Manned submersible special for inland river culvert operation and operation process

Abstract

The invention discloses a manned submersible special for inland river culvert operation and an operation process. The manned submersible comprises a submersible chamber and a cockpit which are connected with each other, a side door is arranged on the side portion of the submersible chamber, the side door is connected with a mother ship saturated diving living cabin, a stern door is arranged below a stern of the submersible chamber, and a winch is arranged in the submersible chamber close to the stern door; a diving chamber carbon dioxide absorption device, a heat supply port, a gas distribution disc and a helium-oxygen telephone set are further sequentially arranged in the diving chamber, and the heat supply port, the gas distribution disc and the helium-oxygen telephone set are all connected with the diver through diving umbilical cords; a plurality of groups of gas cylinders and a group of battery cabins are symmetrically arranged on the outer side of a cabin of the manned submersible; a top cabin door is arranged at the top of the cockpit, and a cockpit carbon dioxide absorption device, a console and a helium-oxygen communication panel are sequentially arranged in the cockpit. According to the invention, long-time light and heavy operation tasks can be carried out in the inland river culvert.

Description

Technical Field

[0001] The present invention relates to the technical field of inland river engineering equipment, and in particular to a manned submersible and an operation process dedicated to inland river culvert operations. Background Art

[0002] At present, there are many reservoirs and rivers. Relevant underwater construction or maintenance tasks are traditionally completed using divers, unmanned or manned submersibles; however, for inland river and reservoir culverts, due to the narrowness in the width and height directions and the long and narrow shape in the length direction of the culvert, both diver operations and submersible operations face great difficulties, specifically including the following problems:

[0003] (1) Diver operations:

[0004] 1.1. Conventional divers cannot reach greater depths (such as depths below 200 meters). At the same time, limited by the gas carried by themselves and the relatively low bottom water temperature, they cannot operate underwater for a long time;

[0005] 1.2. Assuming that saturation diving is used to solve the depth problem, without the cooperation of a diving bell, it is also impossible to ensure the gas and hot water required for long-term diver operations. And if a diving bell is used in cooperation, restricted by the fact that the diving bell can only move vertically up and down along the guide cable, there is no mobility to reach the deep part of the culvert;

[0006] (2) Submersible operations:

[0007] 2.1. The culvert requires frequent operations with high flexibility such as waterproof layer maintenance, crack treatment, damage repair, silt cleaning, and obstacle removal. Traditional unmanned submersibles and manned submersibles only carry specific types of operation tools (such as manipulators) and are unable to perform the flexible operation tasks of the culvert;

[0008] 2.2. Due to the narrow width and height and the horizontally long and narrow characteristics of the culvert, for traditional manned submersibles, their propeller-driven navigation method makes it difficult to avoid collisions with the wall surface during the process of entering and exiting the culvert;

[0009] 2.3. Due to the long and narrow characteristics of the culvert, the acoustic signals of traditional underwater acoustic communication will be reflected by the inner wall of the culvert, resulting in poor underwater acoustic communication quality or even inability to communicate. This will be extremely dangerous for a manned submersible in a culvert with complex terrain. Summary of the Invention

[0010] The applicant of the present invention aims at the above-mentioned disadvantages in the existing production technology and provides a manned submersible and an operation process dedicated to inland river culvert operations, so that it can be conveniently applied to inland river culvert operation projects, overcome the obstacles in the current existing technology, and realize the operation ability with both flexibility and heaviness in the culvert.

[0011] The technical solution adopted by the present invention is as follows:

[0012] A manned submersible dedicated to inland river culvert operations, including a manned submersible. The manned submersible includes a diving chamber and a cockpit that are connected to each other. A side door is provided on the side of the diving chamber, and the side door is connected to the saturation diving accommodation of the mother ship. A stern door is provided below the stern of the diving chamber, and a winch is arranged inside the diving chamber near the stern door; inside the diving chamber, there are also arranged in sequence a diving chamber carbon dioxide absorption device, a heating port, a gas distribution panel, and a helium-oxygen telephone. The heating port, the gas distribution panel, and the helium-oxygen telephone are all connected to the diver's diving suit through a diving umbilical cord. At the same time, the heating port is connected to a supporting hot water supply system, the gas distribution panel is connected to a supporting gas distribution system, and the helium-oxygen telephone is connected to a supporting communication system;

[0013] A plurality of gas cylinders and a battery compartment are symmetrically arranged outside the cabin of the manned submersible;

[0014] A top hatch is provided on the top of the cockpit, and inside the cockpit, there are arranged in sequence a cockpit carbon dioxide absorption device, a control console, and a helium-oxygen communication panel.

[0015] Its further technical solution lies in:

[0016] The diving chamber has a structure with hemispherical shapes on both sides and a cylindrical middle section. One side of the cockpit is a hemispherical structure, the middle section of the cockpit is a cylindrical structure, and the other side of the cockpit is connected to one of the hemispherical shapes of the diving chamber.

[0017] A diving chamber light and a diving chamber camera are arranged above the inside of the diving chamber; a cockpit light and a cockpit camera are arranged above the inside of the cockpit.

[0018] It also includes an ROV. The ROV is connected to the manned submersible through a power supply and gas supply cable, and the ROV is connected to the mother ship through an umbilical cable. Inside the ROV, there are arranged multiple operating breathing gas cylinders and an ROV transducer.

[0019] Tracks are installed on the top of the manned submersible, and the tracks move along the top wall surface of the culvert.

[0020] A culvert transducer is placed inside the culvert, and a top transducer and a bottom transducer are respectively arranged on the top and bottom of the manned submersible.

[0021] The hot water supply system includes a water pump. The inlet of the water pump is connected to the river water. The outlet of the water pump branches into two paths. One path is connected to the river water through a safety valve, and the other path is sequentially connected in series with a check valve, an instant hot water electric heater, and a flow dividing valve. Each outlet of the flow dividing valve is connected to a diving suit through a heating port; at the same time, the instant hot water electric heater is connected to the internal battery, and the instant hot water electric heater is also connected to the ROV through a power supply and gas supply cable.

[0022] The gas distribution system includes a gas distribution panel which branches into two paths. One path is connected to the gas cylinder through a cockpit switching valve, and the other path is connected to the external gas supply port of the submersible through a cockpit switching valve. The external gas supply port of the submersible is sequentially connected to the power supply and gas supply cable and the operating breathing gas cylinder.

[0023] The communication system includes a mother ship which is connected to the ROV through an umbilical cable. The manned submersible realizes communication with the mother ship during underwater navigation through the top transducer and the bottom transducer, and realizes communication with the ROV transducer through the transfer of the culvert transducer, and then realizes communication with the mother ship through the umbilical cable when in the culvert.

[0024] The diver realizes communication with the manned submersible through a diving umbilical cord, a helium-oxygen telephone, and a helium-oxygen communication panel.

[0025] A work process of a manned submersible dedicated to inland culvert operations includes the following operating steps:

[0026] S1: Preparation work;

[0027] The mother ship prepares the ROV and the manned submersible.

[0028] S2: Release the ROV;

[0029] The mother ship deck releases the ROV. The ROV drags the umbilical cable, locates the culvert, and enters the inside of the culvert to explore the terrain and the on-site situation of the operation area inside the culvert.

[0030] S3: The ROV enters the inside of the culvert;

[0031] During the process of entering the culvert, at each bend of the culvert, a culvert transducer is placed.

[0032] S4: The ROV lands on the bottom;

[0033] After the ROV reaches the operation area, it turns on the buoyancy adjustment and lands on the bottom.

[0034] S5: Diver preparation;

[0035] On the deck of the mother ship, the inside of the diving chamber is pressurized to the target operation depth with a helium-oxygen mixture. The manned submersible is connected to the saturation diving living chamber on the mother ship deck through the side door. The diver enters the diving chamber from the living chamber. The manned submersible maintains the diver's breathing through the diving chamber carbon dioxide absorption device and the oxygen in the gas cylinder.

[0036] S6: Deploy the manned submersible;

[0037] The mother ship deploys the manned submersible, which sails to the culvert entrance based on the culvert location discovered by the ROV. It then activates buoyancy adjustment, places its top crawler tracks against the top wall of the culvert, and, based on the internal topography and target operating area discovered by the ROV, travels along the top wall until it reaches the vicinity of the ROV inside the culvert. It then activates buoyancy adjustment and settles on the bottom.

[0038] S7: Release the diver;

[0039] The diver puts on a diving suit and opens the stern door to exit the diving chamber after the pressure inside the diving chamber and the outside river water are balanced. After exiting the chamber, the diver uses the hot water generated by the battery in the battery compartment and breathes the helium-oxygen mixture in the cylinder.

[0040] S8: switch between electricity and breathing gas;

[0041] After the diver exits the cabin, the ROV's power and air supply cables are connected to the manned submersible's external power and air interfaces. Power for the entire submersible is then supplied from the mother ship's deck via the power and air supply cables and umbilical cables. The diver's breathing air is switched to the operational breathing air cylinders carried on the ROV, thus eliminating the need for divers to consume large amounts of helium-oxygen mixed gas and hot water during long-term operations.

[0042] S9: Diver operations;

[0043] Divers conduct on-site operations;

[0044] S10: The job is completed;

[0045] After the diver completes the on-site operation, he switches back to the hot water generated by the internal battery heating in the battery compartment and switches to the helium-oxygen mixture in the breathing cylinder; then he disconnects the power and gas supply cables, enters the diving compartment and takes off his diving suit;

[0046] S11: Return of manned submersible;

[0047] The top crawler reattaches to the top of the culvert, exits the culvert, and autonomously sails to the surface before being recovered to the mother ship deck;

[0048] S12: Divers return to the living cabin;

[0049] The side door of the manned submersible is re-sealed with the saturation diving living cabin on the deck of the mother ship, and the divers return from the diving cabin to the living cabin;

[0050] S13: ROV returns;

[0051] Adjust the ROV's buoyancy to keep it away from the culvert wall, then sail out of the culvert and recover it to the deck of the mother ship;

[0052] S14: The job is completed.

[0053] The beneficial effects of the present invention are as follows:

[0054] The present invention designs a unique manned submersible around four core problems: how saturated divers can safely enter and exit narrow and long culverts, as well as the huge amount of hot water, huge amount of breathing gas, and communication with the mother ship that are necessary for long-term operations in the culvert.

[0055] The present invention is equipped with a heavy ROV carrying a large number of operating breathing gas cylinders and enters the inside of the culvert in advance. On the one hand, it scouts the terrain, and on the other hand, it solves the problem of supplying a huge amount of hot water and gas required for divers' long-term operations by making a plug-and-play connection of gas and electricity at the operation site and the ROV, thus avoiding the problems of carrying a large number of gas cylinders, a large number of batteries by itself or having to be equipped with a power supply cable connected to the water surface, making the volume of the manned submersible body smaller and the flexibility higher;

[0056] The present invention solves the problem of easy collision with the culvert wall surface that traditional manned submersibles are prone to rely on propellers to navigate by setting crawlers on the top of the manned submersible and adjusting the underwater buoyancy to make the top crawlers walk closely along the relatively flat and clean top of the culvert. Together with the aforementioned "the volume of the submersible body is smaller and the flexibility is higher", it realizes the safe entry and exit of divers from the culvert;

[0057] In addition, the present invention solves the problem of sound signal reflection of underwater acoustic communication in narrow and long culverts by setting transducers on the ROV, placing transducers at the winding corners when the ROV enters the culvert, and through the umbilical cable between the ROV and the mother ship, realizing real-time communication between the saturated diver and the manned submersible and the mother ship during operation, and between the manned submersible entering and exiting the culvert and the mother ship, greatly ensuring the safety of the diver and the manned submersible.

[0058] The manned submersible of the present invention also carries the operation tools equipped with traditional manned submersibles to make up for the limitations of divers themselves, forming the operation ability inside the culvert with both heavy and flexible operations. Description of the Drawings

[0059] Figure 1 It is a layout schematic diagram of the manned submersible of the present invention.

[0060] Figure 2 It is Figure 1 the top view of

[0061] Figure 3 It is a layout schematic diagram of the gas cylinder and battery compartment of the manned submersible of the present invention.

[0062] Figure 4 It is a working schematic diagram of the ROV and the manned submersible entering and exiting the culvert of the present invention.

[0063] Figure 5This is a schematic diagram of the manned submersible of the present invention in the operating state inside the culvert.

[0064] Figure 6 This is a schematic diagram of the connection between the diver's diving suit and each system of the present invention.

[0065] Figure 7 This is a schematic diagram of the principle of the diver's hot water supply system of the present invention.

[0066] Figure 8 This is a schematic diagram of the principle of the diver's air distribution system of the present invention (specifically showing the connection between the air distribution panel and the gas cylinder).

[0067] Figure 9 This is a schematic diagram of the principle of the communication system of the present invention (specifically showing the connection between the manned submersible and the mother ship).

[0068] Wherein: 1. Diving cabin;

[0069] 101. Side door; 102. Stern door; 103. Winch; 104. Diving cabin carbon dioxide absorption device; 105. Diving cabin light; 106. Stern light; 107. Diving cabin camera;

[0070] 2. Cockpit;

[0071] 201. Top hatch; 202. Cockpit light; 203. Bow light; 204. Imaging and collision avoidance sonar; 205. Cockpit carbon dioxide absorption device; 206. Console; 207. Cockpit camera;

[0072] 3. Manned submersible;

[0073] 301. Helium-oxygen communication panel; 302. Helium-oxygen telephone;

[0074] 4. Heating port;

[0075] 5. Air distribution panel;

[0076] 6. Diving umbilical cord;

[0077] 701. Top transducer; 702. Bottom transducer;

[0078] 8. Gas cylinder;

[0079] 9. Battery compartment;

[0080] 901. Internal battery;

[0081] 10. Crawler;

[0082] 11. ROV;

[0083] 1101. Power supply and gas supply cable; 1102. Umbilical cable; 1103. ROV transducer; 1104. Operating breathing gas cylinder;

[0084] 12. Culvert transducer;

[0085] 13. Culvert;

[0086] 14. Hot water supply system;

[0087] 1401. Inlet; 1402. Water pump; 1403. Check valve; 1404. Safety valve; 1405. Instantaneous electric water heater; 1406. Diverting valve;

[0088] 15. Gas distribution system;

[0089] 16. Communication system;

[0090] 17. Diving suit;

[0091] 18. Mother ship. Detailed implementation manners

[0092] The following combines with the accompanying drawings to illustrate the detailed implementation manners of the present invention.

[0093] As Figures 1-9 shown, the manned submersible dedicated to inland river culvert operation in this embodiment includes a manned submersible 3. The manned submersible 3 includes a diving cabin 1 and a cockpit 2 that are connected to each other. A side door 101 is provided on the side of the diving cabin 1, and the side door 101 is connected to the saturation diving living cabin of the mother ship 18. A stern door 102 is provided below the stern of the diving cabin 1, and a winch 103 is arranged inside the diving cabin 1 near the stern door 102; Inside the diving cabin 1, there are also arranged in sequence a diving cabin carbon dioxide absorption device 104, a heat supply port 4, a gas distribution panel 5, and a helium-oxygen telephone 302. The heat supply port 4, the gas distribution panel 5, and the helium-oxygen telephone 302 are all connected to the diving suit 17 of the diver through a diving umbilical cord 6. At the same time, the heat supply port 4 is connected to a supporting hot water supply system 14, the gas distribution panel 5 is connected to a supporting gas distribution system 15, and the helium-oxygen telephone 302 is connected to a supporting communication system 16;

[0094] A plurality of groups of gas cylinders 8 and a group of battery compartments 9 are symmetrically arranged outside the cabin of the manned submersible 3;

[0095] A top hatch 201 is provided on the top of the cockpit 2, and inside the cockpit 2, there are arranged in sequence a cockpit carbon dioxide absorption device 205, a control console 206, and a helium-oxygen communication panel 301.

[0096] The diving cabin 1 has a structure with hemispherical shapes on both sides and a cylindrical middle section. One side of the cockpit 2 is a hemispherical structure, the middle section of the cockpit 2 is a cylindrical structure, and the other side of the cockpit 2 is connected to one of the hemispherical shapes of the diving cabin 1.

[0097] Above the interior of the diving chamber 1, a diving chamber light 105 and a diving chamber camera 107 are arranged; above the interior of the cockpit 2, a cockpit light 202 and a cockpit camera 207 are arranged.

[0098] It also includes an ROV 11. The ROV 11 is connected to the manned submersible 3 through a power supply and gas supply cable 1101, and the ROV 11 is connected to the mother ship 18 through an umbilical cable 1102. Inside the ROV 11, a plurality of operating breathing gas cylinders 1104 and an ROV transducer 1103 are arranged.

[0099] Tracks 10 are installed on the top of the manned submersible 3, and the tracks 10 run along the top wall surface of the culvert 13.

[0100] A culvert transducer 12 is placed inside the culvert 13, and a top transducer 701 and a bottom transducer 702 are respectively arranged on the top and bottom of the manned submersible 3.

[0101] The hot water supply system 14 includes a water pump 1402. The inlet 1401 of the water pump 1402 is connected to the river water. The outlet of the water pump 1402 branches into two paths. One path is connected to the river water through a safety valve 1404, and the other path is successively connected in series with a check valve 1403, an instant water heater 1405, and a flow dividing valve 1406. Each outlet of the flow dividing valve 1406 is connected to a diving suit 17 through a heat supply port 4; at the same time, the instant water heater 1405 is connected to an internal battery 901, and the instant water heater 1405 is also connected to the ROV 11 through a power supply and gas supply cable 1101.

[0102] The gas distribution system 15 includes a gas distribution panel 5. The gas distribution panel 5 branches into two paths. One path is connected to a gas cylinder 8 through a cockpit switching valve, and the other path is connected to an external gas supply port of the submersible through a cockpit switching valve. The external gas supply port of the submersible is successively connected to a power supply and gas supply cable 1101 and an operating breathing gas cylinder 1104.

[0103] The communication system 16 includes a mother ship 18. The mother ship 18 is connected to the ROV 11 through an umbilical cable 1102. The manned submersible 3 communicates with the mother ship 18 during underwater navigation through the top transducer 701 and the bottom transducer 702, and through the transfer of the culvert transducer 12, further realizes communication with the ROV transducer 1103, and then realizes communication with the mother ship 18 through the umbilical cable 1102 when in the culvert 13;

[0104] The diver communicates with the manned submersible 3 through a diving umbilical cord 6, a helium-oxygen telephone 302, and a helium-oxygen communication panel 301.

[0105] The working process of the manned submersible dedicated to inland river culvert operations in this embodiment includes the following operating steps:

[0106] S1: Preparation work;

[0107] Prepare ROV 11 and manned submersible 3 on mother ship 18;

[0108] S2: Release ROV11;

[0109] The mother ship deck releases ROV11, which tows umbilical cable 1102 to locate culvert 13 and penetrate into culvert 13 to investigate the terrain inside the culvert and the on-site conditions of the operation area.

[0110] S3: ROV11 enters the interior of culvert 13;

[0111] During the process of entering the culvert 13, a culvert transducer 12 is deployed at each bend of the culvert 13;

[0112] S4: ROV11 sits on the bottom;

[0113] After ROV11 reaches the operating area, it activates buoyancy control and settles on the bottom;

[0114] S5: Diver preparation;

[0115] On the deck of the mother ship 18, a helium-oxygen mixture is used to pressurize the interior of the diving chamber 1 to the target operating depth. The manned submersible 3 is connected to the saturation diving living chamber on the deck of the mother ship through the side door 101. The diver enters the diving chamber 1 from the living chamber. The manned submersible 3 maintains the diver's breathing through the diving chamber carbon dioxide absorption device 104 and the oxygen in the gas cylinder 8.

[0116] S6: deploy manned submersible 3;

[0117] The mother ship deploys the manned submersible 3, which navigates to the entrance of the culvert 13 according to the location of the culvert 13 as determined by the ROV 11. The submersible then activates buoyancy control, places the top crawler 10 against the top wall of the culvert 13, and, based on the internal topography and target operating area of the culvert 13 as determined by the ROV 11, travels along the top wall until it reaches the vicinity of the ROV inside the culvert 13. The submersible then activates buoyancy control and settles on the bottom.

[0118] S7: Release the diver;

[0119] The diver puts on a diving suit 17, waits for the pressure inside the diving chamber 1 to be balanced with the pressure of the river water outside, opens the stern door 102 and exits the chamber. After exiting the chamber, the diver uses the hot water heated by the battery 901 inside the battery chamber 9 and breathes the helium-oxygen mixture in the gas cylinder 8.

[0120] S8: switch between electricity and breathing gas;

[0121] After the diver exits the cabin, the power supply and gas supply cable 1101 of the ROV 11 is connected to the external power and gas interfaces of the manned submersible 3. After that, the power of the entire manned submersible 3 is provided by the mother ship deck through the power supply and gas supply cable 1101 and the umbilical cable 1102. The breathing gas of the diver is switched to the operating breathing gas cylinder 1104 carried on the ROV 11, thereby solving the problems of a huge amount of helium-oxygen mixture and hot water consumed by the diver during long-term operation.

[0122] S9: Diver operation;

[0123] The diver conducts on-site operations;

[0124] S10: Operation completed;

[0125] After the diver completes the on-site operation, the hot water generated by heating the internal battery 901 of the battery compartment 9 is switched back, and the helium-oxygen mixture in the breathing gas cylinder 8 is switched back. After that, the power supply and gas supply cable 1101 is disconnected, and the diver enters the diving chamber 1 and takes off the diving suit 17.

[0126] S11: The manned submersible 3 returns;

[0127] The top crawler 10 clings to the top of the culvert 13 again, drives out of the culvert 13, sails autonomously to the water surface, and is recovered to the mother ship deck;

[0128] S12: The diver returns to the living cabin;

[0129] The side door 101 of the manned submersible is re-sealed and connected to the deck saturation diving living cabin of the mother ship 18, and the diver returns from the diving chamber 1 to live in the living cabin;

[0130] S13: The ROV 11 returns;

[0131] Adjust the buoyancy of the ROV 11 to keep it away from the wall of the culvert 13, then sail out of the culvert 13 and be recovered to the deck of the mother ship 18;

[0132] S14: Operation completed.

[0133] The specific structure and functions of the manned submersible dedicated to inland river culvert operations described in the present invention are as follows:

[0134] It mainly includes a manned submersible 3 and an ROV 11.

[0135] Among them, the manned submersible 3 includes a diving cabin 1, a side door 101, a stern door 102, a winch 103, a diving cabin carbon dioxide absorption device 104, a diving cabin light 105, a stern light 106, a diving cabin camera 107, a cockpit 2, a top hatch 201, a cockpit light 202, a bow light 203, an imaging and collision avoidance sonar 204, a cockpit carbon dioxide absorption device 205, a console 206, a cockpit camera 207, a helium-oxygen communication panel 301, a helium-oxygen telephone 302, a heating port 4, a gas distribution panel 5, a diving umbilical cord 6, a top transducer 701, a bottom transducer 702, gas cylinders 8, a battery compartment 9, and crawlers 10.

[0136] Among them, the ROV 11 includes a power supply and gas supply cable 1101, an umbilical cable 1102, an ROV transducer 1103, and an operating breathing gas cylinder 1104.

[0137] The above-mentioned characteristics, arrangements, and connection relationships of each device are as follows:

[0138] The manned submersible 3 is composed of a diving cabin 1 and a cockpit 2; the diving cabin 1 has a structure with hemispheres on both sides and a cylindrical middle section, and one side of the cockpit 2 is hemispherical, the middle section is cylindrical, and the other side is welded to one side hemisphere of the diving cabin 1. The advantage of this structural feature is that the diving cabin 1 can withstand internal and external high pressures, and the cockpit 2 can withstand external high pressures to meet the actual working conditions of the submersible.

[0139] A side door 101 is provided on the side of the middle section of the diving cabin 1 for connection with the saturation diving living cabin on the mother ship deck. A stern door 102 is provided under the stern, a winch 103 is provided near the stern door 102, a diving cabin carbon dioxide absorption device 104 is provided at a suitable location inside, a diving cabin light 105 is provided at the top, and a stern light 106 is provided on the external stern.

[0140] A top hatch 201 and a cockpit light 202 are provided on the top of the cockpit 2, a bow light 203 and an imaging and collision avoidance sonar 204 are provided on the external bow, a cockpit carbon dioxide absorption device 205 is provided at a suitable location inside, and a console 206 is also provided inside.

[0141] The helium-oxygen communication device is divided into a helium-oxygen telephone 302 and a helium-oxygen communication panel 301. The two are connected through a cable passing through the diving cabin wall. The helium-oxygen telephone 302 is provided inside the diving cabin 1 and is connected to the diver through the diving umbilical cord 6. The helium-oxygen communication panel 301 is installed on the console 206.

[0142] Inside the diving cabin 1, a heating port 4 and a gas distribution panel 5 are also provided. The diver's diving suit 17 is connected to the heating port 4, the gas distribution panel 5, and the helium-oxygen telephone 302 through the diving umbilical cord 6. The heating port 4 is connected to the hot water supply system 14 of the manned submersible 3, and the gas distribution panel 5 is respectively connected to the gas cylinders 8 and the external gas supply port of the manned submersible 3 through the cockpit switching valve.

[0143] The manned submersible 3 is provided with walking tracks 10 at the top, and is also equipped with a buoyancy adjustment system;

[0144] The manned submersible 3 is also provided with a hot water supply system 14, and its connection relationship is as follows: the inlet 1401 of the water pump 1402 is connected to the river water, and the outlet is connected to the safety valve 1404 and the check valve 1403 in parallel. The outlet of the safety valve 1404 is connected to the river water, and the outlet of the check valve 1403 is connected to the instant water heater 1405. The outlet of the instant water heater 1405 is connected to the flow dividing valve 1406, and each outlet of the flow dividing valve 1406 is connected to a diving suit 17; its working principle is: the river water is pumped by the water pump 1402 to the instant water heater 1405, heated and then evenly distributed to each diving suit 17 through the flow dividing valve 1406, and finally returns to the river water environment through the drain outlet of the diving suit 17.

[0145] A set of gas cylinders 8 are installed outside the cabin of the manned submersible 3, and their axes are parallel. Some of the gas cylinders 8 are filled with helium-oxygen mixture, and some of the gas cylinders 8 are filled with pure oxygen; the cylindrical battery compartment 9 is also installed outside the manned submersible 3 in a parallel-axis manner, and a battery pack is provided inside.

[0146] The ROV 11 is provided with a power supply and gas supply cable 1101, where the cable can be wet-plugged with the submersible, and the gas pipe is connected to the submersible through a quick connector; it is also provided with an umbilical cable 1102 for power supply from the surface mother ship and communication between the two; it is also provided with an ROV transducer 1103 and a relatively large number of working breathing gas cylinders 1104, and the working breathing gas cylinders 1104 are filled with helium-oxygen mixture;

[0147] The ROV 11 is also provided with a buoyancy adjustment system.

[0148] During the actual working process:

[0149] The mother ship deck releases the ROV 11, and the ROV 11 drags the umbilical cable 1102, locates the culvert 13, and enters the interior of the culvert 13 to explore the terrain and the on-site situation of the operation area inside the culvert 13; during the process of entering the culvert 13, at each bend of the culvert 13, a culvert transducer 12 is evenly placed;

[0150] After the ROV 11 reaches the operation area, it turns on the buoyancy adjustment and sits on the bottom, as Figure 4 shown, the purpose is to avoid entanglement between the umbilical cable 1102 and the manned submersible 3 when the subsequent manned submersible 3 enters the culvert from the top;

[0151] Inside the mother ship's deck, the inside of the diving chamber 1 is pressurized to the target operating depth using a helium-oxygen mixture. The manned submersible 3 is connected to the saturation diving accommodation on the mother ship's deck through the side door 101. Divers enter the diving chamber 1 from the accommodation. The manned submersible maintains the breathing of the divers through the carbon dioxide absorption device 104 in the diving chamber and the oxygen in the gas cylinder 8.

[0152] The mother ship deploys the manned submersible 3. The manned submersible 3 sails to the entrance of the culvert 13 according to the position of the culvert 13 detected by the ROV 11. Then, the buoyancy adjustment is turned on, and the top crawler 10 is closely attached to the top wall surface of the culvert 13. According to the terrain inside the culvert 13 and the position of the target operation area detected by the ROV, it travels along the top wall surface to near the ROV 11 inside the culvert 13, and then turns on the buoyancy adjustment and sits on the bottom. At the same time, the ROV 11 turns on the buoyancy adjustment and floats to the top of the culvert 13, aiming to leave a suitable bottom space for the subsequent divers to exit the cabin ( Figure 5 ). During the process of the manned submersible 3 traveling to the target operation area, it realizes real-time communication with the mother ship's deck through the bottom transducer 702, the culvert transducer 12, the ROV transducer 1103, and the umbilical cable 1102, which can effectively ensure the safety of the submersible ( Figure 9 ).

[0153] The diver wears the diving suit 17. After the pressure inside the diving chamber 1 is balanced with the outside river water pressure, the stern door 102 is opened to exit the cabin (as Figure 1 shown). After exiting the cabin, the hot water generated by heating with the battery of the submersible itself is used, and at the same time, the helium-oxygen mixture in the breathing gas cylinder 8 is breathed.

[0154] After the diver exits the cabin, the power supply and gas supply cable 1101 of the ROV 11 is connected to the external power and gas interfaces of the manned submersible 3. Then, the power of the entire submersible 3 is provided by the mother ship's deck through the power supply and gas supply cable 1101 and the umbilical cable 1102, which can solve the problem of a large amount of hot water consumed by the diver during long-term operations. At the same time, the breathing gas of the diver is switched to the operation breathing gas cylinder 1104 carried on the ROV, which can solve the problems of a large amount of helium-oxygen mixture and hot water consumed by the diver during long-term operations.

[0155] The diver conducts on-site operations. If a heavy task is encountered during the operation, the manipulator of the manned submersible 3 is operated, or the diver uses the electric or hydraulic-driven operation tools carried in the diving chamber 1 to complete it.

[0156] After the diver completes the on-site operation, the hot water supply system 14 uses the battery of the submersible to generate hot water again, and switches back to the helium-oxygen mixture in the gas cylinder 8. Then, the power supply and gas supply cable 1101 is disconnected, and the diver enters the inside of the diving chamber 1 and takes off the diving suit 17. The ROV 11 turns on the buoyancy adjustment device and sits on the bottom again, while the manned submersible 3 starts the buoyancy adjustment device, and the top crawler 10 is closely attached to the top of the culvert again, sails out of the culvert, autonomously navigates to the water surface and is recovered to the mother ship's deck.

[0157] The side door 101 of the manned submersible 3 is sealed and connected to the saturation diving living cabin on the mother ship deck again, and the divers return from the diving cabin 1 to the living cabin;

[0158] The buoyancy of the ROV 11 is adjusted to keep it away from the wall of the culvert 13 , and then it sails out of the culvert 13 and is recovered to the deck of the mother ship.

[0159] Homework completed.

[0160] After the divers of this embodiment go out of the cabin, the mother ship supplies power to solve the problem of electricity required for heating the huge amount of hot water in the diving suit, and the large number of operational breathing cylinders 1104 carried by the ROV solve the problem of supplying a huge amount of helium-oxygen mixed gas; the battery compartment 9 and gas cylinders 8 carried by the manned submersible 3 are only needed for the navigation of the manned submersible 3, the initial exit of the diver, and the preparation for returning to the cabin after the operation is completed. Therefore, the volume of the manned submersible 3 can be greatly reduced, thereby providing a basis for achieving entry and exit from the narrow culvert 13.

[0161] This embodiment uses a buoyancy adjustment device to make the top track 10 close to the relatively clean top wall of the culvert 13. On the basis of the aforementioned reduction in the size of the submersible, it finally achieves entry and exit from the narrow culvert 13, solving the problem of traditional manned submersibles 3 using propellers for automatic or manual navigation and the inevitable collision with the wall of the narrow culvert 13.

[0162] This implementation achieved a balance between heavy-duty operations and flexible operations within culvert 13 by using manipulators and portable working tools and by carrying and releasing saturation divers at the work site.

[0163] This implementation has two safety measures to deal with the dangers posed by the complex terrain inside culvert 13:

[0164] A winch 103 is provided. When a diver encounters dangers such as undercurrent or sudden drop in visibility caused by turbid river water after exiting the chamber, the winch 103 can be activated to pull the diver back into the diving chamber 1.

[0165] When the manned submersible 3 encounters dangers such as entanglement during the process of entering and exiting the culvert 13, the manipulator is started to cut the ROV umbilical cable 1102. Then the submersible is hooked on the umbilical cable 1102, and the umbilical cable 1102 is dragged by the mother ship deck to drag the manned submersible 3 out of the entanglement predicament.

[0166] The lights, cameras, collision avoidance sonars, and imaging sonars of this embodiment are all conventional settings of a submersible and are necessary for the navigation and operation of the submersible.

[0167] This embodiment is equipped with a heavy-duty ROV that carries a large number of operational breathing cylinders, which can enter the culvert in advance. On the one hand, it can detect the terrain. On the other hand, the manned submersible establishes a plug-and-play connection for gas and electricity with the ROV at the work site, effectively solving the problem of supplying a huge amount of hot water and gas required for divers to work for a long time, thereby avoiding the problem of the submersible itself carrying a large number of gas cylinders, a large number of batteries, or having to be equipped with cables, water pipes or air pipes connected to the water surface, making the manned submersible 3 smaller in size and more flexible; on this basis, a crawler 10 is provided on the top of the manned submersible 3, and through underwater buoyancy adjustment, the top crawler 10 is made to fit tightly against the relatively flat and clean top of the culvert 13, and then can penetrate into the culvert 13 and accurately reach the target work area, solving the problem that traditional propeller-driven submersibles are prone to collision with the wall in a narrow culvert, and also solving the problem that traditional diving bells cannot accurately reach the entrance of the culvert 13 and cannot maneuver into the interior of the culvert 13.

[0168] This embodiment also solves the problem of balancing heavy and flexible operations at the culvert operation site by carrying and releasing saturation divers at the operation site and using its own fixed or portable operating tools.

[0169] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any modifications may be made within the scope of protection of the present invention.

Claims

1. A manned submersible specifically for inland river culvert operations, characterized in that: It includes a manned submersible (3), and the manned submersible (3) includes a diving cabin (1) and a cockpit (2) which are connected to each other. A side door (101) is provided on the side of the diving cabin (1), and the side door (101) is connected to the saturation diving accommodation of the mother ship (18). A stern door (102) is provided below the stern of the diving cabin (1), and a winch (103) is arranged inside the diving cabin (1) near the stern door (102); Inside the diving cabin (1), there are also arranged in sequence a diving cabin carbon dioxide absorption device (104), a heating port (4), a gas distribution panel (5) and a helium-oxygen telephone (302). The heating port (4), the gas distribution panel (5) and the helium-oxygen telephone (302) are all connected to the diver's diving suit (17) through a diving umbilical cord (6). At the same time, the heating port (4) is connected to a supporting hot water supply system (14), the gas distribution panel (5) is connected to a supporting gas distribution system (15), and the helium-oxygen telephone (302) is connected to a supporting communication system (16); A plurality of gas cylinders (8) and a battery compartment (9) are symmetrically arranged outside the cabin of the manned submersible (3); A top hatch (201) is provided on the top of the cockpit (2), and inside the cockpit (2), there are arranged in sequence a cockpit carbon dioxide absorption device (205), a console (206) and a helium-oxygen communication panel (301).

2. The manned submersible specifically for inland river culvert operations according to claim 1, wherein: The diving cabin (1) has a structure with hemispherical shapes on both sides and a cylindrical middle section. One side of the cockpit (2) is hemispherical, the middle section of the cockpit (2) is cylindrical, and the other side of the cockpit (2) is connected to one of the hemispherical shapes of the diving cabin (1).

3. A manned submersible specifically for inland river culvert operations as described in claim 1, characterized in that: A diving cabin light (105) and a diving cabin camera (107) are arranged above the inside of the diving cabin (1); A cockpit light (202) and a cockpit camera (207) are arranged above the inside of the cockpit (2).

4. A manned submersible specifically for inland river culvert operations as described in claim 1, characterized in that: It also includes an ROV (11), and the ROV (11) is connected to the manned submersible (3) through a power supply and gas supply cable (1101). The ROV (11) is connected to the mother ship (18) through an umbilical cable (1102). Inside the ROV (11), there are arranged a plurality of operating breathing gas cylinders (1104) and an ROV transducer (1103).

5. The manned submersible dedicated to inland river culvert operations according to claim 4, characterized in that: A crawler (10) is installed on the top of the manned submersible (3), and the crawler (10) travels along the top wall surface of the culvert (13).

6. A manned submersible dedicated to inland river culvert operations according to claim 5, characterized in that: A culvert transducer (12) is arranged in the culvert (13), and a top transducer (701) and a bottom transducer (702) are respectively arranged on the top and bottom of the manned submersible (3).

7. A manned submersible dedicated to inland river culvert operations as claimed in claim 6, characterized in that: The hot water supply system (14) includes a water pump (1402). The inlet (1401) of the water pump (1402) is connected to the river water. The outlet of the water pump (1402) branches into two paths. One path is connected to the river water through a safety valve (1404), and the other path is successively connected in series with a check valve (1403), an instant - type electric water heater (1405), and a flow - dividing valve (1406). Each outlet of the flow - dividing valve (1406) is connected to a diving suit (17) through a heat - supply port (4). At the same time, the instant - type electric water heater (1405) is connected to an internal battery (901), and the instant - type electric water heater (1405) is also connected to the ROV (11) through a power - supply and gas - supply cable (1101).

8. A manned submersible specifically for inland river culvert operations as claimed in claim 1, characterized in that: The gas distribution system (15) includes a gas distribution panel (5). The gas distribution panel (5) branches into two paths. One path is connected to a gas cylinder (8) through a cockpit switching valve, and the other path is connected to an external gas supply port of the submersible through a cockpit switching valve. The external gas supply port of the submersible is successively connected to the power - supply and gas - supply cable (1101) and an operating breathing gas cylinder (1104).

9. A manned submersible dedicated to inland river culvert operations as claimed in claim 7, characterized in that: The communication system (16) includes a mother ship (18). The mother ship (18) is connected to the ROV (11) through an umbilical cable (1102). The manned submersible (3) realizes communication with the mother ship (18) during underwater navigation through a top transducer (701) and a bottom transducer (702), and through the transfer of a culvert transducer (12), further realizes communication with the ROV transducer (1103), and then realizes communication with the mother ship (18) in the culvert (13) through the umbilical cable (1102). The diver realizes communication with the manned submersible (3) through a diving umbilical cord (6), a helium - oxygen telephone (302), and a helium - oxygen communication panel (301).

10. The working process of a manned submersible dedicated to inland river culvert operations, characterized in that: It includes the following operation steps: S1: Preparation work; Prepare the ROV (11) and the manned submersible (3) on the mother ship (18). S2: Release the ROV (11); The mother ship deck releases the ROV (11). The ROV (11) drags the umbilical cable (1102), locates the culvert (13), and enters the interior of the culvert (13) to explore the terrain and the on - site situation of the operation area inside the culvert. S3: The ROV (11) enters the interior of the culvert (13); During the process of entering the culvert (13), at each bend of the culvert (13), place a culvert transducer (12). S4: The ROV (11) lands on the bottom; After the ROV (11) reaches the operation area, turn on the buoyancy adjustment and land on the bottom. S5: Diver preparation; Pressurize the interior of the diving chamber (1) to the target operation depth with a helium - oxygen mixture on the deck of the mother ship (18). The manned submersible (3) is connected to the saturation diving living chamber on the mother ship deck through a side door (101). The diver enters the diving chamber (1) from the living chamber. The manned submersible (3) maintains the diver's breathing through a diving chamber carbon dioxide absorption device (104) and the oxygen in the gas cylinder (8). S6: Deploy the manned submersible (3); The mother ship deploys the manned submersible (3). The manned submersible (3) sails to the entrance of the culvert (13) according to the position of the culvert (13) detected by the ROV (11). Then, the buoyancy is adjusted, and the top crawler (10) is pressed against the top wall of the culvert (13). According to the terrain inside the culvert (13) and the position of the target operation area detected by the ROV (11), it travels along the top wall to near the ROV inside the culvert (13), and then the buoyancy is adjusted and it sits on the bottom. S7: Release the diver. The diver wears the diving suit (17). After the pressure inside the diving chamber (1) is balanced with the outside river water pressure, the stern door (102) is opened and the diver exits the chamber. After exiting the chamber, the diver uses the hot water generated by heating the internal battery (901) in the battery compartment (9), and at the same time breathes the helium-oxygen mixture in the breathing gas cylinder (8). S8: Switch the power supply and breathing gas. After the diver exits the chamber, connect the power supply and gas supply cable (1101) of the ROV (11) to the external power and gas interfaces of the manned submersible (3). Then, the power supply of the entire manned submersible (3) is provided by the mother ship deck through the power supply and gas supply cable (1101) and the umbilical cable (1102). The breathing gas of the diver is switched to the working breathing gas cylinder (1104) carried on the ROV (11), which can solve the problem of the huge amount of helium-oxygen mixture and hot water consumed by the diver during long-term operation. S9: The diver conducts the operation. The diver conducts on-site operations. S10: The operation is completed. After the diver completes the on-site operation, switch back to the hot water generated by heating the internal battery (901) in the battery compartment (9), and switch to the helium-oxygen mixture in the breathing gas cylinder (8). Then, disconnect the power supply and gas supply cable (1101), enter the diving chamber (1) and take off the diving suit (17). S11: The manned submersible (3) returns. The top crawler (10) is pressed against the top of the culvert (13) again, sails out of the culvert (13), and autonomously sails to the water surface and is recovered to the mother ship deck. S12: The diver returns to the living compartment. The side door (101) of the manned submersible is re-sealed and connected to the deck saturation diving living compartment of the mother ship (18), and the diver returns to live in the living compartment from the diving chamber (1). S13: The ROV (11) returns. Adjust the buoyancy of the ROV (11) to make it away from the wall of the culvert (13), then sail out of the culvert (13) and be recovered to the deck of the mother ship (18). S14: The operation is completed.

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