auxiliary submersible, and upload the distance and deviation signals to the central control unit in real time; the underwater camera transmits the main submersible's interface environment image to the central control unit in real time.

4. The control system of the underwater submersible docking device with locking function according to claim 1, characterized in that: The motion unit comprises: a vertical motion propeller and a horizontal motion propeller, and the propeller ensures that the main submersible dives along a predetermined route.

5. The control system of the underwater submersible docking device with locking function according to claim 1, characterized in that: The locking unit includes: an external locking mechanism and an internal locking mechanism, the external locking mechanism is the first locking mechanism, and the internal locking mechanism is the second locking mechanism, which complete the locking in sequence; the external locking mechanism includes: a hydraulic cylinder and an external locking buckle, the hydraulic cylinder drives the external locking buckle on the main submersible to hook the external locking buckle on the auxiliary submersible; the internal locking mechanism includes: an electric motor, a transmission gear and an internal locking buckle; the transmission gear drives the internal locking buckle on the main submersible to lock with the internal locking buckle of the auxiliary submersible one by one.

6. The control system of the underwater submersible docking device with locking function according to claim 1, characterized in that: The water pumping and pressure stabilizing unit comprises: a water pump and a gas storage bottle; the water pump and the gas storage bottle are installed on the main submersible, and the water pump and the gas storage bottle work independently. After the two locking mechanisms are locked, the water pump pumps out the accumulated water after the docking, and the gas storage bottle replenishes the lost pressure again.

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