Depth control protection method for micro-miniature unmanned underwater vehicle

Abstract

The invention discloses a depth control protection method for a micro-miniature unmanned underwater vehicle, and belongs to the technical field of unmanned underwater vehicles. Comprising the following steps: monitoring the depth value of the underwater vehicle in real time by using a depth gauge; the main control system calculates the difference value between the current depth value and a preset depth threshold value according to the depth value received from the depth meter and judges the difference value, in the diving stage, the main control system quickly judges the accumulated value of the depth data change, if the accumulated value of the data change is larger than a certain value, the depth change is judged to be the normal change condition, and if the accumulated value of the data change is not larger than a certain value, the depth change is judged to be the normal change condition. Then judging whether the diving stage is finished or not, if so, entering a floating stage, and if not, continuing diving and entering a judgment cycle again; and if the accumulated value of the data change is smaller than a certain value, the equipment enters a protection state immediately, and emergency floating is started. The method has the advantages that the depth state of the underwater vehicle can be accurately judged, protection measures are taken in time, damage or accidents caused by abnormal depth of the underwater vehicle are effectively avoided, and the safety and reliability of the underwater vehicle are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater unmanned submersibles, and in particular relates to a depth control and protection method for a micro-sized underwater unmanned submersible. Background Art

[0002] An underwater unmanned vehicle (UUV), also known as a "diving robot" or "underwater robot", is an intelligent device that can autonomously navigate underwater or be remotely operated. It is often used to replace divers or manned small submarines for high-risk underwater operations such as deep-sea exploration, rescue, and mine removal. It has broad application prospects in the fields of marine scientific research, seabed resource exploration, and military reconnaissance. With the continuous development of research and development technology, the application scenarios of underwater unmanned submersibles have become more and more complex, and the diving depth is also increasing. Therefore, different types of submersibles with different depths have been derived, which can carry different loads for deep-sea exploration. However, these underwater unmanned submersibles contain a variety of sophisticated electronic equipment and sensors, such as depth sensors, navigation systems, communication equipment, etc., which have specific requirements for depth control. Specifically, changes in water pressure at different depths will cause temperature changes, and excessive pressure may cause physical deformation or damage to electronic components. Therefore, it is crucial to protect the depth control of underwater unmanned submersibles. The applicant has made a beneficial design, and the technical solution to be introduced below is produced in this context. Summary of the invention

[0003] The task of the present invention is to provide a depth control protection method for a micro-sized underwater unmanned submersible, aiming to improve the safety and stability of the submersible during underwater operation.

[0004] The object of the present invention is achieved by providing a depth control and protection method for a micro-sized underwater unmanned submersible, comprising the following steps: S1) Use a depth gauge to monitor the depth of the submersible in real time; S2) The main control system calculates the accumulated value of the difference between the current depth value and the preset depth threshold value or the absolute value of the difference according to the depth value received from the depth meter and makes a judgment. In the diving stage, the main control system judges the accumulated value of the depth data change. If the accumulated value of the data change is greater than a certain value, the depth change is determined to be a normal change, and then judges whether the diving stage is over. If it is over, it enters the floating stage. If it is not over, it continues to dive and re-enters the judgment loop; if the accumulated value of the data change is less than a certain value, the equipment immediately enters the protection state and starts emergency floating. In the floating stage, the main control system judges the absolute value of the depth data difference. If the absolute value of the data difference is less than a certain value and the depth value is greater than the preset depth threshold at this time, the floating stage continues. If the absolute value of the data difference is greater than a certain value, the equipment immediately enters the protection state and starts emergency floating. If the main control system judges that the depth change is a normal change and the depth value is less than the preset depth threshold, the main control system stops judging the depth and automatically performs floating communication.

[0005] In a specific embodiment of the present invention, the main control system determines the depth meter data at a set time interval.

[0006] In another specific embodiment of the present invention, during the diving stage, the main control system continuously calculates and determines the cumulative value of the depth data change for multiple times, and during the floating stage, the main control system continuously calculates and determines the absolute value of the depth data difference for multiple times.

[0007] In another specific embodiment of the present invention, the main control system receives data from the depth meter via an RS232 interface using an RS232 communication method.

[0008] In another specific embodiment of the present invention, after the depth gauge feeds back the depth value, if the main control system determines that it exceeds the threshold value, it starts the buoyancy system and the propulsion system to adjust the depth; if it is determined to be over-deep, it starts the jettisoning system to jettison the load to initiate emergency surfacing, so that the submersible can quickly surface and communicate.

[0009] Compared with the prior art, the present invention has the following beneficial effects: it can more accurately judge the depth status of the submersible, take protective measures in time, effectively avoid damage or accidents of the submersible due to abnormal depth, and improve the safety and reliability of the submersible; at the same time, through precise depth control, various underwater tasks can be better completed, and the working efficiency and performance of the submersible can be improved; in addition, the method has strong adaptability and flexibility, and can be adjusted and optimized according to different needs to meet the requirements of various complex underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A block diagram of the device involved in the present invention; Figure 2 The figure is a logic flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0011] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but the description of the embodiments is not a limitation of the technical solution. Any changes in form rather than substance based on the concept of the present invention should be regarded as the protection scope of the present invention.

[0012] In the following description, all concepts related to directionality (or orientation) such as up, down, left, right, front and back are referring to the position state of the figure being described, and are intended to facilitate public understanding. Therefore, they should not be understood as special limitations on the technical solution provided by the present invention.

[0013] The present invention relates to a depth control and protection method for a micro-sized underwater unmanned submersible. The equipment for executing the depth control and protection method includes a main control system, and a depth gauge, a dumping system, a buoyancy system, and a propulsion system connected to the main control system. The depth gauge has high precision and high reliability, and can accurately measure the depth of the submersible, and transmit the collected depth value to the main control system in real time through the RS232 interface and the RS232 communication method. The main control system has powerful data processing capabilities and fast response capabilities, and can analyze and judge the depth gauge data in a timely manner, and accurately control the operating status of the submersible according to the judgment results. The main control system sends instructions to the outside through the RS232 interface and the RS232 communication method to perform depth control. Figure 1 As shown in the figure, for ultra-deep and other abnormal depth conditions, the specific protection process is as follows: after the depth gauge feeds back the depth value, the main control system determines the depth value and calculates the data threshold. If it exceeds the threshold, that is, the depth value is greater than the preset depth threshold, the buoyancy system and propulsion system are started for depth adjustment. If it is ultra-deep, the jettisoning system is started to jettison to start the emergency surfacing procedure, so that the submersible can quickly surface and communicate. The surfacing communication process is usually that the submersible quickly adjusts the buoyancy system (including the amount of oil in the oil bag, pitch, roll, etc.) to the preset value of the surfacing state after receiving the surfacing communication command. After the adjustment is completed, the main propulsion is turned on for rapid surfacing and the state is switched and communication is waited after the main control system judges that the submersible is at sea level through the depth gauge feedback data. Equipment surfacing communication can ensure the timely and accurate transmission of information so that relevant systems or personnel can take corresponding measures.

[0014] The depth control protection method of the present invention comprises the following steps.

[0015] Step S1), start the device and immediately turn on the depth meter to monitor the depth value of the submersible in real time.

[0016] Step S2), the main control system calculates the cumulative value of the difference between the current depth value and the preset depth threshold or the absolute value of the difference according to the received depth value. In the diving stage, the main control system quickly judges the cumulative value of the depth data change: if the cumulative value of the data change is greater than a certain value, the depth change is determined to be a normal change, and then judges whether the diving stage is over. If it is over, it enters the floating stage. If it is not over, it continues to dive and re-enters the judgment loop; if the cumulative value of the data change is less than a certain value, the device immediately enters the protection state and starts the emergency floating program. In the floating stage, the main control system quickly judges the absolute value of the depth data difference: if the absolute value of the data difference is less than a certain value and the depth is greater than the preset depth at this time, the floating stage continues; if the absolute value of the data difference is greater than a certain value, the device immediately enters the protection state and starts the emergency floating program; if the main control system judges that the depth change is a normal change and the depth value is less than the preset depth, the main control system stops judging the depth and automatically executes the floating communication process.

[0017] See Figure 2 , with reference to specific embodiments, the workflow of the present invention is described in detail.

[0018] Step S1), when the device is started, the depth meter is turned on immediately, and the main control system monitors the depth of the submersible in real time by collecting depth count values.

[0019] Step S2), the main control system determines the depth gauge data at the set time interval. In this embodiment, during the diving stage, a rapid depth gauge data judgment is performed every 10 seconds, and the cumulative value of the data changes is calculated three times continuously. If the cumulative value of the three data changes is greater than 0.5m, the main control system determines that the depth change is a normal change, and then determines whether the diving stage is over. If so, the submersible enters the mission stage; if not, the submersible continues to dive. Among them, if the cumulative value of the three data changes is less than 0.5m, the main control system controls the submersible to start the emergency surfacing procedure, and at the same time, the equipment surfacing communication is carried out, and alarms and status information are sent to relevant systems or personnel. During the surfacing stage, the main control system performs a rapid depth gauge data judgment every 1 second, and continuously judges the absolute value of the data difference five times. If the absolute values ​​of the 5 data differences are all less than 25m and the depth is greater than 2m, the main control system will send a continue working command to allow the submersible to continue to float and judge the depth. If the absolute values ​​of the 5 data differences are all greater than 25m, the main control system will send a protection command to make the equipment immediately enter the protection state, start the emergency floating procedure, and at the same time, the equipment will communicate with the surface, and send alarms and status information to related systems or personnel. If the depth changes normally and the depth value is less than 2m during the floating process, the main control system will stop judging the depth and automatically carry out the floating communication process.

[0020] Compared with the prior art, the present invention can more accurately judge the depth status of the submersible, take protective measures in time, and effectively avoid damage or accidents caused by abnormal depth of the submersible, thereby improving the safety and reliability of the submersible; at the same time, due to the precise depth control, various underwater tasks can be better completed, improving the working efficiency and performance of the submersible.

[0021] In practical applications, the judgment conditions and time intervals can be flexibly adjusted according to the specific performance and mission requirements of the submersible. For example, the judgment frequency can be appropriately increased or decreased according to the power performance and endurance requirements of the submersible; for devices with different depth gauges and buoyancy propulsion systems, the data threshold can be appropriately adjusted according to the speed of diving and surfacing.

[0022] In addition, in order to further improve the accuracy and reliability of depth control, other sensors such as pressure sensors, attitude sensors, etc. can be combined. These sensors can provide more reference information to help the main control system more accurately judge the depth and attitude of the submersible.

[0023] In summary, the depth control method mentioned in the present invention can effectively improve the safety and stability of the underwater unmanned submersible during underwater operation, enabling it to better complete various underwater tasks, thereby achieving the purpose of the invention.

Claims

1. A depth control and protection method for a micro-sized underwater unmanned submersible, characterized in that The steps include: S1) Use a depth gauge to monitor the depth of the submersible in real time; S2) The main control system calculates the accumulated value of the difference between the current depth value and the preset depth threshold value or the absolute value of the difference according to the depth value received from the depth meter and makes a judgment. In the diving stage, the main control system judges the accumulated value of the depth data change. If the accumulated value of the data change is greater than a certain value, the depth change is determined to be a normal change, and then judges whether the diving stage is over. If it is over, it enters the floating stage. If it is not over, it continues to dive and re-enters the judgment loop; if the accumulated value of the data change is less than a certain value, the equipment immediately enters the protection state and starts emergency floating. In the floating stage, the main control system judges the absolute value of the depth data difference. If the absolute value of the data difference is less than a certain value and the depth value is greater than the preset depth threshold at this time, the floating stage continues. If the absolute value of the data difference is greater than a certain value, the equipment immediately enters the protection state and starts emergency floating. If the main control system judges that the depth change is a normal change and the depth value is less than the preset depth threshold, the main control system stops judging the depth and automatically performs floating communication.

2. The depth control and protection method of a micro-sized underwater unmanned submersible according to claim 1 is characterized by: The main control system determines the depth meter data at set time intervals.

3. A depth control and protection method for a micro-sized underwater unmanned submersible according to claim 2, characterized in that: During the diving stage, the main control system continuously calculates and determines the accumulated value of the depth data change for multiple times, and during the floating stage, the main control system continuously calculates and determines the absolute value of the depth data difference for multiple times.

4. The depth control and protection method of a micro-sized underwater unmanned submersible according to claim 1 is characterized in that: The main control system receives data from the depth meter via the RS232 interface using the RS232 communication method.

5. The depth control and protection method of a micro-sized underwater unmanned submersible according to claim 1 is characterized by: After the depth gauge feeds back the depth value, if the main control system determines that it exceeds the threshold, it will start the buoyancy system and the propulsion system to adjust the depth. If it is determined to be too deep, it will start the jettisoning system to jettison the load to initiate emergency surfacing, so that the submersible can quickly surface and communicate.

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