Emergency maneuvering rapid attitude adjusting mechanism for unmanned underwater vehicle

Abstract

The invention discloses an emergency maneuvering rapid attitude adjusting mechanism for an unmanned underwater vehicle, which mainly comprises an emergency maneuvering controller, a bow top adjusting device, a bow bottom adjusting device, a stern top adjusting device and a stern bottom adjusting device, and can perform matching adjustment underwater according to the working depth and emergency degree of the unmanned underwater vehicle. By means of the emergency maneuvering controller, rapid attitude adjustment of the unmanned underwater vehicle can be achieved, the ability of the underwater vehicle to adapt to underwater complex landforms is improved, the emergency maneuvering ability of the unmanned underwater vehicle can be greatly improved, and underwater operation safety of the underwater vehicle is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned systems and engineering equipment, and specifically to an emergency maneuvering and rapid attitude adjustment mechanism for an unmanned underwater vehicle. Background Art

[0002] With the development and utilization of marine resources, unmanned underwater vehicles are increasingly widely used underwater. The application scenarios faced by the underwater vehicles are also increasing, and the requirements for the emergency maneuvering ability of the underwater vehicles are also getting higher and higher. When an unmanned underwater vehicle is working underwater, the operating environment is complex and the underwater landform is unknown. In case of special situations, emergency maneuvering and rapid attitude adjustment are required to avoid collisions between the unmanned underwater vehicle and underwater mountains, large underwater organisms or structures, surface vessels, etc.

[0003] Regarding the emergency maneuvering and rapid attitude adjustment of unmanned underwater vehicles, there are currently no effective technical means. The known attitude adjustment methods for unmanned underwater vehicles include methods such as buoyancy adjustment and thruster vector adjustment. However, these methods are limited to the conventional maneuvering of unmanned underwater vehicles and cannot perform emergency maneuvers in case of emergencies, making it difficult to quickly adjust the attitude and unable to improve the emergency handling ability of unmanned underwater vehicles in the face of emergencies. Summary of the Invention

[0004] To improve the emergency maneuvering ability of existing underwater unmanned underwater vehicles, the present invention provides an emergency maneuvering and rapid attitude adjustment mechanism that can steplessly match the working depth of the vehicle. It is divided into four combined adjustment mechanisms, which can achieve rapid depth change of the unmanned underwater vehicle in case of emergencies and improve the handling ability in the face of emergencies.

[0005] To achieve the above object, the present invention provides the following technical solution: An emergency maneuvering and rapid attitude adjustment mechanism for an unmanned underwater vehicle, including an emergency maneuvering controller and a plurality of adjustment devices; the plurality of adjustment devices are distributed at the ends and the tail of the unmanned underwater vehicle; the adjustment device includes an air storage mechanism, a jetting mechanism, and an emergency attitude control valve group; both the air storage mechanism and the jetting mechanism are connected to the emergency attitude control valve group through pipelines, wherein at least part of the jetting mechanism is arranged outside the unmanned underwater vehicle, and the air storage mechanism and the emergency attitude control valve group are arranged inside the unmanned underwater vehicle; the emergency maneuvering controller is arranged inside the unmanned underwater vehicle and is electrically connected to the emergency attitude control valve group; the plurality of emergency attitude control valve groups are in parallel.

[0006] Preferably, there are four adjustment devices, and the four adjustment devices are respectively located at the bow top, bow bottom, stern top, and stern bottom of the unmanned underwater vehicle.

[0007] Preferably, the air storage mechanism includes a high-pressure gas storage cylinder and an inflation valve; the inflation valve is integrated on the high-pressure gas storage cylinder.

[0008] Preferably, the emergency attitude control valve group includes a high-frequency switching valve and a depth-fixed proportional matching valve; the high-frequency switching valve and the depth-fixed proportional matching valve are connected by a pipeline; both the high-frequency switching valve and the depth-fixed proportional matching valve are electrically connected to the emergency maneuvering controller.

[0009] Preferably, the jetting mechanism includes a nozzle and a check water avoidance valve; the check water avoidance valve is connected to the nozzle and the emergency attitude control valve group by pipelines; the nozzle is arranged outside the unmanned submersible.

[0010] Preferably, the output direction of the nozzle is perpendicular to the length direction of the unmanned submersible body.

[0011] Preferably, a sealed shell and a pressure compensator are arranged inside the unmanned submersible; the sealed shell and the pressure compensator are connected by a pipeline; the air storage mechanism and the emergency attitude control valve group are both arranged inside the sealed shell.

[0012] Preferably, the emergency attitude control valve group further includes a safety valve and a stop valve, and the safety valve, the stop valve, the high-frequency switching valve and the depth-fixed proportional matching valve are connected by pipelines.

[0013] Preferably, the high-frequency switching valve and the depth-fixed proportional matching valve are both provided with a plurality of different emergency parameters.

[0014] Preferably, the two adjusting devices located at the same end of the unmanned submersible are arranged vertically.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: by providing an emergency maneuvering controller and four adjusting devices connected to the self-owned system of the unmanned submersible, the unmanned submersible obtains the ability of rapid attitude adjustment for emergency maneuvering. This attitude adjustment mechanism can perform matching adjustment underwater according to the working depth and emergency degree of the unmanned submersible. The rapid attitude adjustment of the unmanned vehicle can be realized by using the emergency maneuvering controller, which improves the ability of the submersible to adapt to complex underwater topographies and landforms and ensures the underwater operation safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the layout of the adjustment mechanism of the present invention; Figure 2 is a pneumatic control schematic diagram of the adjustment mechanism of the present invention; Figure 3 is a structural schematic diagram of the adjustment mechanism of the present invention.

[0017] In the figure: 1 bow top adjustment device, 2 bow bottom adjustment device, 3 stern top adjustment device, 4 stern bottom adjustment device, 5 unmanned submersible, 11 high-pressure gas storage cylinder, 12 nozzle, 13 emergency attitude control valve group, 14 check water avoidance valve. DETAILED DESCRIPTION OF THE INVENTION

[0018] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can more clearly understand how to practice the present invention. Although the present invention is described in conjunction with its preferred specific embodiments, these embodiments are only illustrative and do not limit the scope of the present invention.

[0019] As a highly integrated device that travels underwater by remote control or automatic control, the unmanned submersible 5 integrates numerous functional mechanisms such as a power system, a control system, a signal transmitting and receiving system, a vector thruster, and a buoyancy adjustment mechanism. The emergency maneuvering and rapid attitude adjustment mechanism disclosed in this application can cooperate with the self-owned system of the unmanned submersible 5 to achieve emergency maneuvering and rapid attitude adjustment during the underwater navigation of the unmanned submersible.

[0020] Referring to Figures 1-3 , in an embodiment of the present invention, an emergency maneuvering and rapid attitude adjustment mechanism for an unmanned submersible includes: an emergency maneuvering controller (not shown in the figure) and four adjustment devices. The emergency maneuvering controller is installed inside the unmanned submersible and is electrically connected to the self-owned system of the unmanned submersible to receive power supply, signals, and control instructions; the four adjustment devices are respectively arranged at the top of the bow, the bottom of the bow, the top of the stern, and the bottom of the stern. The four adjustment devices are all electrically connected to the emergency maneuvering controller and are in parallel with each other. The emergency maneuvering controller can jointly control the four adjustment devices to realize the on-off control of high-pressure jetting according to the emergency maneuvering requirements of the unmanned submersible, so as to achieve emergency maneuvering and rapid attitude adjustment during the underwater navigation of the unmanned submersible.

[0021] The four adjustment devices are respectively a bow top adjustment device 1 arranged at the top of the bow of the unmanned vehicle, a bow bottom adjustment device 2 arranged at the bottom of the bow of the unmanned vehicle, a stern top adjustment device 3 arranged at the top of the stern of the unmanned vehicle, and a stern bottom adjustment device 4 arranged at the bottom of the stern of the unmanned vehicle. Under the action of the emergency maneuvering controller, the four groups of adjustment devices are generally used in cooperation, that is, the bow top adjustment mechanism cooperates with the stern bottom adjustment mechanism, and the bow bottom adjustment mechanism cooperates with the stern top adjustment mechanism.

[0022] Taking the bow adjustment device 1 as an example, the bow adjustment device 1 includes components such as a high-pressure gas storage cylinder 11, an inflation valve, a nozzle 12, an emergency attitude control valve group 13, a check and water-proof valve 14, connecting pipelines and connecting cables, etc.; the inflation valve is integrated on the high-pressure gas storage cylinder 11 and is used to inflate the gas storage cylinder before the underwater vehicle is launched; both the nozzle 12 and the check and water-proof valve 14 are arranged outside the underwater vehicle, the nozzle 12 is connected to the check and water-proof valve 14 through a connecting pipeline, the check and water-proof valve 14 is connected to the emergency attitude control valve group 13 through a connecting pipeline, the check and water-proof valve 14 is embedded in the shell of the underwater vehicle 5, and the jet direction of the nozzle 12 is perpendicular to the length direction of the underwater vehicle to obtain the maximum jet thrust. When the underwater vehicle is operating normally (without the need for emergency maneuvering), the check and water-proof valve 14 can prevent seawater from flowing back into the emergency adjustment air circuit. The emergency attitude control valve group 13 is connected to the high-pressure gas storage cylinder 11 through a connecting pipeline and is used for the rapid ejection control of high-pressure gas. The emergency attitude control valve group 13 includes a safety valve, a stop valve, a high-frequency switch valve, and a depth-fixed proportional matching valve connected through pipelines. The safety valve is used to control the pressure of the high-pressure gas storage cylinder 11 not to exceed the allowable safety limit, the stop valve is used for the maintenance of the emergency attitude control valve group, the high-frequency switch valve is used to control the on-off of high-pressure gas, and the depth-fixed proportional matching valve is used to adjust the jet speed. Specifically, both the high-frequency switch valve and the depth-fixed proportional matching valve are electrically connected to the emergency maneuver controller; the high-frequency switch valve has the ability to quickly switch under high-pressure conditions and can quickly connect or disconnect high-pressure gas according to the command signal to achieve the output control of the emergency gas source; the depth-fixed proportional matching valve can, according to the depth information of the underwater vehicle received by the emergency maneuver controller, combined with the emergency degree of the underwater vehicle, steplessly match the valve opening degree to achieve the control of the ejection speed of high-pressure gas; by adjusting the switching characteristics of the high-frequency switch valve, the duty cycle of the control command, and combining with the adjustment of the control parameters of the depth-fixed proportional matching valve, different emergency maneuvers can be realized, increasing the flexibility of emergency maneuvering and rapid attitude adjustment.

[0023] The high-pressure gas storage cylinder 11 is designed in a miniaturized manner. After a single emergency maneuver, when the vehicle floats to the water surface, high-pressure gas can be replenished through the inflation valve. When it is necessary to maintain the emergency attitude adjustment valve group, the stop valve can be closed.

[0024] The emergency maneuver controller is electrically connected to the emergency attitude control valve group 13. The emergency maneuver controller is mainly responsible for the adjustment and control of multiple depth-fixed proportional matching valves. The emergency maneuver controller issues a proportional control command by obtaining the working depth of the underwater vehicle, combining the degree of emergency maneuvering required and the safety of the vehicle, and adjusts parameters such as the opening degree, opening ramp, opening time delay, and opening offset of the depth-fixed proportional matching valve to achieve different emergency maneuvering effects.

[0025] In one embodiment, in order to further improve the flexibility of rapid attitude adjustment, a sealed housing is provided on the frame structure of the unmanned submersible. The high-pressure gas storage cylinder 11 and the emergency attitude control valve group 13 are both arranged inside the sealed housing, and different media can be internally provided in the sealed housing according to the working depth of the unmanned submersible in the sea. If the working depth of the unmanned submersible is relatively shallow, the internal medium can be air. If the working depth of the unmanned submersible is relatively deep, the internal medium can be pressure compensation oil, and a pressure compensator needs to be configured at this time.

[0026] Principle description: Take the example that when the unmanned submersible encounters an underwater mountain during constant-depth cruising and needs to make an emergency maneuver to surface to avoid hitting the underwater mountain. First, the emergency maneuver controller receives the emergency level signal and depth signal judged by the submersible, and quickly sets the parameters of the high-frequency switching valve and the depth-setting proportional matching valve. Then, the emergency maneuver controller selects the bow-bottom adjustment device to cooperate with the stern-top adjustment device for rapid attitude adjustment. The bow-bottom adjustment device jets downward, and the stern-top adjustment device jets upward to jointly achieve the upward pitching of the bow of the unmanned submersible. Finally, according to the navigation attitude signal sent by the submersible, the parameters of the high-frequency switching valve and the depth-setting proportional matching valve are finely adjusted in a closed-loop manner to achieve the stable ejection of high-pressure gas. When the vehicle leaves the dangerous area, the bow-top adjustment device can be selected to cooperate with the stern-bottom adjustment device to restore the normal attitude of the vehicle.

[0027] It should be noted that when the unmanned submersible needs an emergency maneuver, the emergency maneuver controller will first judge the working depth of the submersible, calculate the current water pressure according to the working depth, and adjust the parameters of the high-frequency switching valve and the depth-setting proportional matching valve in combination with the emergency level to ensure stable and controllable ejection of high-pressure gas. During the emergency maneuver, the parameters of the high-frequency switching valve and the depth-setting proportional matching valve can be dynamically adjusted through the attitude sensor of the submersible. The emergency level of the unmanned submersible can be specifically divided into disaster level, severe level, and warning level, corresponding to the submersible needing to make rapid attitude adjustments with the largest amplitude, large amplitude, and general amplitude, and the parameter settings of the high-frequency switching valve and the depth-setting proportional matching valve are different.

[0028] Through this technical solution, by setting an emergency maneuver controller and four adjustment devices connected to the own system of the unmanned submersible, the unmanned submersible obtains the ability of rapid attitude adjustment for emergency maneuvers. This attitude adjustment mechanism can be adjusted according to the working depth and emergency level of the unmanned submersible underwater. The emergency maneuver controller can be used to realize the rapid attitude adjustment of the unmanned vehicle, improve the ability of the submersible to adapt to complex underwater topographies and landforms, and ensure the underwater operation safety of the vehicle.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. An emergency maneuvering rapid attitude adjustment mechanism for an unmanned underwater vehicle, characterized in that: The invention comprises an emergency maneuvering controller and a plurality of adjustment devices; the plurality of adjustment devices are distributed at the end and the tail of the unmanned underwater vehicle; the adjustment device comprises an air storage mechanism, an air jet mechanism and an emergency attitude control valve group (13); the air storage mechanism and the air jet mechanism are both connected to the emergency attitude control valve group (13) through a pipeline, wherein the air jet mechanism is at least partially arranged outside the unmanned underwater vehicle, and the air storage mechanism and the emergency attitude control valve group (13) are arranged inside the unmanned underwater vehicle; the emergency maneuvering controller is arranged inside the unmanned underwater vehicle and is connected to the emergency attitude control valve group (13) through a circuit; and the plurality of emergency attitude control valve groups (13) are connected in parallel.

2. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 1, characterized in that: There are four adjustment devices, which are respectively located at the bow top, bow bottom, stern top and stern bottom on the unmanned underwater vehicle.

3. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 1, characterized in that: The gas storage mechanism comprises a high-pressure gas storage bottle (11) and a gas charging valve; the gas charging valve is integrated on the high-pressure gas storage bottle (11).

4. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 1, characterized in that: The emergency attitude control valve group (13) comprises a high-frequency switch valve and a fixed depth ratio matching valve; the high-frequency switch valve and the fixed depth ratio matching valve are connected via a pipeline; and the high-frequency switch valve and the fixed depth ratio matching valve are both connected to the emergency maneuvering controller via a circuit.

5. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 1, characterized in that: The jet mechanism comprises a nozzle (12) and a non-return and water-avoiding valve (14); the non-return and water-avoiding valve (14) is connected to the nozzle (12) and the emergency attitude control valve group (13) through a pipeline; the nozzle (12) is arranged outside the unmanned underwater vehicle.

6. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 5, characterized in that: The output direction of the nozzle (12) is perpendicular to the length direction of the unmanned underwater vehicle body.

7. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 1 or 3, characterized in that: A sealing shell and a pressure compensator are provided inside the unmanned underwater vehicle; the sealing shell and the pressure compensator are connected via a pipeline; the gas storage mechanism and the emergency attitude control valve group (13) are both arranged inside the sealing shell.

8. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 4, characterized in that: The emergency attitude control valve group (13) further comprises a safety valve and a stop valve, wherein the safety valve, the stop valve, the high-frequency switch valve and the fixed depth ratio matching valve are connected via a pipeline.

9. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 4, characterized in that: The high-frequency switching valve and the fixed-depth proportional matching valve are both provided with a plurality of different emergency parameters.

10. The unmanned underwater vehicle emergency maneuvering rapid attitude adjustment mechanism according to claim 2, characterized in that: The two adjustment devices located at the same end of the unmanned underwater vehicle are arranged up and down.

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