A manned submersible and operation process specially used for inland river culvert operation

Abstract

A kind of manned submersible and operation process special for inland culvert operation, the manned submersible includes interconnected diving cabin and driver cabin, the side of diving cabin is provided with side door, side door is connected with mother ship saturation diving living cabin, the stern of diving cabin is provided with stern door, the inside of diving cabin close to stern door is arranged with winch;Diving cabin inside is also sequentially arranged with diving cabin carbon dioxide absorption device, heating port, gas distribution disc and helium-oxygen telephone, and heating port, gas distribution disc and helium-oxygen telephone are connected with diver through diving umbilical cord;The outside of cabin room of manned submersible is symmetrically arranged with multiple groups of gas cylinder and a group of battery cabin;The top of driver cabin is provided with top cabin door, and driver cabin inside is sequentially arranged with driver cabin carbon dioxide absorption device, control console and helium-oxygen communication panel.The present application can carry out long time, light and heavy operation task in inland culvert.

Description

Technical Field

[0001] This invention relates to the field of inland waterway engineering equipment technology, and in particular to a manned submersible and its operating process specifically designed for inland waterway culvert operations. Background Technology

[0002] Currently, there are numerous reservoirs and rivers, and related underwater construction or maintenance tasks are traditionally completed using divers, unmanned or manned submersibles. However, for inland rivers and reservoir culverts, due to the narrow width and height of the culverts, and their long and narrow length, both divers and submersibles face significant challenges, including the following problems:

[0003] (1) Diver's work:

[0004] 1.1. Conventional divers cannot reach greater depths (e.g., more than 200 meters), and are also limited by their own air volume and the low temperature of the bottom water, so they cannot work underwater for extended periods of time.

[0005] 1.2 Assuming that saturation diving is used to solve the depth problem, without the assistance of a diving bell, it is still impossible to guarantee the gas and hot water required for divers to work for a long time. If a diving bell is used, it is limited by the fact that the diving bell can only move vertically up and down along the guide cable, and there is no mobility to reach the depths of the culvert.

[0006] (2) Submersible operations:

[0007] 2.1 Culverts require frequent and highly flexible operations such as waterproofing layer maintenance, crack repair, damage repair, dredging and obstacle removal. Traditional unmanned submersibles and manned submersibles only carry specific types of work tools (such as robotic arms) and cannot meet the flexible work tasks of culverts.

[0008] 2.2 Due to the narrow width and height and the long and narrow horizontal characteristics of culverts, it is difficult for traditional manned submersibles to avoid collisions with the walls during the process of entering and exiting culverts using their propeller-driven navigation method.

[0009] 2.3 Due to the narrow and elongated nature of culverts, the acoustic signals of traditional underwater acoustic communication are reflected by the inner walls of the culvert, resulting in poor underwater acoustic communication quality or even failure to communicate. This is extremely dangerous for manned submersibles that are in culverts with complex terrain. Summary of the Invention

[0010] In response to the shortcomings of the existing production technologies, the applicant provides a manned submersible and its operating process specifically designed for inland river culvert operations. This allows for convenient application in inland river culvert projects, overcomes the obstacles in the existing technologies, and achieves both flexible and heavy-duty operational capabilities within culverts.

[0011] The technical solution adopted in this invention is as follows:

[0012] A manned submersible specifically designed for inland river culvert operations includes a manned submersible comprising a diving chamber and a cockpit connected to each other. A side door is located on the side of the diving chamber, connecting to a saturation diving living quarters on the mother ship. A stern door is located below the stern of the diving chamber, and a winch is arranged inside the diving chamber near the stern door. Inside the diving chamber, a carbon dioxide absorption device, a heating port, a gas distribution plate, and a helium-oxygen telephone are arranged sequentially. The heating port, gas distribution plate, and helium-oxygen telephone are all connected to the diver's diving suit via a diving umbilical cord. The heating port is connected to a supporting hot water supply system, the gas distribution plate is connected to a supporting gas distribution system, and the helium-oxygen telephone is connected to a supporting communication system.

[0013] Multiple gas cylinders and a battery compartment are symmetrically arranged outside the cabin of the manned submersible.

[0014] The cockpit is equipped with a top hatch, and inside the cockpit are arranged the cockpit carbon dioxide absorption device, the control panel, and the helium-oxygen communication panel.

[0015] Its further technical solution lies in:

[0016] The diving chamber has a hemispherical structure on both sides and a cylindrical structure in the middle. The cockpit has a hemispherical structure on one side and a cylindrical structure in the middle. The other side of the cockpit is connected to one of the hemispheres of the diving chamber.

[0017] The diving chamber lights and diving chamber cameras are located above the interior of the diving chamber; the cockpit lights and cockpit cameras are located above the interior of the cockpit.

[0018] It also includes ROVs, which are connected to the manned submersible via power and air supply cables and to the mother ship via umbilical cables. The ROVs contain multiple working breathing air cylinders and ROV transducers.

[0019] The manned submersible is equipped with tracks on top, which travel along the top wall of the culvert.

[0020] The culvert is equipped with a culvert transducer, and the top and bottom of the manned submersible are equipped with a top transducer and a bottom transducer, respectively.

[0021] The hot water supply system includes a water pump. The inlet of the water pump is connected to the river water, and 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 connected in series with a check valve, an instant electric heater, and a diversion valve. Each outlet of the diversion valve is connected to a diving suit through a heating port. At the same time, the instant electric heater is connected to an internal battery and is also connected to the ROV through a power supply cable.

[0022] The air distribution system includes an air distribution plate, which branches into two paths. One path connects to the air cylinder via a switching valve in the cockpit, and the other path connects to the external air supply port of the submersible via a switching valve in the cockpit. The external air supply port of the submersible is connected in sequence to the power supply cable and the working breathing air cylinder.

[0023] The communication system includes a mother ship, which is connected to the ROV via an umbilical cable. The manned submersible communicates with the mother ship during underwater navigation through top and bottom transducers, and communicates with the ROV transducer via a culvert transducer. Finally, it communicates with the mother ship in the culvert via an umbilical cable.

[0024] Divers communicate with the manned submersible via a diving umbilical cord, a helium-oxygen telephone, and a helium-oxygen communication panel.

[0025] The workflow of a manned submersible specifically designed for inland river culvert operations includes the following steps:

[0026] S1: Preparations;

[0027] Prepare ROVs and manned submersibles on the mother ship;

[0028] S2: Release ROV;

[0029] The mother ship's deck releases the ROV, which tows the umbilical cable to locate the culvert and then goes deep inside the culvert to explore the terrain and the situation of the work area.

[0030] S3: ROV enters the culvert;

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

[0032] S4: ROV bottoming;

[0033] After the ROV arrives at the work area, it activates buoyancy adjustment and settles on the bottom;

[0034] S5: Diver preparation;

[0035] The interior of the diving chamber is pressurized to the target operating depth using a helium-oxygen mixture on the deck of the mother ship. The manned submersible is connected to the saturation diving living quarters on the mother ship deck through a side door. Divers enter the diving chamber from the living quarters. The manned submersible maintains the divers' breathing through the carbon dioxide absorption device in the diving chamber and the oxygen in the gas cylinder.

[0036] S6: Deploy a manned submersible;

[0037] The mother ship deploys a manned submersible. The manned submersible navigates to the entrance of the culvert based on the location of the culvert as determined by the ROV. Then, it activates buoyancy adjustment and presses its top tracks against the top wall of the culvert. Based on the internal terrain of the culvert and the location of the target work area as determined by the ROV, it travels along the top wall to the vicinity of the ROV inside the culvert. After that, it activates buoyancy adjustment and sits on the bottom.

[0038] S7: Release the diver;

[0039] After the diver puts on his diving suit and waits for the pressure inside the diving chamber to equalize with the outside river water, he opens the stern door to exit the chamber. After exiting the chamber, he uses the hot water generated by the batteries in the battery compartment to heat the water, while breathing the helium-oxygen mixture in the air cylinder.

[0040] S8: Switch between power and breathing air;

[0041] After the diver exits the cabin, the power and air supply cables of the ROV are connected to the external power and air interfaces of the manned submersible. The power of the entire manned submersible is then supplied by the mother ship deck through the power and air supply cables and umbilical cables. The diver's breathing air is switched to the working breathing air cylinder carried on the ROV, which solves the problem of the huge amount of helium-oxygen mixture and hot water consumed by the diver during long-term operations.

[0042] S9: Diver's work;

[0043] Divers conduct on-site operations;

[0044] S10: Assignment completed;

[0045] After completing their on-site work, the divers switch back to the hot water generated by the internal battery heating in the battery compartment and switch to the helium-oxygen mixture in their breathing cylinders; then they disconnect the power and air supply cables, enter the diving chamber, and remove their diving suits.

[0046] S11: Manned submersible returns;

[0047] The top track reattaches tightly to the top of the culvert, drives out of the culvert, autonomously navigates to the water surface, and is then retrieved to the mother ship's deck.

[0048] S12: Divers return to their living quarters;

[0049] The side door of the manned submersible was resealed and reconnected to the deck saturation diving living quarters of the mother ship, and the divers returned from the diving chamber to the living quarters.

[0050] S13: ROV returns;

[0051] Adjust the buoyancy of the ROV to move it away from the culvert wall, then sail out of the culvert and return it to the deck of the mother ship;

[0052] S14: Homework completed.

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

[0054] This invention addresses four core challenges: how saturation divers can safely enter and exit narrow and long culverts, the massive amounts of hot water and breathing air required for long-term operations in culverts, and communication with the mother ship. It designs a unique manned submersible.

[0055] This invention is equipped with a heavy-duty ROV carrying a large number of working breathing air cylinders, which enters the culvert in advance to scout the terrain. On the other hand, by making a plug-and-play connection between the ROV and the work site for gas and electricity, it solves the problem of supplying a huge amount of hot water and gas required for divers to work for a long time. This avoids the problem of carrying a large number of air cylinders, a large number of batteries, or having to be equipped with power cables connected to the surface. This makes the manned submersible smaller in size and more flexible.

[0056] This invention, by setting tracks on the top of the manned submersible and adjusting underwater buoyancy, allows the top tracks to move closely along the relatively flat and clean top of the culvert. This, together with the aforementioned "small size and high flexibility of the submersible", solves the problem of collision with the culvert wall that is very easy to occur when traditional manned submersibles rely on propellers for navigation, thus enabling divers to safely enter and exit the culvert.

[0057] In addition, this invention solves the problem of underwater acoustic signal reflection in narrow culverts by setting transducers on the ROV, placing transducers at bends and corners when the ROV enters the culvert, and using the umbilical cable between the ROV and the mother ship. This enables real-time communication between saturation divers during operations and between the manned submersible and the mother ship, as well as between the manned submersible and the mother ship when entering and exiting the culvert, greatly ensuring the safety of divers and manned submersibles.

[0058] The manned submersible of this invention also carries the working tools equipped by traditional manned submersibles to make up for the limitations of the divers themselves, forming a culvert operation capability that combines heavy and flexible operation. Attached Figure Description

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

[0060] Figure 2 for Figure 1 Top view.

[0061] Figure 3 This is a schematic diagram showing the arrangement of the gas cylinders and battery compartment of the manned submersible of the present invention.

[0062] Figure 4 This is a schematic diagram illustrating the operation of the ROV and manned submersible entering and exiting the culvert according to the present invention.

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

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

[0065] Figure 7 This is a schematic diagram of the hot water supply system for divers according to the present invention.

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

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

[0068] Among them: 1. Submersible chamber;

[0069] 101. Side door; 102. Stern door; 103. Winch; 104. Carbon dioxide absorption device for the diving chamber; 105. Diving chamber light; 106. Stern light; 107. Diving chamber 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. Control panel; 207. Cockpit camera;

[0072] 3. Manned submersible;

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

[0074] 4. Heating outlet;

[0075] 5. Valve distribution plate;

[0076] 6. Diving umbilical cord;

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

[0078] 8. Gas cylinders;

[0079] 9. Battery compartment;

[0080] 901. Internal battery;

[0081] 10. Tracks;

[0082] 11. ROV;

[0083] 1101. Power and air supply cables; 1102. Umbilical cables; 1103. ROV transducers; 1104. Operating breathing air cylinders;

[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 heater; 1406, Diverter valve;

[0088] 15. Gas distribution system;

[0089] 16. Communication system;

[0090] 17. Diving suit;

[0091] 18. Mother ship. Detailed Implementation

[0092] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0093] like Figures 1-9 As shown, the manned submersible for inland river culvert operations in this embodiment includes a manned submersible 3. The manned submersible 3 includes a diving chamber 1 and a cockpit 2 connected to each other. A side door 101 is provided on the side of the diving chamber 1, which is connected to the saturation diving living chamber of the mother ship 18. A stern door 102 is provided below the stern of the diving chamber 1. A winch 103 is arranged inside the diving chamber 1 near the stern door 102. A carbon dioxide absorption device 104, a heating port 4, a gas distribution plate 5, and a helium-oxygen telephone 302 are also arranged in sequence inside the diving chamber 1. The heating port 4, the gas distribution plate 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 matching hot water supply system 14, the gas distribution plate 5 is connected to a matching gas distribution system 15, and the helium-oxygen telephone 302 is connected to a matching communication system 16.

[0094] Multiple gas cylinders 8 and a battery compartment 9 are symmetrically arranged outside the cabin of the manned submersible 3.

[0095] The top of the cockpit 2 is equipped with a top hatch 201, and the cockpit 2 is equipped with a cockpit carbon dioxide absorption device 205, a control panel 206 and a helium-oxygen communication panel 301 arranged in sequence.

[0096] The diving chamber 1 has a hemispherical structure on both sides and a cylindrical structure in the middle. The cockpit 2 has a hemispherical structure on one side and a cylindrical structure in the middle. The other side of the cockpit 2 is connected to one of the hemispheres of the diving chamber 1.

[0097] A diving cabin light 105 and a diving cabin camera 107 are arranged inside the upper part of the diving cabin 1; a cockpit light 202 and a cockpit camera 207 are arranged inside the upper part of the cockpit 2.

[0098] It also includes ROV11, which is connected to manned submersible 3 via power and air supply cable 1101 and to mother ship 18 via umbilical cable 1102. ROV11 is equipped with multiple working breathing air cylinders 1104 and ROV transducers 1103.

[0099] The manned submersible 3 is equipped with tracks 10 on its top, which travel along the top wall of the culvert 13.

[0100] A culvert transducer 12 is installed inside the culvert 13, and a top transducer 701 and a bottom transducer 702 are respectively installed 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. The other path is connected in series with a check valve 1403, an instant electric heater 1405, and a diversion valve 1406. Each outlet of the diversion valve 1406 is connected to a diving suit 17 through a heating port 4. At the same time, the instant electric heater 1405 is connected to an internal battery 901. The instant electric heater 1405 is also connected to the ROV 11 through a power supply cable 1101.

[0102] The air distribution system 15 includes an air distribution plate 5, which branches into two paths. One path connects to the air cylinder 8 via a switching valve in the cockpit, and the other path connects to the external air supply port of the submersible via a switching valve in the cockpit. The external air supply port of the submersible is connected in sequence to the power supply cable 1101 and the working breathing air cylinder 1104.

[0103] The communication system 16 includes a mother ship 18, which is connected to the ROV 11 via an umbilical cable 1102. The manned submersible 3 communicates with the mother ship 18 during underwater navigation via a top transducer 701 and a bottom transducer 702, and communicates with the ROV transducer 1103 via a relay through a culvert transducer 12. Furthermore, it communicates with the mother ship 18 in the culvert 13 via the umbilical cable 1102.

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

[0105] The workflow of the manned submersible specifically designed for inland river tunnel operations in this embodiment includes the following steps:

[0106] S1: Preparations;

[0107] Prepare ROV11 and manned submersible 3 on mother ship 18;

[0108] S2: Release ROV11;

[0109] The mother ship's deck released ROV11, which towed umbilical cable 1102 to locate culvert 13 and went deep into culvert 13 to explore the terrain and work area conditions inside the culvert.

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

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

[0112] S4: ROV11 base;

[0113] After the ROV11 arrives at the work area, it activates buoyancy adjustment and settles on the bottom.

[0114] S5: Diver preparation;

[0115] Helium-oxygen mixture is used on the deck of mother ship 18 to pressurize the interior of diving chamber 1 to the target operating depth. Manned submersible 3 is connected to the saturated diving living quarters on the mother ship deck through side door 101. Divers enter diving chamber 1 from the living quarters. Manned submersible 3 maintains the diver's breathing through the carbon dioxide absorption device 104 in the diving chamber and the oxygen in the gas cylinder 8.

[0116] S6: Deploy manned submersible 3;

[0117] The mother ship deploys manned submersible 3. Manned submersible 3 navigates to the entrance of culvert 13 based on the location of culvert 13 as discovered by ROV11. Then, it activates buoyancy adjustment and presses the top track 10 against the top wall of culvert 13. Based on the internal terrain of culvert 13 and the location of the target work area as discovered by ROV11, it travels along the top wall to the vicinity of ROV inside culvert 13. Then, it activates buoyancy adjustment and sits on the bottom.

[0118] S7: Release the diver;

[0119] After the diver puts on the diving suit 17, he opens the stern door 102 to exit the cabin after the pressure inside the diving chamber 1 and outside the river water is equalized. After exiting the cabin, he uses the hot water generated by the battery 901 inside the battery compartment 9 to heat the water, while breathing the helium-oxygen mixture in the air cylinder 8.

[0120] S8: Switch between power and breathing air;

[0121] After the diver exits the cabin, the power and air supply cable 1101 of ROV11 is connected to the external power and air interface of manned submersible 3. Then, the power of manned submersible 3 is supplied by the mother ship deck through the power and air supply cable 1101 and the umbilical cable 1102. The diver's breathing air is switched to the working breathing air cylinder 1104 carried on ROV11, which can solve the problem of the huge amount of helium-oxygen mixture and hot water consumed by the diver during long-term operation.

[0122] S9: Diver's work;

[0123] Divers conduct on-site operations;

[0124] S10: Assignment completed;

[0125] After completing the on-site work, the diver switches back to the hot water heated by the internal battery 901 of the battery compartment 9, and then switches to the helium-oxygen mixture in the breathing cylinder 8; then disconnects the power supply cable 1101, enters the diving chamber 1 and takes off the diving suit 17.

[0126] S11: Manned submersible 3 returns;

[0127] The top track 10 reattaches tightly to the top of the culvert 13, drives out of the culvert 13, autonomously sails to the water surface, and is then retrieved to the mother ship's deck.

[0128] S12: Divers return to their living quarters;

[0129] The manned submersible's side door 101 was resealed and connected to the deck saturation diving living quarters of the mother ship 18, allowing the divers to return from diving chamber 1 to their living quarters.

[0130] S13: ROV11 returns;

[0131] Adjust the buoyancy of ROV11 to move it away from the wall of culvert 13, then sail out of culvert 13 and return to the deck of mother ship 18.

[0132] S14: Homework completed.

[0133] The specific structure and function of the manned submersible for inland river tunnel operations described in this invention are as follows:

[0134] It mainly includes the manned submersible 3 and ROV11.

[0135] The manned submersible 3 includes a diving chamber 1, a side door 101, a stern door 102, a winch 103, a carbon dioxide absorption device for the diving chamber 104, a diving chamber light 105, a stern light 106, a diving chamber 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 carbon dioxide absorption device for the cockpit 205, a control panel 206, a cockpit camera 207, a helium-oxygen communication panel 301, a helium-oxygen telephone 302, a heating port 4, a gas distribution plate 5, a diving umbilical cord 6, a top transducer 701, a bottom transducer 702, a gas cylinder 8, a battery compartment 9, and tracks 10.

[0136] The ROV11 includes a power and air supply cable 1101, an umbilical cable 1102, an ROV transducer 1103, and a working breathing air cylinder 1104.

[0137] The characteristics, layout, and connection relationships of the above-mentioned equipment are as follows:

[0138] The manned submersible 3 consists of a diving chamber 1 and a cockpit 2. The diving chamber 1 has a hemispherical structure on both sides and a cylindrical structure in the middle. The cockpit 2 has a hemispherical structure on one side and a cylindrical structure in the middle. The other side is welded to one side of the diving chamber 1. The advantage of this structural feature is that the diving chamber 1 can withstand high pressure inside and outside, and the cockpit 2 can withstand high external pressure, so as 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 chamber 1 for connecting to the saturation diving living chamber on the deck of the mother ship. A stern door 102 is provided below the stern. A winch 103 is provided near the stern door 102. A carbon dioxide absorption device 104 is provided in a suitable place inside the diving chamber. A diving chamber light 105 is provided on the top. A stern light 106 is provided on the outside of the stern.

[0140] The top of the cockpit 2 is equipped with a top hatch 201 and a cockpit light 202. The bow is equipped with a bow light 203 and an imaging and collision avoidance sonar 204. The cockpit carbon dioxide absorption device 205 is installed in a suitable place inside. The control panel 206 is also installed inside it.

[0141] The helium-oxygen communication device consists of a helium-oxygen telephone 302 and a helium-oxygen communication panel 301, which are connected by a cable passing through the wall of the diving chamber. The helium-oxygen telephone 302 is located inside the diving chamber 1 and is connected to the diver via the diving umbilical cord 6. The helium-oxygen communication panel 301 is installed on the control panel 206.

[0142] Inside the diving chamber 1, there is also a heating port 4 and an air distribution plate 5. The diver's diving suit 17 is connected to the heating port 4, the air distribution plate 5, and the helium-oxygen telephone 302 via a diving umbilical cord 6. The heating port 4 is connected to the hot water supply system 14 of the manned submersible 3. The air distribution plate 5 is connected to the gas cylinder 8 and the external air supply port of the manned submersible 3 via the cockpit switching valve.

[0143] The manned submersible 3 is equipped with a walking track 10 on its top and also has a buoyancy adjustment system.

[0144] The manned submersible 3 is also equipped with a hot water supply system 14, the connection of which 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. The outlet of the safety valve 1404 is connected to the river water, the outlet of the check valve 1403 is connected to the instant electric heater 1405, and the outlet of the instant electric heater 1405 is connected to the diversion valve 1406. Each outlet of the diversion valve 1406 is connected to a diving suit 17. The working principle is as follows: the river water is pumped by the water pump 1402 to the instant electric heater 1405, heated and then evenly distributed to each diving suit 17 through the diversion valve 1406, and finally returned to the river water environment through the drain outlet of the diving suit 17.

[0145] A set of gas cylinders 8 are installed on the outside of the manned submersible 3, with their axes parallel. Some of the gas cylinders 8 are filled with a helium-oxygen mixture, while others are filled with pure oxygen. The cylindrical battery compartment 9 is also installed on the outside of the manned submersible 3 with its axis parallel, and it contains a battery pack.

[0146] The ROV11 is equipped with a power and air supply cable 1101, which can be wet-plugged between the cable and the submersible, and the air hose is connected to the submersible via a quick-connect cable; it is also equipped with an umbilical cable 1102 for power supply from the surface support vessel and communication between the two; it is also equipped with an ROV transducer 1103 and a number of working breathing air cylinders 1104, which are filled with a helium-oxygen mixture;

[0147] The ROV11 is also equipped with a buoyancy adjustment system.

[0148] In actual work process:

[0149] The mother ship's deck releases ROV11, which tows umbilical cable 1102 to locate culvert 13 and enters culvert 13 to explore the terrain and work area conditions inside culvert 13. During the process of entering culvert 13, a culvert transducer 12 is placed at each bend in culvert 13.

[0150] After the ROV11 arrives at the work area, it activates buoyancy adjustment and settles on the bottom. Figure 4 As shown, the purpose is to prevent the umbilical cable 1102 from getting tangled with the manned submersible 3 when it enters the culvert from the top.

[0151] Helium-oxygen mixture is used on the mother ship deck to pressurize the interior of diving chamber 1 to the target operating depth. Manned submersible 3 is connected to the saturated diving living quarters on the mother ship deck through side door 101. Divers enter diving chamber 1 from the living quarters. The manned submersible maintains the divers' breathing through the carbon dioxide absorption device 104 in the diving chamber and the oxygen in the gas cylinder 8.

[0152] The mother ship deploys manned submersible 3. Based on the location of culvert 13 as determined by ROV11, manned submersible 3 navigates to the entrance of culvert 13, then engages buoyancy adjustment, pressing its top track 10 against the top wall of culvert 13. Following the terrain and target work area location determined by the ROV within culvert 13, it travels along the top wall to the vicinity of ROV11 inside culvert 13, then engages buoyancy adjustment and settles on the bottom. Simultaneously, ROV11 engages buoyancy adjustment and rises to the top of culvert 13, the purpose of which is to provide suitable bottom space for subsequent diver exit operations. Figure 5 During the manned submersible 3's journey to the target work area, it achieves real-time communication with the mother ship's deck via the bottom transducer 702, culvert transducer 12, ROV transducer 1103, and umbilical cable 1102, effectively ensuring the submersible's safety. Figure 9 ).

[0153] After donning their diving suits 17, the divers wait for the pressure inside the diving chamber 1 to equalize with the external river water pressure before opening the stern door 102 to exit the chamber (e.g.). Figure 1 (As shown), after exiting the submersible, the user uses the hot water generated by the submersible's own battery to heat the water, while breathing the helium-oxygen mixture in cylinder 8.

[0154] After the diver exits the submersible, the power and air supply cable 1101 of ROV11 is connected to the external power and air interface of manned submersible 3. Then, the power of manned submersible 3 is supplied by the mother ship deck through the power and air supply cable 1101 and the umbilical cable 1102, which can solve the problem of the huge amount of hot water consumed by the diver during long-term operation. At the same time, the diver's breathing air is switched to the working breathing air cylinder 1104 carried on the ROV, which can solve the problem of the huge amount of helium-oxygen mixture and hot water consumed by the diver during long-term operation.

[0155] When divers carry out on-site operations, if they encounter heavy tasks during the operation, they can operate the robotic arm of the manned submersible 3, or the divers can use the electrically or hydraulically driven work tools carried in the diving chamber 1 to complete the task.

[0156] After the divers complete their on-site work, the hot water supply system 14 uses the submersible battery to generate hot water again, switches back to the helium-oxygen mixture in the gas cylinder 8, then disconnects the power and gas supply cable 1101, enters the diving chamber 1, and removes the diving suit 17; the ROV 11 activates the buoyancy adjustment device and sits on the bottom again, while the manned submersible 3 activates the buoyancy adjustment device, the top track 10 is pressed tightly against the top of the culvert, and it drives out of the culvert, autonomously sails to the surface, and is recovered to the mother ship deck.

[0157] The side door 101 of the manned submersible 3 is resealed and connected to the saturation diving living quarters on the mother ship's deck, and the divers return from the diving chamber 1 to the living quarters.

[0158] Adjust the buoyancy of ROV11 to move it away from the wall of culvert 13, then sail out of culvert 13 and return to the mother ship deck.

[0159] Homework completed.

[0160] After the divers exit the capsule, the mother ship provides power to solve the problem of heating the massive amount of hot water in the diving suits. The ROV carries a large number of breathing gas cylinders 1104 to supply the massive amount of helium-oxygen mixture. The battery compartment 9 and gas cylinders 8 carried by the manned submersible 3 are only used for the navigation of the manned submersible 3, the initial exit of the diver, and the preparation for returning to the capsule after the operation is completed. Therefore, the volume of the manned submersible 3 can be greatly reduced, thus providing a basis for entering and exiting the narrow culvert 13.

[0161] This implementation uses a buoyancy adjustment device to ensure that the top track 10 is in close contact with the relatively clean top wall of the culvert 13. Based on the aforementioned reduction in the size of the submersible, it ultimately achieves entry and exit from the narrow culvert 13, solving the problem of easy collision with the wall of the narrow culvert 13 that cannot be avoided by traditional manned submersibles using propellers for automatic or manual navigation.

[0162] This implementation achieves both heavy and flexible operations within culvert 13 by using robotic arms and portable tools, and by carrying and releasing saturation divers at the work site.

[0163] This implementation includes two safety measures to address the dangers posed by the complex terrain within culvert 13:

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

[0165] When the manned submersible 3 encounters dangers such as entanglement during its entry and exit from the culvert 13, the robotic arm is activated to cut the ROV umbilical cable 1102. Then, the submersible hooks onto the umbilical cable 1102, and the mother ship's deck drags the umbilical cable 1102 to pull the manned submersible 3 out of the entanglement predicament.

[0166] The lights, cameras, collision avoidance sonar, and imaging sonar in this embodiment are all standard features of submersibles and are essential for submersible navigation and operations.

[0167] This embodiment is equipped with a heavy-duty ROV carrying a large number of working breathing air cylinders, which can enter the culvert in advance. On the one hand, it can scout the terrain, and on the other hand, the manned submersible can establish a plug-and-play gas and power connection with the ROV at the work site. This effectively solves the problem of supplying a huge amount of hot water and gas required for divers to work for a long time. This avoids the problems of the submersible carrying a large number of air cylinders, a large number of batteries, or having to be equipped with cables, water pipes or air pipes connected to the surface. This makes the manned submersible 3 smaller in size and more flexible. On this basis, a track 10 is set on the top of the manned submersible 3. Through underwater buoyancy adjustment, the top track 10 is made to fit closely to the relatively flat and clean top of the culvert 13, so that it can go deep into the interior of the culvert 13 and accurately reach the target work area. This solves the problem of traditional propeller-driven submersibles colliding with the walls in the narrow culvert. It also solves 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 culvert operation sites by carrying and releasing saturation divers at the work site and by using fixed or portable work tools.

[0169] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A manned submersible dedicated to inland river culvert operations, characterized by: The application relates to a manned submersible (3) comprising a submersible cabin (1) and a driving cabin (2) connected with each other, wherein the side of the submersible cabin (1) is provided with a side door (101) connected with a saturation diving living cabin of a mother ship (18), the stern of the submersible cabin (1) is provided with a stern door (102), a winch (103) is arranged in the submersible cabin (1) near the stern door (102), a submersible cabin carbon dioxide absorption device (104), a heating port (4), a gas distribution disc (5) and a helium-oxygen telephone (302) are sequentially arranged in the submersible cabin (1), the heating port (4), the gas distribution disc (5) and the helium-oxygen telephone (302) are connected with a submersible suit (17) of a diver through a submersible umbilical cord (6), meanwhile, the heating port (4) is connected with a matched hot water supply system (14), the gas distribution disc (5) is connected with a matched gas distribution system (15), and the helium-oxygen telephone (302) is connected with a matched communication system (16); A plurality of groups of gas cylinders (8) and a group of battery cabins (9) are symmetrically arranged outside the cabin of the manned submersible (3); The top of the driving cabin (2) is provided with a top cabin door (201), and the driving cabin (2) is sequentially provided with a driving cabin carbon dioxide absorption device (205), a control console (206) and a helium-oxygen communication panel (301); The application further comprises an ROV (11), the ROV (11) is connected with the manned submersible (3) through a power supply and gas supply cable (1101), the ROV (11) is connected with the mother ship (18) through an umbilical cable (1102), a plurality of operation breathing gas cylinders (1104) and an ROV transducer (1103) are arranged in the ROV (11); A caterpillar belt (10) is arranged on the top of the manned submersible (3) and walks along the top wall surface of a culvert (13); The gas distribution system (15) comprises the gas distribution disc (5), the gas distribution disc (5) is branched into two paths, one path is connected with the gas cylinders (8) through a driving cabin switch valve, and the other path is connected with an external gas supply port of the submersible through the driving cabin switch valve, the external gas supply port of the submersible is sequentially connected with the power supply and gas supply cable (1101) and the operation breathing gas cylinder (1104); The communication system (16) comprises the mother ship (18), the mother ship (18) is connected with the ROV (11) through the umbilical cable (1102), the manned submersible (3) realizes communication with the mother ship (18) when underwater sailing through a top transducer (701) and a bottom transducer (702), and realizes communication with the ROV transducer (1103) through the transfer of a culvert transducer (12), and realizes communication with the mother ship (18) when in the culvert (13) through the umbilical cable (1102); The diver realizes communication with the manned submersible (3) through the submersible umbilical cord (6), the helium-oxygen telephone (302) and the helium-oxygen communication panel (301).

2. The manned submersible vehicle dedicated to the operation of the inland river culvert according to claim 1, characterized in that: The submersible cabin (1) is of a two-side hemispherical type and a middle section cylindrical type structure, one side of the driving cabin (2) is of a hemispherical structure, the middle section of the driving cabin (2) is of a cylindrical structure, and the other side of the driving cabin (2) is connected with one of the hemispherical types of the submersible cabin (1).

3. The manned submersible vehicle dedicated for inland river culvert operation of claim 1, wherein: The diving cabin light (105) and the diving cabin camera (107) are arranged at the upper position inside the diving cabin (1); the cockpit light (202) and the cockpit camera (207) are arranged at the upper position inside the cockpit (2).

4. The manned submersible vehicle dedicated for inland river culvert operation of claim 1, wherein: The culvert transducer (12) is arranged in the culvert (13), and the top transducer (701) and the bottom transducer (702) are arranged at the top and the bottom of the manned submersible (3) respectively.

5. A manned submersible vehicle dedicated to the work of an inland river culvert as claimed in claim 4, characterized in that: The hot water supply system (14) comprises a water pump (1402), the inlet (1401) of the water pump (1402) is communicated with river water, the outlet of the water pump (1402) is branched into two paths, one path is communicated with river water through a safety valve (1404), and the other path is sequentially connected with a check valve (1403), an instant electric heater (1405) and a flow divider (1406), each outlet of the flow divider (1406) is connected with a set of diving suit (17) through a heating port (4); meanwhile, the instant electric heater (1405) is connected with the internal battery (901), and the instant electric heater (1405) is also connected with the ROV (11) through the power and gas supply cable (1101).

6. A work flow for a manned submersible dedicated to inland river culvert operations, characterized by: The method comprises the following operation steps: S1: preparation work; The mother ship (18) is prepared for the ROV (11) and the manned submersible (3); S2: releasing the ROV (11); The mother ship deck releases the ROV (11), the ROV (1102) drags the umbilical cable, finds out the position of the culvert (13), and goes deep into the inside of the culvert (13) to find out the inside topography and the on-site situation of the operation area; S3: the ROV (11) enters the inside of the culvert (13); During the process of entering the culvert (13), a culvert transducer (12) is arranged at each turning point of the culvert (13); S4: the ROV (11) sits on the bottom; After the ROV (11) reaches the operation area, the buoyancy adjustment is started and the ROV (11) sits on the bottom; S5: diver preparation; The inside of the diving cabin (1) is pressurized to the target operation depth by using the helium-oxygen mixed gas on the deck of the mother ship (18), the manned submersible (3) is connected with the saturation diving living cabin on the mother ship deck through the side door (101), the diver enters the diving cabin (1) from the living cabin, and the manned submersible (3) maintains the breathing of the diver by using the oxygen in the carbon dioxide absorption device (104) and the gas cylinder (8); S6: arranging the manned submersible (3); The mother ship arranges the manned submersible (3), the manned submersible (3) sails to the entrance of the culvert (13) according to the position of the culvert (13) found by the ROV (11), then the buoyancy adjustment is started, the top track (10) is tightly attached to the top wall of the culvert (13), according to the inside topography of the culvert (13) and the position of the target operation area found by the ROV (11), the manned submersible (3) drives along the top wall to the inside of the culvert (13) near the ROV, then the buoyancy adjustment is started and the manned submersible (3) sits on the bottom; S7: releasing the diver; The diver wears the diving suit (17), opens the stern door (102) to get out of the cabin after the pressure balance between the inside of the diving cabin (1) and the river water, and uses the hot water generated by the internal battery (901) in the battery cabin (9) to breathe the helium-oxygen mixed gas in the gas cylinder (8). S8: Switching power and breathing gas; After the diver leaves the habitat, the power and gas supply cable (1101) of the ROV (11) is connected to the external power and gas interface of the manned submersible (3), and then the whole ship power of the manned submersible (3) is provided by the mother ship deck through the power and gas supply cable (1101) and the umbilical cable (1102); the diver's breathing gas is switched to the working breathing gas cylinder (1104) carried on the ROV (11), thereby solving the problem of large amount of helium-oxygen mixed gas and hot water consumed by the diver during long-term work; S9: Diver working; The diver carries out on-site work; S10: Work is completed; After the diver completes the on-site work, the diver switches back to the hot water generated by the internal battery (901) of the battery cabin (9) and switches to the helium-oxygen mixed gas in the breathing gas cylinder (8); then the power and gas supply cable (1101) is disconnected, the diver enters the internal habitat (1) and takes off the diving suit (17); S11: Manned submersible (3) returns; The top track (10) is tightly attached to the top of the culvert (13) and sails out of the culvert (13), and after autonomous navigation to the water surface, it is recovered to the mother ship deck; S12: Diver returns to the living cabin; The side door (101) of the manned submersible is reconnected to the deck saturation diving living cabin of the mother ship (18), and the diver returns to the living cabin from the internal habitat (1) for life; S13: ROV (11) returns; Adjust the buoyancy of the ROV (11) to make it away from the wall of the culvert (13), and then sail out of the culvert (13) and be recovered to the deck of the mother ship (18); S14: Work is completed.

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