Intelligent emergency floating load rejection method for unmanned underwater vehicle

Abstract

The invention provides a load rejection method of a load rejection device for an unmanned underwater vehicle and a load rejection method for underwater equipment, and relates to the technical field of underwater robots and equipment safety self-rescue. The load rejection method comprises the following steps that when the unmanned underwater vehicle runs, power is supplied to an uninterruptible power supply of the load rejection system through a power supply end, a control unit of the load rejection system receives an instruction or autonomously controls a push rod motor of the load rejection device to stretch out, and when a T-shaped shaft connected with a push rod rotates by 90 degrees, a disposable ballast clamping tenon falls off, and a disposable ballast block is thrown out. The load rejection system comprises a load rejection device and a control unit. According to the method, an intelligent control algorithm and a UPS are adopted, load rejection can be completed through autonomous decision making under the condition that the unmanned underwater vehicle is powered off, the process is shown in the figure 1 and the figure 2, and the safety self-rescue behavior that traditional electromagnet load rejection cannot be controlled to complete load rejection due to power failure caused by faults is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment self-rescue and jettisoning, and in particular to a method for jettisoning underwater equipment using a jettisoning device. Background Art At present, the jettisoning devices used by underwater equipment for safe self-rescue mainly use electromagnets, motor drives, and electric fuses as the power devices for jettisoning. Among them, the use of electromagnets for jettisoning control mainly involves directly or indirectly adsorbing the jettisoned load on the electromagnet, and achieving the jettisoning work by controlling the magnetic adsorption capacity of the electromagnet and cooperating with the ballast block; the jettisoning device driven by the underwater motor drives the jettisoning mechanism to unhook through the rotation of the motor to achieve the jettisoning function; and the fuse jettisoning requires power to be turned on to achieve the jettisoning of the fuse.

[0002] In the process of implementing the present invention, the inventors found that the above-mentioned dumping system has at least the following defects: 1. For the powered electromagnet load-releasing device, since it is always powered after the load-releasing system is powered on, the static power is relatively large, which greatly increases the power load of the underwater unmanned submersible, and has a great defect.

[0003] 2. For the power-off electromagnet jettisoning device, although the static power is greatly reduced compared to the power-off electromagnet jettisoning device, the power load on the underwater unmanned submersible can be ignored. However, if the submersible itself fails to power on, the jettisoning function cannot be performed.

[0004] 3. For the motor-driven load-jetting device and the fuse-type load-jetting device, their functional implementation results are the same as those of the energized electromagnet. Therefore, the load-jetting function cannot be performed when the submersible itself suffers from a power failure.

[0005] 4. For the above dumping methods, all of them are performed under manual control or immediately when the power is off. However, the actual state of the underwater unmanned submersible is complex and cannot take into account various complex underwater working conditions and requirements for dumping. Summary of the invention

[0006] In view of the defects existing in the prior art, the purpose of the present invention is to provide a method for jettisoning a jettisoning device for an underwater unmanned submersible, which can perform jettisoning on demand when encountering different working conditions through the intelligent working condition judgment of the jettisoning system, which not only overcomes the inability to perform safe self-rescue in a power-off state, but also can realize the judgment of the jettisoning action under different navigation conditions. In order to achieve the above purpose, the technical solution adopted by the present invention is: The method for jettisoning a load using a jettisoning device for an underwater unmanned submersible is characterized by comprising the following steps: When the underwater equipment is in operation, its power supply control output terminal is electrically connected to the power supply terminal of the loading device, and the UPS in the control unit of the loading device is charged through the power supply terminal. The device determines whether to dump the load according to the control instructions of the upper system or the local autonomous working conditions of the loading device.

[0007] Furthermore, when the control unit issues a load-dumping command, the control command is first transmitted to the control unit of the inverter through the serial port, and then the control unit of the inverter issues it to the power unit of the inverter, outputting control voltage and current to the three-phase motor, and the three-phase motor controls the push rod to throw out the counterweight to complete the load dumping.

[0008] Under normal navigation conditions, the jettisoning device simultaneously collects the working water depth of the test model and feeds it back to the navigation control system in real time. The jettisoning device detects the heartbeat signal between it and the navigation control system, and checks in the navigation control system whether the jettisoning depth gauge data is updated in real time. After the communication with the upper system is disconnected, the jettisoning system can detect the network communication interruption information in real time and start autonomous jettisoning timing.

[0009] The load jettisoning system is able to make local autonomous emergency situation assessments and autonomously jettison loads when it is completely disconnected from the host system.

[0010] Furthermore, when the jettisoning system detects that the model is too deep, the navigation control system and the motion control system have communication failures, and the actual depth reaches the design depth and the communication fails, the actuator is driven to act and autonomously jettison the disposable ballast.

[0011] Furthermore, the load can be dumped autonomously if the following conditions are met: After exceeding the set depth for a period of time.

[0012] The self-depth is invalid, and the depth obtained from the motion control system is judged as excessive depth.

[0013] In the set depth range, the communication between the load jettisoning system and the navigation control system was interrupted and timed out.

[0014] Furthermore, when the underwater unmanned submersible encounters a sudden power outage, the redundant power supply system used by the load jettisoning device will activate the system's own UPS, enter local emergency judgment, intelligently judge the current working conditions, and make a decision on whether to jettison the load.

[0015] Compared with the prior art, the present invention has at least the following effects: 1. The present invention provides a method for jettisoning a load for an underwater unmanned submersible, wherein the redundant power supply system adopted by the method can still perform a jettisoning action when the submersible is completely powered off.

[0016] 2. The intelligent working condition judgment method can enter local emergency when disconnected from the upper system, independently judge different complex working conditions and decide whether to dump the load. This not only overcomes the problem that the traditional load-dumping system cannot perform safe self-rescue in the event of a power outage, but also overcomes the single function of the traditional load-dumping system that it can only dump the load when powered on or off, and can adapt to more and more complex underwater working conditions.

[0017] 3. The underwater unmanned submersible jettisoning system of the present invention includes a jettisoning device and a control unit. The control unit is a PLC, which has high reliability and can work stably and continuously.

[0018] 4. The jettisoning system for underwater unmanned submersibles of the present invention also includes a watertight cabin, and the jettisoning action actuator is placed in the watertight cabin to ensure that it is not affected by the water environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the structure flow of the dumping system; Figure 2 It is a schematic diagram of the structure of the dumping action process; DETAILED DESCRIPTION In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0021] Example 1 In order to solve the problems of high energy consumption and instability of the existing underwater unmanned submersible jettisoning system during jettisoning, an embodiment of the present invention provides an unmanned submersible jettisoning system, which includes a jettisoning device and a control unit.

[0022] In this embodiment, if Figure 1 and Figure 2 As shown, after the jettisoning system is powered on, it first communicates with the motion control system and the navigation control system through the network port. If the communication with all systems is interrupted at this time, it enters the countdown of the preset time. If the communication has not been restored at the end of the countdown, the jettisoning is performed directly.

[0023] When the jettisoning system communicates normally with the motion control system and the navigation control system, the depth will be judged. In order to prevent errors in the acquisition of depth information, the jettisoning system will collect information from the two depth gauges of the motion control system and compare it with the information from the jettisoning system's own depth gauge. If there are ≥2 valid depth gauge information exceeding the predetermined depth and the depth is maintained for ≥3s, the jettisoning system will immediately perform the jettisoning action and record the jettisoning time.

[0024] When the jettisoning system communicates normally with the motion control system and the navigation control system, and under normal navigation conditions, the jettisoning system is periodically scheduled to the underwater main control unit. At this time, the jettisoning system is in a slave state, accepting instructions from the underwater main control unit. At this time, if the jettisoning has been completed, the underwater main control unit can send a loading instruction to the jettisoning system.

[0025] When the jettisoning system communicates normally with the motion control system and the navigation control system and enters an emergency situation, the emergency unit takes over the jettisoning system from the underwater main control unit. At this time, the emergency unit dispatches and manages the jettisoning system and can issue jettisoning instructions to the jettisoning system.

[0026] Once the load jettisoning system loses communication with the navigation control system, the load jettisoning system enters autonomous emergency mode and will autonomously determine whether to jettison the load. The following is the autonomous determination process: If the communication between the jettisoning system and the motion control system is normal at this time, the redundant depth judgment process will be carried out normally. If the depth is detected to be within the preset depth range, the communication interruption timing with the navigation control system will begin. If the communication cannot be restored within the preset time, it is judged that the situation is critical and the jettisoning action will be executed immediately.

[0027] If the jettisoning system and the motion control system communicate normally at this time, the redundant depth judgment process will be carried out normally. If the detected depth is greater than 88% of the preset depth, it will be judged that the unmanned submersible is at risk of sinking at this time, and the jettisoning action will be executed immediately.

[0028] The load-releasing mechanism in this embodiment is a motor-driven screw rod that rotates the T-shaped shaft by 90° to release the tenon connection with the counterweight block and eject the counterweight block.

[0029] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0030] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for jettisoning underwater equipment using a jettisoning device, characterized in that: The following steps are involved: When the underwater equipment is running, its power supply control output terminal is electrically connected to the power supply terminal of the jettisoning device, and the UPS in the control unit of the jettisoning device is charged through the power supply terminal. Determine whether to dump the load based on the control instructions of the upper system or the local autonomous working conditions of the dumping device.

2. The method for jettisoning underwater equipment according to claim 1, characterized in that: When the control unit issues a load dumping command, the control command is first transmitted to the control unit of the inverter through the serial port, and then the control unit of the inverter issues it to the power unit of the inverter, outputting control voltage and current to the three-phase motor. The three-phase motor controls the push rod to throw out the counterweight to complete the load dumping.

3. The method for jettisoning underwater equipment according to claim 2, characterized in that: Under normal navigation conditions, the jettisoning device simultaneously collects the working water depth of the test model and feeds it back to the navigation control system in real time. The jettisoning device detects the heartbeat signal between it and the navigation control system, and checks in the navigation control system whether the jettisoning depth gauge data is updated in real time. After the communication with the upper system is disconnected, the jettisoning system can detect the network communication interruption information in real time and start autonomous jettisoning timing.

4. The method for jettisoning underwater equipment according to claim 3, characterized in that: After the navigation control system enters the emergency state, the emergency unit simultaneously dispatches the jettison system in real time through the network port + serial port, and the jettison system stops the autonomous jettison timing. When the emergency unit dispatches the jettison system, the jettison system receives the dispatch message from a certain channel and replies the status message from the channel; when the two channels are disconnected at the same time, the jettison system can detect the network communication interruption information in real time and start the autonomous jettison timing.

5. The method for jettisoning underwater equipment according to claim 3 or 4, characterized in that: The load jettisoning system is able to make local autonomous emergency situation assessments and autonomously jettison loads when it is completely disconnected from the host system.

6. The method for jettisoning underwater equipment according to claim 5, characterized in that: When the jettisoning system detects that the model is too deep, there is a communication failure between the navigation control system and the motion control system, and the actual depth reaches the design depth and there is a communication failure, the actuator is driven to operate and the disposable ballast is autonomously jettisoned.

7. The method for jettisoning underwater equipment according to claim 6, characterized in that: The ballast is automatically jettisoned when the following conditions are met: in the set depth range, the communication interruption between the ballast jettisoning system and the navigation control system times out; after exceeding the set depth for a period of time; the own depth fails, and the depth obtained from the motion control system is judged as over-depth, and the ballast can be jettisoned autonomously.

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