Underwater vehicle load rejection control method, system, equipment and medium

Abstract

The invention relates to the field of underwater vehicle control, and discloses an underwater vehicle load rejection control method, system, device and medium, and the method comprises the steps: obtaining detection data and a data type from a detection system, carrying out the event analysis according to the detection data and the data type, so as to obtain a detection event result, carrying out the event judgment of the detection event result, and obtaining a load rejection result. Different load rejection modes are adopted according to different detection event structures; by presetting various load rejection strategies, according to specific problems encountered by the underwater vehicle in different scenes, the most suitable load rejection strategy is flexibly selected and executed, and different load rejection instruction issuing modes are adopted for different types of events, so that the risk of misoperation is effectively reduced, accurate execution of load rejection is ensured, and the load rejection efficiency is improved. The underwater vehicle can adapt to various emergency scenes, and the flexibility and the multi-scene adaptability of the underwater vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the field of underwater vehicle control, and in particular to an underwater vehicle load jettisoning control method, system, equipment and medium. Background Art

[0002] As an important tool for ocean exploration, resource survey and underwater operations, underwater unmanned navigation equipment has received extensive attention and development in recent years. These devices usually have functions such as autonomous navigation, data collection and transmission, and can sail for a long time and long distance in complex underwater environments. Among them, the jettisoning system, as a key component of underwater unmanned navigation equipment, undertakes the important task of releasing extra weight in an emergency to ensure the safe buoyancy of the equipment or adjust the navigation attitude.

[0003] The working environment of underwater unmanned navigation equipment is relatively complex, and underwater unmanned navigation equipment may face a variety of emergency situations; however, existing jettisoning control systems are often only designed for specific jettisoning scenarios and lack sufficient flexibility and multi-scenario adaptability. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide an underwater vehicle load-dumping control method, system, equipment and medium, which preset a variety of load-dumping strategies, flexibly select and execute the most appropriate load-dumping strategy according to the specific problems encountered by the underwater vehicle in different scenarios, and adopt different load-dumping instruction issuance methods for different types of events, which effectively reduces the risk of misoperation and ensures the accurate execution of load-dumping, so that the underwater vehicle can adapt to a variety of emergency scenarios, thereby improving the flexibility and multi-scenario adaptability of the underwater vehicle.

[0005] A first aspect of the present invention provides an underwater vehicle load jettisoning control method, which is applied to an underwater vehicle load jettisoning control system, wherein the underwater vehicle load jettisoning control system comprises: a detection system, a vehicle control system, a load jettisoning control system and a ballast device; the detection system is electrically connected to the vehicle control system, the load jettisoning control system and the ballast device respectively; the vehicle control system is electrically connected to the load jettisoning control system, and the load jettisoning control system is electrically connected to the ballast device; the underwater vehicle load jettisoning control method comprises the following steps:

[0006] Acquire detection data and data types from the detection system, and perform event analysis based on the detection data and data types to obtain detection event results;

[0007] Conduct event judgment on the detection event results;

[0008] When the detection event result is a fault event or a power event, a jettisoning command is issued through the vehicle control system to enable the ballast device to perform a jettisoning operation;

[0009] When the detection event result is any of the three events, namely, a depth event, a water leakage event and a disconnection event, a dumping command is issued through the dumping control system to enable the ballast device to perform the dumping operation;

[0010] When the detection event result is a manual event, the detection system issues a dumping instruction to enable the ballast device to perform the dumping operation.

[0011] Optionally, in a first implementation of the first aspect of the present invention, the detection system includes a fault detector; the acquiring the detection data and the data type, and performing event analysis according to the detection data and the data type to obtain a detection event result, includes:

[0012] When the data type is a fault type, detection data is obtained from the fault detector, and fault data is obtained from the aircraft control system;

[0013] Compare the detection data with the fault data to obtain a comparison result;

[0014] If the comparison result is that the aircraft has a fault, the detection event result is obtained and marked as a fault event.

[0015] Optionally, in a second implementation of the first aspect of the present invention, the detection system includes a power determiner; the acquiring of the detection data and the data type, and performing event analysis according to the detection data and the data type to obtain the detection event result, includes:

[0016] When the data type is a power type, the detection data is obtained from the power judgement device, and the power data is obtained from the aircraft control system;

[0017] Compare the detection data with the power data to obtain a comparison result;

[0018] If the comparison result is that the aircraft is low on battery, a detection event result is obtained and marked as a battery event.

[0019] Optionally, in a third implementation manner of the first aspect of the present invention, the detection system includes a depth sensor; and the acquiring of detection data and data types, and performing event analysis on the detection data and data types to obtain detection event results, includes:

[0020] When the data type is depth type, the detection data is obtained from the depth sensor, and the depth data is obtained from the dumping control system;

[0021] Compare the detection data and the depth data to obtain a comparison result;

[0022] If the comparison result is that the vehicle is too deep, a detection event result is obtained and the detection event result is marked as a depth event.

[0023] Optionally, in a fourth implementation of the first aspect of the present invention, the detection system includes a water leakage sensor; and the acquiring of the detection data and the data type, and performing event analysis on the detection data and the data type to obtain the detection event result, includes:

[0024] When the data type is a water leakage type, detection data is obtained from the water leakage sensor;

[0025] The detection data is judged to be valid. If the judgment result is that the detection data is valid, the detection event result is obtained and the detection event result is marked as a water leakage event.

[0026] Optionally, in a fifth implementation of the first aspect of the present invention, the detection system includes a timing determiner; the acquiring the detection data and the data type, and performing event analysis on the detection data and the data type to obtain the detection event result, includes:

[0027] When the data type is disconnection type, the detection data is obtained from the timing judgement device, and the timing data is obtained from the load dumping control system;

[0028] When the detection data is greater than the timing data, a detection event result is obtained and the detection event result is marked as a disconnection event.

[0029] Optionally, in a sixth implementation of the first aspect of the present invention, the detection system includes an underwater acoustic device; and the acquiring of the detection data and the data type, and performing event analysis on the detection data and the data type to obtain a detection event result, includes:

[0030] When the data type is the manual type, detection data is acquired from the underwater acoustic device;

[0031] The detection data is judged to be valid. If the judgment result is that the detection data is valid, the detection event result is obtained and the detection event result is marked as an artificial event.

[0032] A second aspect of the present invention provides an underwater vehicle load-dumping control system, which includes a control device and a detection system electrically connected to the control device, a vehicle control system, a load-dumping control system and a ballast device, and the control device is used to execute the underwater vehicle load-dumping control method as described above.

[0033] A third aspect of the present invention provides an underwater vehicle dumping control device, the underwater vehicle dumping control device comprising: a memory and at least one processor, the memory storing instructions;

[0034] At least one of the processors calls the instructions in the memory to enable the underwater vehicle load-dumping control device to execute each step of any of the above-mentioned underwater vehicle load-dumping control methods.

[0035] A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored thereon, wherein when the instructions are executed by a processor, each step of any of the above-mentioned underwater vehicle load-dumping control methods is implemented.

[0036] In the technical solution of the present invention, four independent but collaborative systems are provided, namely, a detection system, a vehicle control system, a load jettisoning control system and a ballast device. First, the detection system is used to collect data and identify data types, and then event analysis is performed to obtain detection event results. Subsequently, targeted load jettisoning strategies are adopted according to different event types: fault events or power events are instructed to jettison via the vehicle control system; depth events, water leakage events or disconnection events are directly handled by the load jettisoning control system; and manual events are directly triggered by the detection system to jettison. The technical solution of the present invention presets a variety of load jettisoning strategies, and flexibly selects and executes the most appropriate load jettisoning strategy according to specific problems encountered by underwater vehicles in different scenarios. Different methods of issuing load jettisoning commands are used for different types of events. Even if a system fails, there are independent solutions to deal with it, thereby reducing the risk of misoperation and ensuring the accurate execution of load jettisoning, so that the underwater vehicle can adapt to a variety of emergency scenarios, thereby improving the flexibility and multi-scenario adaptability of the underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 The process of the underwater vehicle jettisoning control method provided by the embodiment of the present invention is Figure 1 ;

[0039] Figure 2 The process of the underwater vehicle jettisoning control method provided by the embodiment of the present invention is Figure 2 ;

[0040] Figure 3 The process of the underwater vehicle jettisoning control method provided by the embodiment of the present invention is Figure 3 ;

[0041] Figure 4 The process of the underwater vehicle jettisoning control method provided by the embodiment of the present invention is Figure 4 ;

[0042] Figure 5The process of the underwater vehicle jettisoning control method provided by the embodiment of the present invention is Figure 5 ;

[0043] Figure 6 The process of the underwater vehicle jettisoning control method provided by the embodiment of the present invention is Figure 6 ;

[0044] Figure 7 The process of the underwater vehicle jettisoning control method provided by the embodiment of the present invention is Figure 7 ;

[0045] Figure 8 A schematic diagram of the structure of an underwater vehicle jettisoning control system provided by an embodiment of the present invention;

[0046] Fig. 9 A schematic diagram of the structure of an underwater vehicle jettisoning control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The present invention provides a method, system, equipment and medium for controlling the jettisoning of underwater vehicles. The present invention sets up four independent but collaborative systems, namely, a detection system, a vehicle control system, a jettisoning control system and a ballast device. First, the detection system is used to collect data and identify data types, and then event analysis is performed to obtain detection event results. Subsequently, targeted jettisoning strategies are adopted according to different event types: fault events or power events are issued with jettisoning instructions through the vehicle control system; depth events, water leakage events or disconnection events are directly handled by the jettisoning control system; and manual events are directly triggered by the detection system to jettison. The technical solution of the present invention presets a variety of jettisoning strategies, and flexibly selects and executes the most appropriate jettisoning strategy according to specific problems encountered by underwater vehicles in different scenarios. Different jettisoning instruction issuing methods are used for different types of events. Even if a system fails, there is an independent solution to deal with it, thereby reducing the risk of misoperation and ensuring the accurate execution of jettisoning, so that the underwater vehicle can adapt to a variety of emergency scenarios, and improving the flexibility and multi-scenario adaptability of the underwater vehicle.

[0048] The terms "first", "second", "third", "fourth", etc. (if any) 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 described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "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.

[0049] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of the underwater vehicle jettisoning control method in the embodiment of the present invention includes:

[0050] The underwater vehicle jettisoning control system comprises: a detection system, a vehicle control system, a jettisoning control system and a ballast device; the detection system is electrically connected to the vehicle control system, the jettisoning control system and the ballast device respectively; the vehicle control system is electrically connected to the jettisoning control system, and the jettisoning control system is electrically connected to the ballast device;

[0051] In one embodiment, the detection system is used to obtain various detection data when the aircraft is sailing, and transmit the detection data to the aircraft control system, the load jettisoning control system and the ballast device through electrical connection; the aircraft control system includes an emergency control system and an aircraft power supply, and the load jettisoning control system includes a load jettisoning control board and a load jettisoning cabin power supply; when the emergency control system is working, it sends a load jettisoning control instruction and a heartbeat signal to the load jettisoning control board, and at the same time, the load jettisoning control board sends power information and a load jettisoning status signal to the emergency control system; two-way communication is implemented between the aircraft control system and the load jettisoning control system; the ballast device is used to perform load jettisoning operations, and the ballast device includes six parallel load jettisoning trigger circuits, which correspond to fault events, power events, depth events, water leakage events, and disconnection events, respectively. and artificial events; when any of these six loops is closed, the ballast device will trigger the dumping of load; among them, the vehicle control system is used to handle fault events and power events. When the detection system transmits these two types of detection data to the vehicle control system, the vehicle control system issues a dumping instruction to the dumping control system, so that the dumping control system controls the ballast device to carry out the dumping operation; the dumping control system is used to handle depth events, water leakage events and disconnection events. When the detection system transmits these three types of detection data to the dumping control system, the dumping control system issues a dumping instruction to the ballast device, so that the ballast device carries out the dumping operation; when the detection system obtains the detection data of artificial events, the detection system directly issues a dumping instruction to the ballast device without going through the vehicle control system and the dumping control system.

[0052] In one embodiment, the ballast device and the jettisoning control system are located together in a jettisoning sealed cabin; the aircraft control system and the jettisoning control system are independently arranged, the aircraft control system is connected to the jettisoning control system through a watertight cable, and the jettisoning control system is independently provided with a jettisoning cabin power supply; when the aircraft operates normally, the aircraft power supply supplies power to the jettisoning cabin power supply.

[0053] In one embodiment, after the aircraft triggers the jettisoning, the depth sensor on the aircraft continuously obtains the diving depth data of the aircraft. When the depth is detected to be zero, that is, when the aircraft returns to the surface, the positioning device carried by the aircraft will send a positioning signal to the outside world, so that the support personnel can determine the position of the aircraft and carry out rescue.

[0054] The underwater vehicle jettisoning control method comprises the following steps:

[0055] 101. Acquire detection data and data types from the detection system, and perform event analysis based on the detection data and data types to obtain detection event results;

[0056] In this embodiment, the detection system collects data from various sensors and subsystems regularly or on demand through preset interfaces and protocols. These data are transmitted in digital form to ensure the accuracy and timeliness of data transmission; after receiving the data, the system will first identify the type of data, classify and store the data according to the data type, and prepare for subsequent processing and analysis; based on the preset event definition and rules, the system will perform event analysis on the pre-processed data, and the events include fault events, power events, depth events, water leakage events, disconnection events and manual events; by analyzing the change trend, abnormal values ​​and statistical characteristics of the data, the system will determine whether the preset event has occurred and generate the detection event results; the detection event results are used to determine whether the aircraft needs to trigger the dumping, and different detection event results are used to determine the way to trigger the dumping.

[0057] 102. Conduct event judgment on the detection event results;

[0058] In this embodiment, the judgment of the detection event result is a key link in the load dumping control process. This link is mainly based on the detection event result obtained from the detection system and preliminarily analyzed, and different methods are used to trigger the load dump according to the detection event result.

[0059] 1021. When the detection event result is a fault event or a power event, a jettisoning instruction is issued through the vehicle control system to enable the ballast device to perform a jettisoning operation;

[0060] In this embodiment, if the detection event result indicates a fault event (the aircraft has a serious fault such as loss of motion control, loss of buoyancy adjustment, loss of external communication, loss of positioning, loss of navigation power, etc.) or a power event (the power supply of the jettison tank is lower than the preset safety threshold), the aircraft control system will immediately issue a jettisoning instruction to the jettisoning control system. The jettisoning control system will control the ballast device to perform the jettisoning operation according to this instruction, and adjust the aircraft's attitude or buoyancy by jettisoning part of the weight to ensure that it can safely return to the water surface or perform emergency obstacle avoidance operations. The aircraft fault judgment and the jettisoning tank power supply judgment are both based on the aircraft control system. Therefore, when these two situations occur, the aircraft control system will issue the jettisoning instruction. During this process, the aircraft control system will monitor the execution of the jettisoning operation in real time and adjust subsequent operation strategies as needed.

[0061] 1022. When the detection event result is any of the three events, namely, a depth event, a water leakage event and a disconnection event, a dumping instruction is issued through the dumping control system to enable the ballast device to perform a dumping operation;

[0062] In this embodiment, if the detection event result indicates a depth event (the depth of the aircraft exceeds the threshold), a water leakage event (the aircraft leaks water) or a disconnection event (the communication between the jettisoning control system and the aircraft control system is disconnected), a jettisoning command is issued through the jettisoning control system. In order to prevent the aircraft control system from being unable to control the jettisoning due to the three situations of excessive depth, water leakage or disconnection, the jettisoning for these three situations will be completed independently by the jettisoning control system to ensure that it can respond quickly in an emergency; the jettisoning control system includes an independent jettisoning tank power supply to ensure that the jettisoning control system can still work normally when the aircraft control system fails; by triggering the ballast device to perform the jettisoning operation, the state of the aircraft can be quickly adjusted to avoid potential safety risks.

[0063] 1023. When the detection event result is a manual event, a dumping instruction is issued through the detection system to enable the ballast device to perform the dumping operation;

[0064] In this embodiment, if the detection event result indicates that it is a manual event (the shore-based operator issues a dumping instruction through the remote control system), the dumping instruction is directly issued to the ballast device through the detection system, and the ballast device is triggered to perform the dumping operation; when the aircraft is lost and the dumping is not triggered due to a failure of the dumping control system, the detection system can receive external manual communication information, and bypass the aircraft control system and the dumping control system, and directly issue the dumping instruction to the ballast device to control the ballast device to trigger the dumping.

[0065] In an embodiment of the present invention, a highly integrated and flexible underwater vehicle dumping control system is provided. The system realizes precise control of underwater vehicle dumping operations through close cooperation of the detection system, the vehicle control system, the dumping control system and the ballast device. The system can obtain various detection data of the vehicle in real time, and perform event analysis according to the data type and preset rules to determine whether it is necessary to perform dumping operations. For different types of events, such as fault events, power events, depth events, water leakage events, disconnection events and manual events, the system adopts different dumping strategies to ensure rapid response and reduce risks in emergency situations. In particular, the system presets a variety of dumping instruction issuance methods. Even if a system fails, the dumping operation can be completed through other independent systems, which improves the reliability and flexibility of the system. The solution provided by the present invention enables underwater vehicles to adapt to a variety of emergency scenarios, improving the flexibility and multi-scenario adaptability of underwater vehicles.

[0066] See also Figure 2 The second embodiment of the underwater vehicle jettisoning control method in the embodiment of the present invention includes:

[0067] The detection system includes a fault detector;

[0068] In this embodiment, the fault detector is used to detect faults such as loss of motion control, loss of buoyancy adjustment, loss of external communication, loss of positioning, and loss of navigation power. When the fault detector detects that the aircraft has the above faults, it will generate detection data. The detection data at this time is used to determine whether the aircraft has a fault.

[0069] 201. When the data type is a fault type, acquiring detection data from a fault detector and acquiring fault data from a vehicle control system;

[0070] In this embodiment, the detection system processes all types of data at the same time. When the data type is a fault type, the detection system obtains detection data from the fault detector and obtains fault data from the aircraft control system. Fault data is used to determine whether the detection data obtained from the fault detector is valid. Fault data generally includes multiple indicators used to measure whether the aircraft is out of control, such as the operating status of the aircraft when the fault occurs, historical fault records, and possible fault warning information. Subsequent data processing is performed based on the fault data and detection data.

[0071] 202. Compare the detection data and the fault data to obtain a comparison result;

[0072] In this embodiment, the detection system uses an algorithm or model to perform a detailed comparison and analysis of the detection data and the fault data. This process is intended to identify any anomalies or inconsistencies, thereby determining whether a fault has actually occurred in the aircraft.

[0073] 203. If the comparison result is that the spacecraft fails, a detection event result is obtained, and the detection event result is marked as a failure event;

[0074] In this embodiment, if the comparison result shows that the aircraft has indeed failed, the detection system immediately generates a detection event result and clearly marks it as a failure event. The detection event result is used to determine whether the aircraft needs to trigger the load jettisoning, and the failure event is used to determine the way the aircraft triggers the load jettisoning. Because the judgment of the failure event is based on the failure data obtained from the aircraft control system, the jettisoning instruction for the failure event is also executed by the aircraft control system.

[0075] See also Figure 3 A third embodiment of the underwater vehicle jettisoning control method in the embodiment of the present invention includes:

[0076] The detection system includes a power determination device;

[0077] In this embodiment, the power determination device is used to obtain real-time power status information from the jettisoning compartment battery. The power status information reflects the current power status of the jettisoning control system; it should be noted that when the jettisoning control system feeds back its power status information to the aircraft control system in real time, when the aircraft is working normally, the battery in the aircraft control system continues to supply power to the battery in the jettisoning control system. When the power supply fails, the power of the jettisoning compartment battery will decrease; in order to avoid jettisoning failure caused by lack of power in the jettisoning compartment battery, the power determination device will generate detection data representing the power of the jettisoning compartment battery after receiving the power status information. The detection data at this time is used to determine whether the jettisoning compartment battery status is sufficient to implement the jettisoning operation.

[0078] 301. When the data type is a power type, obtaining detection data from a power determination device and obtaining power data from a vehicle control system;

[0079] In this embodiment, the detection system processes all types of data at the same time. When the data type is the power type, the detection system obtains detection data from the power determiner and obtains power data from the aircraft control system; the power data is used to determine whether the detection data obtained from the power determiner exceeds the power threshold. Subsequent data processing is performed based on the power data and the detection data.

[0080] 302. Compare the detection data with the power data to obtain a comparison result;

[0081] In this embodiment, the detection data provided by the power determiner is compared with the power data provided by the aircraft control system to determine whether the power status of the load dumping control system is insufficient.

[0082] 303. If the comparison result is that the battery of the aircraft is insufficient, a detection event result is obtained, and the detection event result is marked as a battery event;

[0083] In this embodiment, if the comparison result shows that the aircraft is insufficiently charged, that is, the charge of the jettison compartment reflected by the detection data is lower than the preset safety threshold, the detection system immediately generates a detection event result and clearly marks it as a power event. Because the judgment of the power event is based on the power data obtained from the aircraft control system, the jettison command for the power event is also executed by the aircraft control system.

[0084] See also Figure 4 The fourth embodiment of the underwater vehicle jettisoning control method in the embodiment of the present invention includes:

[0085] The detection system includes a depth sensor;

[0086] In this embodiment, the depth sensor is used to detect the current depth of the underwater vehicle in real time and generate detection data. The detection data at this time is used to determine the navigation depth of the vehicle.

[0087] 401. When the data type is a depth type, acquiring detection data from a depth sensor and acquiring depth data from a load dumping control system;

[0088] In this embodiment, the detection system processes all types of data at the same time. When the data type is depth type, the detection system obtains detection data from the depth sensor and obtains depth data from the dumping control system. The depth data is used to determine whether the detection data obtained from the depth sensor exceeds the depth threshold. Subsequent data processing is performed based on the depth data and the detection data.

[0089] 402. Compare the detection data and the depth data to obtain a comparison result;

[0090] In this embodiment, the detection data is compared with the depth data. The purpose of the comparison is to determine whether the current depth of the vehicle exceeds a preset safety or target range.

[0091] 403. If the comparison result is that the vehicle is too deep, a detection event result is obtained, and the detection event result is marked as a depth event;

[0092] In this embodiment, if the comparison result shows that the current depth of the aircraft exceeds the preset depth, that is, the aircraft is over-deep, the detection system immediately generates a detection event result and clearly marks it as a depth event. It should be noted that, considering that when the operating depth of the aircraft exceeds the preset depth, the aircraft control system may lose control capability, the jettisoning control system independently completes the jettisoning control.

[0093] See also Figure 5 The fifth embodiment of the underwater vehicle load dumping control method in the embodiment of the present invention includes:

[0094] The detection system includes a water leakage sensor;

[0095] In this embodiment, the water leakage sensor is used to detect in real time whether water has penetrated into the interior of the aircraft; the water leakage sensor uses a variety of technical means to achieve water leakage detection, such as conductivity detection, capacitance change detection or optical principles to sense the presence of water and generate detection data; the detection data is used to reflect whether the aircraft has a water leak.

[0096] 501. When the data type is a water leakage type, obtaining detection data from a water leakage sensor;

[0097] In this embodiment, the detection system processes all types of data at the same time. When the data type is a water leakage type, the detection system obtains detection data from the water leakage sensor.

[0098] 502. Perform validity judgment on the detection data. If the judgment result is that the detection data is valid, obtain the detection event result, and mark the detection event result as a water leakage event;

[0099] In this embodiment, the system judges the validity of the detection data obtained from the water leakage sensor to determine whether the data is within a reasonable range to avoid false alarms or missed alarms; according to the design requirements of the aircraft and the actual use environment, a reasonable water leakage detection threshold is set to ensure that an alarm can be triggered when a water leakage occurs; if the judgment result is that the data is valid, the detection system immediately generates a detection event result and clearly marks it as a water leakage event. It should be noted that considering that when the aircraft leaks, the aircraft control system may lose control capability, so the dumping control system independently completes the dumping control.

[0100] See also Figure 6 The sixth embodiment of the underwater vehicle load jettisoning control method in the embodiment of the present invention includes:

[0101] The detection system includes a timing determiner;

[0102] In this embodiment, when the aircraft control system loses connection with the load jettisoning control system, the heartbeat information sent to the load jettisoning control system is lost, the timing judge starts timing, and generates detection data; the detection data is used to reflect the time when the connection between the aircraft control system and the load jettisoning control system is interrupted.

[0103] 601. When the data type is a disconnection type, obtaining detection data from the timing determiner and obtaining timing data from the load dumping control system;

[0104] In this embodiment, the detection system processes all types of data at the same time. When the data type is disconnection type, the detection system obtains detection data from the timing judgement device; at the same time, the system also obtains timing data from the load dumping control system, and the timing data includes a preset connection interruption threshold, the timestamp of the last communication attempt, etc. Subsequent data processing is performed based on the timing data and the detection data.

[0105] 602. When the detection data is greater than the timing data, a detection event result is obtained, and the detection event result is marked as a disconnection event;

[0106] In this embodiment, the system compares the detection data obtained from the timing judgement device with the timing data obtained from the load jettisoning control system. If the detection data (i.e., the duration of the connection interruption) is greater than the timing data (e.g., the preset connection interruption threshold), it indicates that the aircraft has been disconnected from the communication node for more than the allowed time range, and the detection system immediately generates a detection event result and clearly marks it as a disconnection event. It should be noted that, considering that when the communication connection between the aircraft control system and the load jettisoning control system is interrupted, the aircraft control system loses control capability, so the load jettisoning control is completed independently by the load jettisoning control system.

[0107] See also Figure 7 The seventh embodiment of the underwater vehicle load dumping control method in the embodiment of the present invention includes:

[0108] The detection system includes underwater acoustic equipment;

[0109] In this embodiment, when the aircraft is lost and the jettisoning is not triggered due to an aircraft failure, an outsider can put the shore-based hydroacoustic device into the water and send an artificial trigger signal to the underwater acoustic device, which receives and processes the artificial trigger signal and generates detection data. The detection data is used to reflect that the aircraft needs to be manually intervened.

[0110] 701. When the data type is a manual type, acquiring detection data from an underwater acoustic device;

[0111] In this embodiment, the detection system processes all types of data simultaneously, and when the data type is an artificial type, the detection system obtains detection data from the underwater acoustic device.

[0112] 702. Perform validity judgment on the detection data. If the judgment result is that the detection data is valid, obtain the detection event result, and mark the detection event result as a manual event;

[0113] In this embodiment, the system judges the validity of the detection data obtained from the underwater acoustic equipment to determine whether the data is within a reasonable range to avoid false alarms or missed alarms; if the judgment result is that the detection data is valid, that is, the received acoustic signal is true and reliable, then the detection system immediately generates a detection event result and clearly marks it as a manual event; it should be noted that, considering the loss of the aircraft and the failure of the aircraft to trigger the dumping due to a malfunction of the aircraft, the aircraft control system and the dumping control system may both lose control capabilities, so the detection system directly issues a dumping instruction to the ballast device, so that the ballast device performs the dumping operation.

[0114] The above describes the underwater vehicle jettisoning control method in the embodiment of the present invention. The following describes the underwater vehicle jettisoning control system in the embodiment of the present invention. Figure 8 In one embodiment of the present invention, an underwater vehicle jettisoning control system includes:

[0115] A control device 805 and a detection system 801, a vehicle control system 802, a load jettisoning control system 803 and a ballast device 804 electrically connected to the control device 805; the control device 805 is used to execute the underwater vehicle load jettisoning control method as described above.

[0116] The detection system includes a fault detector 8011, a power determiner 8012, a depth sensor 8013, a water leakage sensor 8014, a timing determiner 8015, and an underwater acoustic device 8016.

[0117] Fig. 9 1 is a schematic diagram of the structure of an underwater vehicle jettisoning control device provided by an embodiment of the present invention. The underwater vehicle jettisoning control device 900 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 910 (for example, one or more processors) and a memory 920, and one or more storage media 930 (for example, one or more mass storage devices) storing application programs 933 or data 932. Among them, the memory 920 and the storage medium 930 may be temporary storage or permanent storage. The program stored in the storage medium 930 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the underwater vehicle jettisoning control device 900. Furthermore, the processor 910 may be configured to communicate with the storage medium 930, and execute a series of instruction operations in the storage medium 930 on the underwater vehicle jettisoning control device 900 to implement the steps of the underwater vehicle jettisoning control method provided by the above-mentioned method embodiments.

[0118] The underwater vehicle jettisoning control device 900 may also include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input and output interfaces 960, and / or one or more operating systems 931, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Fig. 9 The structure of the underwater vehicle dumping control device shown does not constitute a limitation of the underwater vehicle dumping control device, and may include more or less components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0119] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the underwater vehicle jettisoning control method.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0121] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0122] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling underwater vehicle load jettisoning, characterized in that: The invention is applied to an underwater vehicle jettisoning control system, the underwater vehicle jettisoning control system comprises: a control device and a detection system electrically connected to the control device, a vehicle control system, a jettisoning control system and a ballast device; the detection system is electrically connected to the vehicle control system, the jettisoning control system and the ballast device respectively; the vehicle control system is electrically connected to the jettisoning control system, and the jettisoning control system is electrically connected to the ballast device; the underwater vehicle jettisoning control method comprises the following steps: Acquire detection data and data types from the detection system, and perform event analysis based on the detection data and data types to obtain detection event results; Conduct event judgment on the detection event results; When the detection event result is a fault event or a power event, a jettisoning instruction is issued through the vehicle control system to enable the ballast device to perform a jettisoning operation; When the detection event result is any of the three events, namely, a depth event, a water leakage event and a disconnection event, a dumping command is issued through the dumping control system to enable the ballast device to perform the dumping operation; When the detection event result is a manual event, the detection system issues a dumping instruction to enable the ballast device to perform the dumping operation.

2. The underwater vehicle load dumping control method according to claim 1, characterized in that: The detection system includes a fault detector; the acquisition of detection data and data types, and event analysis based on the detection data and data types to obtain detection event results include: When the data type is a fault type, detection data is obtained from the fault detector, and fault data is obtained from the aircraft control system; Compare the detection data with the fault data to obtain a comparison result; If the comparison result is that the aircraft has a fault, a detection event result is obtained and the detection event result is marked as a fault event.

3. The underwater vehicle dumping control method according to claim 1, characterized in that: The detection system includes a power determiner; the acquisition of detection data and data types, and event analysis based on the detection data and data types to obtain detection event results include: When the data type is a power type, the detection data is obtained from the power judgement device, and the power data is obtained from the aircraft control system; Compare the detection data with the power data to obtain a comparison result; If the comparison result is that the aircraft is low on battery, a detection event result is obtained and marked as a battery event.

4. The underwater vehicle jettisoning control method according to claim 1, characterized in that: The detection system includes a depth sensor; The acquiring of the detection data and the data type, and performing event analysis on the detection data and the data type to obtain the detection event result, includes: When the data type is depth type, the detection data is obtained from the depth sensor, and the depth data is obtained from the dumping control system; Compare the detection data and the depth data to obtain a comparison result; If the comparison result is that the vehicle is too deep, a detection event result is obtained and the detection event result is marked as a depth event.

5. The underwater vehicle jettisoning control method according to claim 1, characterized in that: The detection system includes a water leakage sensor; The acquiring of the detection data and the data type, and performing event analysis on the detection data and the data type to obtain the detection event result, includes: When the data type is a water leakage type, detection data is obtained from the water leakage sensor; The detection data is judged to be valid. If the judgment result is that the detection data is valid, the detection event result is obtained and the detection event result is marked as a water leakage event.

6. The underwater vehicle load jettisoning control method according to claim 1, characterized in that: The detection system includes a timing judgement device; the acquisition of detection data and data types, and event analysis of the detection data and data types to obtain detection event results, including: When the data type is disconnection type, the detection data is obtained from the timing judgement device, and the timing data is obtained from the load dumping control system; When the detection data is greater than the timing data, a detection event result is obtained and the detection event result is marked as a disconnection event.

7. The underwater vehicle load jettisoning control method according to claim 1, characterized in that: The detection system includes an underwater acoustic device; the acquisition of detection data and data type, and event analysis of the detection data and data type to obtain a detection event result, includes: when the data type is an artificial type, acquiring detection data from the underwater acoustic device; The detection data is judged to be valid. If the judgment result is that the detection data is valid, the detection event result is obtained and the detection event result is marked as an artificial event.

8. An underwater vehicle jettisoning control system, characterized in that: The underwater vehicle load-dumping control system includes a control device and a detection system electrically connected to the control device, a vehicle control system, a load-dumping control system and a ballast device, and the control device is used to execute the underwater vehicle load-dumping control method as described in any one of claims 1 to 7.

9. An underwater vehicle jettisoning control device, characterized in that: The underwater vehicle load-dumping control includes: a memory and at least one processor, wherein instructions are stored in the memory; at least one of the processors calls the instructions in the memory so that the underwater vehicle load-dumping control device executes each step of the underwater vehicle load-dumping control method as described in any one of claims 1-7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the various steps of the underwater vehicle load-dumping control method as described in any one of claims 1 to 7 are implemented.

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