Manned submersible dynamic docking stability control system

Abstract

The invention provides a manned submersible dynamic docking stability control system, which relates to the field of manned submersible control systems and comprises a multi-sensor fusion module, an intelligent control algorithm module, a propulsion system control module, a posture adjustment mechanism control module, an emergency braking system module, a wireless communication module, a safe separation module and a fault early warning module. Through the arrangement of the multi-sensor fusion module, the intelligent control algorithm module, the propulsion system control module, the attitude adjustment mechanism control module, the emergency braking system module, the wireless communication module, the safety separation module and the fault early warning module, the multi-sensor fusion module transmits data to the intelligent control algorithm module for real-time calculation and adjustment; and the propulsion system control module and the attitude adjustment mechanism control module are accurately controlled, so that the change of the marine environment can be quickly responded, and the propulsion force, direction and attitude of the submersible are adjusted, thereby improving the docking stability and success rate of the manned submersible in a dynamic environment.

Description

Technical Field

[0001] The present invention relates to the field of manned submersible control systems, and in particular to a manned submersible dynamic docking stability control system. Background Art

[0002] For example, a full-sea-depth manned submersible control system simulation platform disclosed in a Chinese patent with announcement number CN114488845B includes a physical unit, a virtual simulation unit and a three-dimensional vision unit; the physical unit is used to send an operation signal to the virtual simulation unit, and at the same time receive a simulated simulation signal generated by the virtual simulation unit, so as to realize that the virtual parameters after the simulated simulation signal is analyzed are applied to the physical unit; the virtual simulation unit is used to receive and process the operation signal sent by the physical unit, simulate the received operation signal, and display the simulated motion state data obtained after the operation signal is simulated, so as to verify the corresponding function of the physical unit; and send the simulated motion state data to the three-dimensional vision unit, and also generate a simulated simulation signal to output to the physical unit; the three-dimensional vision unit is used to receive the simulated motion state data sent by the virtual simulation unit, and analyze it in real time, and realize the dynamic simulation of the submersible in different scenes in combination with the established three-dimensional model of the submersible and the set scene model, thereby improving the control system development efficiency, enhancing the reliability of the control system and the safety of the overall system of the submersible, and designing a full-sea-depth manned submersible. The control system simulation platform is based on the real control system and builds a semi-physical simulation platform. The control system can be verified through the simulation system without the actual submersible. The simulation platform simulates the overall system of the submersible. Before the final assembly and joint debugging, the control system function test is carried out first. During the final assembly and joint debugging, the simulation platform and the actual system of the submersible are debugged synchronously. After the control system completes the function test on the simulation platform, it is transplanted to the submersible body, which improves the efficiency of research and development and joint debugging, enhances the reliability and safety of the submersible system, and facilitates the early verification of the expansion of new functions of the submersible in the later stage. It solves the problem that "when the submersible is assembled, each subsystem is installed and debugged synchronously. Due to the complexity and hugeness of the system and the cumbersome joint debugging process, the control system test is completely dependent on the final assembly and joint debugging, which will inevitably increase the debugging time and reduce the overall debugging efficiency. For the control system as the core unit, if the research and development cycle can be shortened and the system function verification is carried out before the final assembly and joint debugging, it can save a lot of time for the development of the submersible system, improve the research and development efficiency, and also enhance the safety of the overall system." However, there are still some disadvantages; When a manned submersible docks with a mother ship or other underwater facilities, the docking process is often unstable due to factors such as water currents and waves, which can easily lead to docking failures and even endanger the safety of the submersible and personnel. The current docking system lacks stability in dynamic environments and can hardly meet the docking requirements in complex marine environments.

[0003] Therefore, we made improvements and proposed a dynamic docking stability control system for manned submersibles. Summary of the invention

[0004] The purpose of the present invention is to significantly improve the docking stability and success rate of a manned submersible in a dynamic environment by setting a multi-sensor fusion module, an intelligent control algorithm module, a propulsion system control module, an attitude adjustment mechanism control module, an emergency braking system module and a wireless communication module; by setting a multi-sensor fusion technology and an intelligent control algorithm module, the control strategy can be adjusted in real time according to sensor data, thereby enhancing the adaptability of the submersible to different marine environments; by setting an emergency braking system module, the movement of the submersible can be stopped in time when an abnormal situation occurs during the docking process, thereby solving the problem of insufficient safety of the docking process in the prior art; by setting a wireless communication module, real-time data transmission and remote control between the submersible and a mother ship or other control center can be achieved, thereby solving the problem of inconvenient operation and monitoring in the prior art.

[0005] In order to achieve the above-mentioned purpose of the invention, the present invention provides a manned submersible dynamic docking stability control system to improve the above-mentioned problem that when the existing manned submersible is docked with a mother ship or other underwater facilities, the docking process is often unstable due to the influence of factors such as water current and waves, which can easily lead to docking failure and even endanger the safety of the submersible and personnel. The current docking system is insufficiently stable in a dynamic environment and is difficult to meet the docking requirements in a complex marine environment.

[0006] The specific application is as follows: A manned submersible dynamic docking stable control system comprises a multi-sensor fusion module, an intelligent control algorithm module, a propulsion system control module, an attitude adjustment mechanism control module, an emergency braking system module and a wireless communication module; the multi-sensor fusion module comprises a position sensor, an attitude sensor, a speed sensor and a pressure sensor, etc., which monitors the position, attitude, speed and other parameters of the submersible and the position and state of the docking target in real time; the intelligent control algorithm module performs real-time calculation and adjustment according to the data of the multi-sensor fusion module, controls the propulsion system control module and the attitude adjustment mechanism control module, so as to realize the stable docking of the submersible. Specifically, the intelligent control algorithm module performs real-time calculation and adjustment according to the data of the multi-sensor fusion module, controls the propulsion system control module and the attitude adjustment mechanism control module, so as to realize the stable docking of the submersible. Specifically, the intelligent control algorithm module performs real-time calculation and adjustment according to the formula F = α(x - x0) + β(y- y0) + γ(z - z0) + k1v x + k2v y + k3v z Calculate the control instructions of the propulsion system and attitude adjustment mechanism, where F is the comprehensive control instruction of the propulsion system and attitude adjustment mechanism, the position coordinates of the submersible are (x, y, z), the attitude angle is (α, β, γ), and the speed is (vx v y v z ), the position coordinates of the docking target are (x0, y0, z0), α, β, γ are weight coefficients, k1, k2, k3 are speed feedback coefficients, and by improving the intelligent control algorithm, the weight coefficients (α, β, γ) and speed feedback coefficients (k1, k2, k3) can be adjusted and optimized according to actual conditions to improve the speed and stability of docking, and better play the role of the intelligent control algorithm module, and cooperate with the intelligent control algorithm module to control the propulsion system control module and the attitude adjustment mechanism control module. The optimization of this embodiment makes the control of the propulsion system control module and the attitude adjustment mechanism control module by the intelligent control algorithm module more accurate and efficient. The propulsion system control module adjusts the propulsion force and direction of the submersible according to the instructions of the intelligent control algorithm module, and the attitude adjustment mechanism control module adjusts the attitude of the submersible according to the instructions of the intelligent control algorithm module. The emergency braking system module can stop the movement of the submersible in time when an abnormal situation occurs during the docking process to ensure safety. This is because the emergency braking system module plays a vital role in the docking process of the submersible. The docking process requires extremely high precision and stability. Once an abnormal situation occurs (such as excessive docking deviation, too fast docking speed, etc.), the emergency braking system can immediately respond and stop the movement of the submersible, thereby avoiding collisions or other potential dangerous situations. The wireless communication module realizes real-time data transmission and remote control between the submersible and the mother ship or other control center. The safe detachment module includes a high-intensity electromagnetic detachment device and a mechanical lock and quick release system. The high-intensity electromagnetic detachment device is connected to the docking target through high magnetic force. The mechanical lock and quick release system includes a high-intensity mechanical lock, which normally maintains a firm connection between the submersible and the docking target. In an emergency, the submersible can be safely and quickly detached from the docking state. The fault warning module includes sensor data, control instructions, propulsion system parameters, and attitude adjustment mechanism status. It can monitor the system status in real time and issue a warning signal in time when a fault hidden danger occurs.

[0007] Among them, the dynamic docking stability control system of manned submersibles can adapt to different marine environmental conditions, including the influence of water currents, waves and other factors. The dynamic docking stability control system of manned submersibles can improve the docking stability and success rate of manned submersibles in dynamic environments and ensure the safety of personnel. It can improve the accuracy and reliability of data by accurately integrating the position, attitude, speed and other data of different sensors, and perform real-time processing of multi-sensor data to eliminate sensor noise and errors, obtain more accurate submersible status information, and more accurately determine the position and attitude of the submersible, providing more reliable input for the intelligent control algorithm.

[0008] As the preferred technical solution of the present application, the safe disengagement module includes a high-strength electromagnetic disengagement device and a mechanical lock quick release system. The high-strength electromagnetic disengagement device is connected to the docking target through high magnetic force, and uses electromagnetic force to instantly disconnect the submersible from the docking target. The device has a fast response speed and can be quickly started in an emergency. The mechanical lock quick release system includes a high-strength mechanical lock, which normally maintains a firm connection between the submersible and the docking target. When disengagement is required, an instruction is issued through the intelligent control algorithm module to trigger the quick release of the mechanical lock, so that the submersible can be quickly disengaged to prevent false triggering and accidental release.

[0009] In an emergency, the detachment mechanism can be quickly activated to quickly separate the submersible from the docking target. A high-intensity electromagnetic detachment device is used to ensure that the detachment process is safe and reliable. Before starting the detachment, the intelligent control algorithm module calculates the optimal detachment path according to the current ocean environment and the state of the submersible to avoid being affected by other obstacles during the detachment process. After detachment, the submersible can automatically start the safety assurance system, including emergency buoyancy device, navigation system, etc., to ensure that the submersible can safely return to the mother ship. Among them, the emergency buoyancy adjustment system can automatically adjust the output of the buoyancy device according to the weight of the submersible and the current ocean environment to ensure that the submersible can rise stably and avoid sinking or loss of control. The navigation system ensures that the submersible can accurately determine its position and direction and move towards a safe area. The system uses a variety of navigation technologies, such as inertial navigation, satellite navigation, etc. to improve the accuracy and reliability of navigation.

[0010] When choosing the escape path: the intelligent control algorithm module obtains the current ocean environment information from the multi-sensor fusion module, including water flow speed and direction, wave height and period, and ocean depth, and then uses external data sources, such as marine meteorological forecast data, to obtain a larger range of ocean environment dynamics, and then analyzes the current position coordinates (x, y, z), attitude angles (α, β, γ) and speed (v x v y v z ), based on the collected water flow speed and direction data, a three-dimensional water flow field model is established to define the objective function of the optimal escape path. The objective function may include the shortest time, minimum energy consumption, and avoiding obstacles: Shortest time: Make the submersible leave the dangerous area and reach a safe place as quickly as possible. Based on the location of the mother ship, calculate the movement time of the submersible on different paths. The shorter the time, the smaller the objective function value.

[0011] Minimum energy consumption: Based on the remaining energy of the submersible, the path with the least energy consumption is selected, and the total energy consumption of each path can be calculated based on the energy consumption model of the submersible at different speeds and propulsion forces.

[0012] Obstacle avoidance: This is achieved by calculating the distance between the submersible and each obstacle and adding large disturbances when the distance is less than a threshold.

[0013] As a preferred technical solution of the present application, the docking stability control system is further optimized. Specifically, the fault warning module includes sensor data, control instructions, propulsion system parameters, and attitude adjustment mechanism status.

[0014] Real-time monitoring of the operating status of each module, including sensor data, control instructions, propulsion system parameters, attitude adjustment mechanism status, etc., through multi-parameter comprehensive analysis, to discover potential fault hazards in advance, use machine learning and artificial intelligence technology to analyze and diagnose the monitoring data, accurately determine the type and location of the fault, and provide corresponding fault handling suggestions, and display the fault warning information in an intuitive way on the control interface of the submersible. At the same time, the warning information is sent to the mother ship and other control centers through the wireless communication module, so that operators can take timely measures.

[0015] According to the above preferred technical solution, the propulsion system control module includes a main thruster, an auxiliary thruster, a power source, a power regulation unit, a command receiving and parsing subunit, a thruster coordination control subunit, a sensor group, and a feedback signal processing and sending subunit; The main thruster is a device that provides the main propulsion force for the submersible, and cooperates with the intelligent control algorithm module to change the size and direction of the propulsion force. The auxiliary thruster is used to perform fine position and attitude adjustments during the docking process. The power regulation unit cooperates with the intelligent control algorithm module to deliver power to the thruster.

[0016] According to the above-mentioned preferred technical solution, the power source includes a lithium-ion battery, which provides energy for the propeller and has energy storage capacity. The output power of the power source needs to meet the energy requirements of the propeller under different working conditions and have a certain energy storage capacity to cope with emergency situations or long-term operation tasks.

[0017] According to the above-mentioned preferred technical solution, the sensor group includes a propeller speed sensor, a temperature sensor, and a pressure sensor, wherein the speed sensor is used to monitor the rotation speed of the propeller in order to accurately control the propulsion force, the temperature sensor monitors the temperature of the propeller during operation to prevent overheating, and the pressure sensor measures the water pressure around the propeller to provide a reference for adjusting the propulsion force.

[0018] According to the above-mentioned preferred technical solution, the feedback signal processing and sending subunit cooperates with the sensor to collect data for processing, and feeds back the processed status information: the actual thrust size and the working temperature of the thruster to the intelligent control algorithm module, so that the intelligent control algorithm module can make further adjustments and optimizations according to actual conditions.

[0019] According to the above-mentioned preferred technical scheme, the multi-sensor fusion module, intelligent control algorithm module, propulsion system control module, attitude adjustment mechanism control module, emergency braking system module, wireless communication module, safe disengagement module and fault warning module communicate with each other through a data bus. By adopting high-performance braking devices and sensors, the response speed and reliability of the emergency braking system are improved to ensure reliable execution in emergency situations. By coordinating the communication of each module through the data bus, the reliability of the emergency braking system is enhanced, which also helps to quickly transmit status information to other modules through the data bus in an emergency, thereby realizing the overall safety control of the system.

[0020] In the present invention, a manned submersible dynamic docking stability control system provided in accordance with the above-mentioned embodiments can improve the stability and security of wireless communication. The submersible performs real-time data transmission and remote control through a wireless communication module. This embodiment adopts advanced wireless communication technology and strengthens communication security measures, so that the wireless communication module can more stably implement its functions, improve the stability and security of communication, and ensure reliable data transmission between the submersible and the mother ship or other control center. The data bus communication and the wireless communication module cooperate with each other to improve the wireless communication performance, which helps to provide more stable communication guarantee for the data interaction of the entire system.

[0021] Compared with the prior art, the present invention has the following beneficial effects: In the scheme of this application: 1. In order to solve the problem of unstable docking of manned submersibles in dynamic environments in the prior art, this application sets a multi-sensor fusion module, an intelligent control algorithm module, a propulsion system control module, an attitude adjustment mechanism control module, an emergency braking system module, a wireless communication module, a safe separation module and a fault warning module. The multi-sensor fusion module transmits data to the intelligent control algorithm module for real-time calculation and adjustment, accurately controls the propulsion system control module and the attitude adjustment mechanism control module, and can quickly respond to changes in the marine environment through the optimization of the intelligent algorithm, adjust the propulsion force, direction and attitude of the submersible, so that it always maintains the best docking state, thereby improving the docking stability and success rate of the manned submersible in a dynamic environment; 2. In order to solve the problem that the docking system in the prior art is difficult to adapt to different marine environmental conditions, this application sets a multi-sensor fusion module to monitor the changes in the marine environment in real time, transmits the data to the intelligent control algorithm module, and facilitates the real-time adjustment of the parameters of the propulsion system control module and the attitude adjustment mechanism control module, so that the submersible can adapt to different marine environmental conditions and maintain a stable docking state; 3. By setting up an emergency braking system module and a safe detachment module, the movement of the submersible can be stopped in time and the docking state can be safely and quickly detached when an abnormal situation occurs during the docking process, which solves the problem of insufficient safety of the docking process in the prior art. When the sensor detects an abnormal situation, the emergency braking system module will be immediately activated to quickly stop the movement of the submersible by controlling the propulsion system and the attitude adjustment mechanism. At the same time, the high-intensity electromagnetic detachment device can instantly disconnect the connection between the submersible and the docking target through high magnetic force, and the mechanical lock quick release system can quickly release the mechanical lock, so that the submersible can safely and quickly detach from the docking state; 4. By setting up a fault warning module, real-time monitoring of the system status is achieved and a warning signal is issued in time when a potential fault occurs, which solves the problem that it is difficult to detect potential faults in advance in the existing technology. The fault warning module monitors sensor data, control instructions, propulsion system parameters, attitude adjustment mechanism status and system status information in real time. When the fault warning module detects a potential fault, it will issue a warning signal in time to notify the operator to conduct inspection and maintenance to ensure the safe operation of the submersible. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A distribution diagram of a manned submersible dynamic docking stability control system provided in this application; Figure 2 A schematic diagram of the connection between a manned submersible dynamic docking stability control system module and a data bus provided in this application; Figure 3 A preliminary structural diagram of a system start-up of a manned submersible dynamic docking stability control system provided in this application; Figure 4 A schematic diagram of a control algorithm for a manned submersible dynamic docking stability control system provided in this application; Figure 5 A schematic diagram of a system-on docking state of a manned submersible dynamic docking stability control system provided in this application; Figure 6 A schematic diagram of a docking anomaly of a manned submersible dynamic docking stability control system provided in this application; Figure 7 A schematic diagram of a successful docking of a manned submersible dynamic docking stability control system provided in this application; Figure 8 A schematic diagram of the activation of an emergency brake system module of a manned submersible dynamic docking stability control system provided by the present application; Fig. 9 A schematic diagram of docking termination and connection remote control of a manned submersible dynamic docking stability control system provided in this application. DETAILED DESCRIPTION

[0023] 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.

[0024] As described in the background technology, when a manned submersible docks with a mother ship or other underwater facilities, the docking process is often unstable due to the influence of factors such as water currents and waves, which can easily lead to docking failures and even endanger the safety of the submersible and personnel. The current docking system lacks stability in a dynamic environment and can hardly meet the docking requirements in a complex marine environment.

[0025] In order to solve this technical problem, the present invention provides a manned submersible dynamic docking stability control system, which is used to solve the problem of unstable docking of manned submersibles in dynamic environments, improve the success rate and safety of docking, and adapt to the influence of different marine environmental conditions.

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] Example 1, please refer to Figure 1-9 A manned submersible dynamic docking stable control system includes a multi-sensor fusion module, an intelligent control algorithm module, a propulsion system control module, an attitude adjustment mechanism control module, an emergency braking system module and a wireless communication module; the multi-sensor fusion module includes a position sensor, an attitude sensor, a speed sensor and a pressure sensor, etc., which monitors the position, attitude, speed and other parameters of the submersible and the position and state of the docking target in real time; the intelligent control algorithm module performs real-time calculation and adjustment according to the data of the multi-sensor fusion module, controls the propulsion system control module and the attitude adjustment mechanism control module, so as to achieve stable docking of the submersible. Specifically, the intelligent control algorithm module calculates and adjusts the position, attitude and speed of the submersible according to the formula F = α(x - x0) + β(y- y0) + γ(z - z0) + k1v x + k2vy + k3v z Calculate the control instructions of the propulsion system and attitude adjustment mechanism, where F is the comprehensive control instruction of the propulsion system and attitude adjustment mechanism, the position coordinates of the submersible are (x, y, z), the attitude angle is (α, β, γ), and the speed is (v x v y v z ), the position coordinates of the docking target are (x0, y0, z0), α, β, γ are weight coefficients, k1, k2, k3 are speed feedback coefficients, and by improving the intelligent control algorithm, the weight coefficients (α, β, γ) and speed feedback coefficients (k1, k2, k3) can be adjusted and optimized according to actual conditions to improve the speed and stability of docking, and better play the role of the intelligent control algorithm module, and cooperate with the intelligent control algorithm module to control the propulsion system control module and the attitude adjustment mechanism control module. The optimization of this embodiment makes the control of the propulsion system control module and the attitude adjustment mechanism control module by the intelligent control algorithm module more accurate and efficient. The propulsion system control module adjusts the propulsion force and direction of the submersible according to the instructions of the intelligent control algorithm module, and the attitude adjustment mechanism control module adjusts the attitude of the submersible according to the instructions of the intelligent control algorithm module. The emergency braking system module can stop the movement of the submersible in time when an abnormal situation occurs during the docking process to ensure safety. The wireless communication module realizes real-time data transmission and remote control between the submersible and the mother ship or other control centers. The safe separation module includes a high-intensity electromagnetic separation device and a mechanical lock quick release system. The high-intensity electromagnetic separation device is connected to the docking target through high magnetic force. The mechanical lock quick release system includes a high-strength mechanical lock, which normally maintains a firm connection between the submersible and the docking target. In an emergency, the submersible can be safely and quickly separated from the docking state. The fault warning module, including sensor data, control instructions, propulsion system parameters, and attitude adjustment mechanism status, can monitor the system status in real time and issue a warning signal in time when a fault potential occurs.

[0030] Among them, the dynamic docking stability control system of manned submersibles can adapt to different marine environmental conditions, including the influence of water currents, waves and other factors. The dynamic docking stability control system of manned submersibles can improve the docking stability and success rate of manned submersibles in dynamic environments, and ensure the safety of personnel lives.

[0031] By accurately fusing the position, attitude, speed and other data from different sensors, improving the accuracy and reliability of the data, processing multi-sensor data in real time, eliminating sensor noise and errors, and obtaining more accurate submersible status information, the position and attitude of the submersible can be determined more accurately, providing more reliable input for the intelligent control algorithm.

[0032] Example 2 further optimizes the dynamic docking stability control system of a manned submersible provided in Example 1. Specifically, the safe detachment module includes a high-strength electromagnetic detachment device and a mechanical lock quick release system. The high-strength electromagnetic detachment device is connected to the docking target through a high magnetic force, and uses electromagnetic force to instantly disconnect the submersible from the docking target. The device has a fast response speed and can be quickly started in an emergency. The mechanical lock quick release system includes a high-strength mechanical lock, which normally maintains a firm connection between the submersible and the docking target. When detachment is required, a command is issued through the intelligent control algorithm module to trigger the quick release of the mechanical lock, so that the submersible can be quickly detached to prevent false triggering and accidental release.

[0033] Through further optimization, in an emergency, the separation mechanism can be quickly activated to quickly separate the submersible from the docking target. A high-intensity electromagnetic separation device is used to ensure that the separation process is safe and reliable. Before starting the separation, the intelligent control algorithm module calculates the optimal separation path based on the current ocean environment and the status of the submersible to avoid being affected by other obstacles during the separation process. After separation, the submersible can automatically start the safety assurance system, including the emergency buoyancy device, navigation system, etc., to ensure that the submersible can safely return to the mother ship.

[0034] Among them, the emergency buoyancy adjustment system can automatically adjust the output of the buoyancy device according to the weight of the submersible and the current ocean environment, ensuring that the submersible can rise steadily and avoid sinking or losing control. The navigation system ensures that the submersible can accurately determine its position and direction and move towards a safe area. The system uses a variety of navigation technologies, such as inertial navigation, satellite navigation, etc. to improve the accuracy and reliability of navigation.

[0035] Example 3 further optimizes the dynamic docking stability control system of a manned submersible provided in Example 1 or 2. Specifically, the fault warning module includes sensor data, control instructions, propulsion system parameters, and attitude adjustment mechanism status.

[0036] Real-time monitoring of the operating status of each module, including sensor data, control instructions, propulsion system parameters, attitude adjustment mechanism status, etc., through multi-parameter comprehensive analysis, to discover potential fault hazards in advance, use machine learning and artificial intelligence technology to analyze and diagnose the monitoring data, accurately determine the type and location of the fault, and provide corresponding fault handling suggestions, and display the fault warning information in an intuitive way on the control interface of the submersible. At the same time, the warning information is sent to the mother ship and other control centers through the wireless communication module, so that operators can take timely measures.

[0037] Among them, the propulsion system control module includes main thrusters, auxiliary thrusters, power sources, power regulation units, command receiving and parsing subunits, thruster coordination control subunits, sensor groups, feedback signal processing and sending subunits. The main thrusters provide the main propulsion force for the submersible, and cooperate with the intelligent control algorithm module to change the magnitude and direction of the propulsion force. The auxiliary thrusters are used to make fine position and attitude adjustments during the docking process. The power regulation unit cooperates with the intelligent control algorithm module to deliver power to the thrusters. The power source includes a lithium-ion battery to provide energy for the thrusters and has energy storage capabilities. The output power of the power source needs to meet the energy requirements of the thrusters under different working conditions, and It also has a certain energy reserve capacity to cope with emergencies or long-term operation tasks. The sensor group includes a thruster speed sensor, a temperature sensor, and a pressure sensor. The speed sensor is used to monitor the rotation speed of the thruster in order to accurately control the propulsion force. The temperature sensor monitors the temperature of the thruster during operation to prevent overheating. The pressure sensor measures the water pressure around the thruster to provide a reference for adjusting the propulsion force. The feedback signal processing and sending subunit cooperates with the sensor to collect data and process the processed status information: the actual propulsion force size and the working temperature of the thruster are fed back to the intelligent control algorithm module so that the intelligent control algorithm module can make further adjustments and optimizations according to actual conditions.

[0038] Embodiment 4: A manned submersible dynamic docking stability control system provided in the above embodiments is further optimized, and the multi-sensor fusion module, intelligent control algorithm module, propulsion system control module, attitude adjustment mechanism control module, emergency braking system module, wireless communication module, safe separation module and fault warning module communicate with each other through a data bus. By adopting high-performance braking devices and sensors, the response speed and reliability of the emergency braking system are improved to ensure reliable execution in emergency situations. By coordinating the communication of various modules through the data bus, the reliability of the emergency braking system is enhanced, and it is also helpful to quickly transmit status information to other modules through the data bus in an emergency, thereby realizing overall safety control of the system.

[0039] The use process of a manned submersible dynamic docking stability control system provided by the present invention is as follows: The multi-sensor fusion module, intelligent control algorithm module, propulsion system control module, attitude adjustment mechanism control module, emergency braking system module, wireless communication module, safe separation module and fault warning module are installed on the manned submersible, and debugged and calibrated. The position sensor, attitude sensor, speed sensor and pressure sensor in the multi-sensor fusion module begin to monitor the position, attitude, speed and other parameters of the submersible and the position and status of the docking target in real time. When the manned submersible needs to dock with the mother ship or other underwater facilities, the multi-sensor fusion module transmits the monitored data to the intelligent control algorithm module. The intelligent control algorithm module calculates the position, attitude and speed of the submersible according to the formula F = α(x - x0)+ β(y- y0)+ γ(z - z0)+ k1v x + k2v y + k3v z Calculate the control instructions of the propulsion system and the attitude adjustment mechanism, wherein the weight coefficients (α, β, γ) and speed feedback coefficients (k1, k2, k3) are adjusted and optimized according to the actual situation to improve the speed and stability of docking. The intelligent control algorithm module sends the control instructions to the propulsion system control module and the attitude adjustment mechanism control module respectively. The propulsion system control module adjusts the propulsion force and direction of the submersible according to the instructions. The attitude adjustment mechanism control module adjusts the attitude of the submersible according to the instructions, so that the submersible approaches the docking target and maintains a stable docking state. During the docking process, the multi-sensor fusion module continuously monitors the status of the submersible and the docking target, and transmits the data to the intelligent control algorithm module in real time. The intelligent control algorithm module continuously adjusts the control instructions according to the new data, and the propulsion system control module and the attitude adjustment mechanism control module continuously adjust to ensure the stability of docking. If an abnormal situation occurs during the docking process, including the sensor detecting a danger signal or the system failing, the emergency braking system module will be activated immediately: the emergency braking system module controls the propulsion system and the attitude adjustment mechanism to quickly stop the movement of the submersible to ensure safety. At the same time, the fault warning module starts working, and conducts a multi-parameter comprehensive analysis of the sensor data, control instructions, propulsion system parameters, attitude adjustment mechanism status, etc., and displays the fault warning information in an intuitive manner on the submersible's control interface. At the same time, the warning information is sent to the mother ship and other control centers through the wireless communication module. In addition, when it is necessary to disconnect the docking state in an emergency, the safe disconnection module is activated: the high-intensity electromagnetic disconnection device instantly disconnects the submersible from the docking target through high magnetic force Connection, mechanical lock fast release Quickly release the mechanical lock. Before starting the separation, the intelligent control algorithm module calculates the best separation path according to the current ocean environment and the state of the submersible. After separation, the submersible automatically starts the safety assurance system, including the emergency buoyancy device and the navigation system. The emergency buoyancy adjustment system automatically adjusts the output of the buoyancy device according to the weight of the submersible and the current ocean environment to ensure that the submersible can rise stably. During the whole process, the wireless communication module realizes real-time data transmission between the submersible and the mother ship and other control centers, and sends the status information and fault warning information of the submersible to the mother ship and other control centers. At the same time, the mother ship and other control centers can remotely control the submersible through the wireless communication module, adjust system parameters and issue instructions; The manned submersible dynamic docking stability control system of the present invention can adapt to different marine environmental conditions, including the influence of water currents, waves and other factors. The intelligent control algorithm module can adjust the control strategy in real time according to the sensor data, so that the submersible can maintain a stable docking state in different marine environments. The status of the submersible and the docking target is monitored in real time by a variety of sensors, providing accurate and reliable data support for the intelligent control algorithm, improving the accuracy and stability of the docking, performing real-time calculation and adjustment according to multi-sensor data, and accurately controlling the propulsion system and attitude adjustment mechanism, so that the submersible can quickly respond to changes in the marine environment and achieve stable docking. When an abnormal situation occurs during the docking process, the movement of the submersible is stopped in time to ensure the safety of personnel and equipment, and to achieve real-time data transmission and remote control between the submersible and the mother ship or other control center, which is convenient for operation and monitoring.

[0040] The overall process is: the system is turned on, the multi-sensor fusion module obtains the position, attitude, speed and other parameters of the submersible and the position and status data of the docking target; the intelligent control algorithm module calculates according to the data to obtain the control instructions of the propulsion system and the attitude adjustment mechanism; the propulsion system control module and the attitude adjustment mechanism control module respectively adjust the propulsion force, direction and attitude of the submersible to make the submersible approach the docking target. In this process, the fault warning module monitors the operating status of each module in real time, including sensor data, control instructions, propulsion system parameters, attitude adjustment mechanism status, etc. Through multi-parameter comprehensive analysis, using machine learning and artificial intelligence technology, potential fault hazards are discovered in advance, the fault type and location are accurately determined, and the fault warning information is displayed in an intuitive way on the control interface of the submersible. At the same time, the warning information is sent to the mother ship and other control centers through the wireless communication module, so that the operator can take timely measures and continuously determine whether the docking is successful. If successful, the docking is terminated, otherwise, monitoring and adjustment are continued. When an abnormal situation occurs during the docking process, the emergency braking system module is started to stop the movement of the submersible. At the same time, the fault warning module The module further strengthens monitoring and analysis to provide more accurate information for subsequent processing. If the abnormal situation is serious and safe separation is required, the safe separation module is activated, and the high-intensity electromagnetic separation device instantly disconnects the connection between the submersible and the docking target through high magnetic force. The mechanical lock quick release system quickly releases the mechanical lock. Before starting the separation, the intelligent control algorithm module calculates the best separation path according to the current ocean environment and the state of the submersible. After separation, the submersible automatically starts the safety assurance system, including the emergency buoyancy device and the navigation system. The emergency buoyancy adjustment system automatically adjusts the output of the buoyancy device according to the weight of the submersible and the current ocean environment to ensure that the submersible can rise steadily. The navigation system uses a variety of navigation technologies, such as inertial navigation, satellite navigation, etc., to ensure that the submersible can accurately determine its position and direction and move towards a safe area. When there is a need for remote control and data transmission, the wireless communication module performs data transmission and sends the status information, fault warning information and related information of the submersible during the safe separation process to the mother ship and other control centers, and receives instructions from the mother ship and other control centers at the same time to better respond to various situations.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific embodiments, or to perform equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A manned submersible dynamic docking stability control system, characterized in that: It includes multi-sensor fusion module, intelligent control algorithm module, propulsion system control module, attitude adjustment mechanism control module, emergency braking system module, wireless communication module, safe separation module and fault warning module; Multi-sensor fusion module: including but not limited to position sensor, attitude sensor, speed sensor and pressure sensor; Intelligent control algorithm module: capable of real-time calculation and adjustment based on the data from the multi-sensor fusion module, controlling the propulsion system control module and the attitude adjustment mechanism control module; Propulsion system control module: capable of adjusting the propulsion force and direction of the submersible according to the instructions of the intelligent control algorithm module; Attitude adjustment mechanism control module: capable of adjusting the attitude of the submersible according to the instructions of the intelligent control algorithm module; Emergency braking system module and wireless communication module: they can stop the movement of the submersible in time when an abnormal situation occurs during the docking process. The submersible can perform real-time data transmission and remote control through the wireless communication module; Safety Detachment Module: enables the submersible to safely and quickly detach from docking in an emergency; Fault warning module: can monitor the system status in real time and issue warning signals in time when potential faults occur.

2. A manned submersible dynamic docking stability control system according to claim 1, characterized in that: The safety detachment module includes a high-strength electromagnetic detachment device and a mechanical lock quick release system. The high-strength electromagnetic detachment device is connected to the docking target through high magnetic force, and the mechanical lock quick release system includes a high-strength mechanical lock, which normally maintains a firm connection between the submersible and the docking target.

3. A manned submersible dynamic docking stability control system according to claim 1, characterized in that: The fault warning module includes sensor data, control instructions, propulsion system parameters, and attitude adjustment mechanism status.

4. A manned submersible dynamic docking stability control system according to claim 1, characterized in that: The intelligent control algorithm module is based on the formula F = α(x - x0) + β(y- y0) + γ(z - z0) + k1v x + k2v y + k3v z Calculate the control instructions of the propulsion system and the attitude adjustment mechanism, the position coordinates of the submersible are (x, y, z), and F is the comprehensive control instructions of the propulsion system and the attitude adjustment mechanism.

5. A manned submersible dynamic docking stability control system according to claim 4, characterized in that: The formula F = α(x - x0) + β(y- y0) + γ(z - z0) + k1v x + k2v y + k3v z The (α, β, γ) are attitude angles, and (v x v y v z ) is the velocity, and (x0, y0, z0) is the position coordinate of the docking target, the α, β, γ are weight coefficients, the k1v x +k2v y + k3v z k1, k2, and k3 are speed feedback coefficients.

6. A manned submersible dynamic docking stability control system according to claim 1, characterized in that: The propulsion system control module includes a main thruster, an auxiliary thruster, a power source, a power regulation unit, a command receiving and parsing subunit, a thruster coordination control subunit, a sensor group, and a feedback signal processing and sending subunit; The main thruster is a device that provides the main propulsion force for the submersible, and cooperates with the intelligent control algorithm module to change the size and direction of the propulsion force. The auxiliary thruster is used to perform fine position and attitude adjustments during the docking process. The power regulation unit cooperates with the intelligent control algorithm module to deliver power to the thruster.

7. A manned submersible dynamic docking stability control system according to claim 6, characterized in that: The power source includes a lithium-ion battery, which provides energy for the propeller and has energy storage capability.

8. A manned submersible dynamic docking stability control system according to claim 6, characterized in that: The sensor group includes a propeller speed sensor, a temperature sensor, and a pressure sensor. The speed sensor is used to monitor the rotation speed of the propeller in order to accurately control the propulsion force. The temperature sensor monitors the temperature of the propeller during operation to prevent overheating. The pressure sensor measures the water pressure around the propeller.

9. A manned submersible dynamic docking stability control system according to claim 6, characterized in that: The feedback signal processing and sending subunit cooperates with the sensor to collect data for processing.

10. A manned submersible dynamic docking stability control system according to claim 1, characterized in that: The multi-sensor fusion module, intelligent control algorithm module, propulsion system control module, attitude adjustment mechanism control module, emergency braking system module, wireless communication module, safe separation module and fault warning module communicate with each other through a data bus.

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