A method for weight jettisoning in emergency ascent of a diving bell

Abstract

The application relates to the field of ocean engineering and discloses a counterweight jettison method for emergency floating of a diving bell, which comprises the following steps: collecting multi-path environmental water pressure data and three-axis attitude inclination data; based on the multi-path environmental water pressure data and the three-axis attitude inclination data, calculating a current vertical depth value, an actual vertical floating speed and a floating acceleration of the diving bell; obtaining a target safety speed interval corresponding to the current vertical depth value; calculating a predicted floating speed of the diving bell to reach a next depth monitoring node; when the predicted floating speed is less than a lower limit threshold of the target safety speed interval; based on the three-axis attitude inclination data, obtaining a control port identifier corresponding to a target counterweight unit; generating a counterweight jettison instruction according to the control port identifier and sending the counterweight jettison instruction to a corresponding release execution mechanism to control the release execution mechanism to discard the target counterweight unit. Through the technical scheme, attitude instability is inhibited under the premise of maintaining a safe floating speed.

Description

Technical Field

[0001] This application relates to the field of marine engineering, and in particular to a method for jettisoning counterweights during emergency surfacing of a diving bell. Background Technology

[0002] In deep-sea saturation diving operations, deep-water construction operations, and submarine rescue, the diving bell serves as a crucial manned docking compartment connecting the surface support vessel and the underwater work area, and its safety is paramount. During normal descent and bottom-diving phases, the diving bell typically requires heavy counterweights to overcome its own buoyancy and maintain attitude stability. In dangerous situations such as umbilical cable breakage, underwater winch jamming, or loss of power from the support vessel, the diving bell must initiate an emergency ascent procedure to ensure the safety of the divers inside.

[0003] In related technologies, when a power outage is detected, the bottom latch or release mechanism will release all emergency counterweights at once, or rely on a timer to release the counterweights sequentially. This jettisoning method gives the diving bell a large positive buoyancy instantaneously, allowing it to accelerate towards the surface. However, during the ascent, there is a probability of the diving bell tilting and oscillating, increasing the safety risks for personnel inside the cabin and the possibility of structural damage to the diving bell. Summary of the Invention

[0004] This application provides a method for jettisoning counterweights during emergency surfacing of a diving bell, thereby at least partially solving the aforementioned technical problems.

[0005] To achieve the above objectives, this application provides a method for jettisoning counterweights during emergency ascent of a diving bell, comprising: It acquires multi-channel environmental water pressure data collected by multiple independent water pressure sensors distributed around the diving bell's outer shell, as well as three-axis attitude tilt data collected by the built-in inertial measurement unit; Based on the multi-channel environmental water pressure data and the three-axis attitude tilt angle data, the current vertical depth, actual vertical ascent speed, and ascent acceleration of the diving bell are calculated. Obtain the target safe speed range corresponding to the current vertical depth value; The predicted ascent speed of the diving bell to reach the next depth monitoring node is calculated based on the actual vertical ascent speed and the ascent acceleration. Compare the predicted ascent speed with the target safe speed range; When the predicted ascent speed is less than the lower limit threshold of the target safe speed range; based on the three-axis attitude tilt angle data, search for a target counterweight unit that can generate a reverse balancing torque in the preset counterweight topology matrix and obtain the control port identifier corresponding to the target counterweight unit; A counterweight release command is generated based on the control port identifier and sent to the corresponding release actuator to control the release actuator to discard the target counterweight unit.

[0006] In this embodiment of the application, through the above technical solution, during the emergency ascent of the diving bell, depth and speed information are obtained based on the calculation of multiple water pressure data and attitude data. By comparing the safe speed range corresponding to the depth, it is determined whether it is necessary to jettison the counterweight. When jettison is required, a counterweight unit that can generate a reverse balancing torque is selected from the counterweight topology matrix based on the three-axis attitude tilt angle data for jettisoning. This ensures that each jettison action can suppress the tilting trend of the diving bell by supplementing the positive buoyancy of the ascent, and suppress attitude instability while maintaining a safe ascent speed.

[0007] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a flowchart illustrating the steps of a method for emergency surfacing of a diving bell, provided in an exemplary embodiment of this application.

[0010] Figure 2 This is a flowchart illustrating the steps of a method for emergency surfacing of a diving bell, provided in an exemplary embodiment of this application. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0012] See Figure 1 An exemplary system for a method of dropping counterweights for emergency surfacing of a diving bell, provided in this application embodiment, includes a control unit, multiple independent water pressure sensors, an inertial measurement unit, multiple counterweight units, and multiple release actuators.

[0013] Multiple independent water pressure sensors are distributed around the diving bell's outer shell at different locations. Each independent water pressure sensor is used to collect ambient water pressure data at its corresponding installation location and send the collected water pressure data to the control unit. The inertial measurement unit is built into the diving bell and is used to collect the diving bell's three-axis attitude tilt data, namely the roll angle, pitch angle and yaw angle measurements.

[0014] Multiple counterweight units are mounted on various preset mounting positions on the base of the diving bell via corresponding release actuators. Each release actuator has a unique control port identifier and is communicated with by the control unit via a control bus.

[0015] This application provides a method for jettisoning counterweights during emergency ascent of a diving bell. Please refer to [link / reference]. Figure 2 The present application provides a method for jettisoning counterweights during emergency ascent of a diving bell, comprising the following steps: Step 101: Acquire multi-channel environmental water pressure data collected by multiple independent water pressure sensors distributed around the diving bell's outer shell, as well as three-axis attitude tilt data collected by the built-in inertial measurement unit. Specifically, multiple independent water pressure sensors synchronously collect water pressure values ​​at their respective installation locations according to a preset time period. Each sensor outputs environmental water pressure data as analog-to-digital conversion of the analog voltage signal and sends it to the control unit. The inertial measurement unit synchronously collects the diving bell's three-axis attitude tilt data, i.e., the angular velocity and angle measurements corresponding to roll, pitch, and yaw angles, at the same sampling period and sends them to the control unit.

[0016] Step 102: Based on multi-channel environmental water pressure data and three-axis attitude tilt angle data, calculate the current vertical depth, actual vertical ascent speed, and ascent acceleration of the diving bell. Specifically, the control unit combines multiple independent water pressure values, three-axis attitude tilt angle data, and sensor installation position information. First, it calculates the current vertical depth of the diving bell, then calculates the rate of change of this depth value over time to obtain the actual vertical ascent speed, and finally calculates the rate of change of the actual vertical ascent speed over time to obtain the ascent acceleration. Through the configuration of multiple water pressure sensors and attitude tilt angle compensation, the probability of inaccurate depth measurement caused by the failure of a single sensor or the tilt of the diving bell is reduced.

[0017] Step 103: Obtain the target safe speed range corresponding to the current vertical depth value. Specifically, the control unit reads the preset depth segment safety mapping table, uses the current vertical depth value as an index, and queries the corresponding target safe speed range in the mapping table; this target safe speed range has two boundary values, an upper limit threshold and a lower limit threshold, used to constrain the speed range during the ascent process.

[0018] Step 104: Calculate the predicted ascent speed of the diving bell to reach the next depth monitoring node based on the actual vertical ascent speed and ascent acceleration. Specifically, the control unit uses the actual vertical ascent speed and ascent acceleration at the current moment to obtain the predicted ascent speed of the diving bell when it reaches the next depth monitoring node after one measurement cycle, according to the set measurement cycle duration. The predicted ascent speed is used to assess the speed level reached by the diving bell after one measurement cycle, following the current acceleration trend.

[0019] Step 105: Compare the predicted ascent speed with the target safe speed range. Specifically, the control unit compares the predicted ascent speed with the upper and lower thresholds of the target safe speed range to determine whether the predicted ascent speed falls within the safe range. If the predicted ascent speed is between the lower and upper thresholds, it indicates that the ascent speed according to the current trend is within the safe range. If it is lower than the lower threshold, it indicates that the speed is insufficient and ballast needs to be jettisoned to increase buoyancy. If it is higher than the upper threshold, it indicates that the speed is too high and ballast jettisoning needs to be suppressed.

[0020] Step 106: When the predicted ascent speed is less than the lower limit of the target safe speed range, based on the three-axis attitude tilt angle data, the control unit searches for a target counterweight unit that can generate a reverse balancing torque in the preset counterweight topology matrix, and obtains the control port identifier corresponding to the target counterweight unit. Specifically, when the control unit determines that the predicted ascent speed is lower than the lower limit of the safe speed range, it indicates that the speed of the diving bell will be insufficient according to the current ascent trend, and it is necessary to increase positive buoyancy by jettisoning counterweight to improve the ascent speed; the control unit determines the tilt direction of the diving bell based on the three-axis attitude tilt angle data, searches for candidate counterweight units located in the opposite tilt direction in the preset counterweight topology matrix that can generate a reverse balancing torque after jettisoning; the control unit obtains the control port identifier corresponding to the selected target counterweight unit from the counterweight topology matrix.

[0021] Step 107: Generate a counterweight release command based on the control port identifier and send it to the corresponding release actuator to control the release actuator to discard the target counterweight unit. Specifically, the control unit generates a counterweight release command based on the selected control port identifier and sends the command to the corresponding release actuator. After receiving the command, the release actuator drives the electromagnetic lock and other control components to release, causing the target counterweight unit to detach from the diving bell base, completing a single counterweight release action; after release, the diving bell's positive buoyancy increases, the upward acceleration increases accordingly, and the upward speed approaches the safe speed range.

[0022] In another implementation, when the predicted ascent speed is less than the lower limit threshold of the target safe speed range, the target counterweight unit that can generate a reverse balancing torque is searched in the preset counterweight topology matrix based on the three-axis attitude tilt angle data, and the control port identifier corresponding to the target counterweight unit is obtained. Multiple counterweight units that meet the reverse balancing condition can be sorted at the same time, and the control port identifiers are obtained in order of torque matching degree from high to low.

[0023] Through the above technical solution, during the emergency ascent of the diving bell, depth and velocity information are obtained based on the calculation of multiple water pressure data and attitude data. By comparing the safe velocity range corresponding to the depth, it is determined whether the ballast needs to be jettisoned. When jettisoning is required, a ballast unit that can generate a reverse balancing torque is selected from the ballast topology matrix based on the three-axis attitude tilt angle data for jettisoning. This ensures that each jettisoning action can suppress the tilting trend of the diving bell while supplementing the positive buoyancy of the ascent, and suppress attitude instability while maintaining a safe ascent speed.

[0024] In some implementations, the steps for constructing the counterweight topology matrix include: Step 201: Obtain the spatial coordinates, fixed mass parameters, and control port identifiers of the release actuators that control the detachment of each alternative counterweight unit relative to the geometric center of the diving bell base. Specifically, the diving bell base has multiple preset mounting positions distributed circumferentially, with each mounting position corresponding to the installation of one alternative counterweight unit. During the calibration stage after the diving bell is manufactured and assembled, the three-dimensional spatial coordinates of the geometric center of each alternative counterweight unit relative to the geometric center of the diving bell are obtained and recorded using a three-dimensional coordinate measuring device. The fixed mass parameters of each alternative counterweight unit are the factory nominal values ​​or constants after weighing calibration. The various release actuators that control the detachment of each counterweight unit are pre-assigned unique control port identifiers and stored together in the initial parameter configuration file of the control unit.

[0025] Step 202: Project the spatial coordinates onto the horizontal reference plane of the diving bell to obtain the two-dimensional planar distribution coordinates of each candidate counterweight unit. Specifically, the horizontal reference plane of the diving bell is a reference plane that passes through the geometric center of the diving bell and is perpendicular to the direction of gravity. Perform a planar projection operation on the three-dimensional spatial coordinates of each candidate counterweight unit, discard the vertical height component, and retain the two coordinate components in the horizontal plane to obtain the two-dimensional planar distribution coordinates of the counterweight unit on the horizontal reference plane, so as to characterize the relative distribution position of the counterweight unit in the horizontal section of the diving bell.

[0026] Step 203: Based on the two-dimensional planar distribution coordinates, fixed mass parameters, and the initial center of gravity parameters of the diving bell, calculate the torque vector that the diving bell can acquire when the alternative counterweight units at the corresponding positions are launched. Specifically, calculate the torque vector acquired by the diving bell after launching each alternative counterweight unit: take the direction of the line connecting the two-dimensional planar distribution coordinates of the counterweight unit to the projection point of the initial center of gravity parameters on the horizontal reference plane as the torque direction, and estimate the torque magnitude by combining the components of the fixed mass parameters on the horizontal plane to obtain the torque vector at each launch position; this torque vector records the direction and intensity information of the torque experienced by the diving bell when launching a certain counterweight unit.

[0027] Step 204: Perform feature mapping and binding on the two-dimensional planar distribution coordinates, torque vector, and control port identifier to generate a counterweight topology matrix. Specifically, the control unit establishes a record for each candidate counterweight unit. The index of this record is the control port identifier of the counterweight unit, and the record content includes the two-dimensional planar distribution coordinates and the corresponding torque vector. The records of all counterweight units are collected to form a counterweight topology matrix, enabling the control unit to quickly retrieve the position and unloading torque vector information of the corresponding counterweight unit through the control port identifier during operation.

[0028] Through the above technical solution, a counterweight topology matrix is ​​constructed during the assembly and calibration stage of the diving bell. The spatial position, torque effect and control port identification of the candidate counterweight units are pre-integrated, so that the control unit can quickly locate and select the target counterweight unit based on the attitude information during the operation stage.

[0029] In some implementations, based on two-dimensional planar coordinates, fixed mass parameters, and the initial center of gravity parameters of the diving bell, the torque vector that the diving bell can acquire when the alternative counterweight unit at the corresponding position is jettisoned is calculated, including: Step 301: Based on the fixed mass parameters and the preset density constant of the counterweight material, calculate the underwater equivalent weight loss value corresponding to the jettisoning of the alternative counterweight unit in the underwater environment. Specifically, subtract the water mass corresponding to the displacement volume of the counterweight unit from the fixed mass parameters to obtain the underwater equivalent net weight of the counterweight unit, and then take the negative value as the underwater equivalent weight loss value; the underwater equivalent weight loss value mentioned here refers to the reduction in downward net load of the diving bell after jettisoning the counterweight unit, which is approximately equal to the increase in positive buoyancy.

[0030] Step 302: Calculate the two-dimensional position offset vector of the two-dimensional planar distribution coordinates relative to the initial center of gravity parameter on the horizontal reference plane. Specifically, perform a vector difference operation between the two-dimensional planar distribution coordinates of the candidate counterweight unit and the projected coordinates of the initial center of gravity parameter of the diving bell on the horizontal reference plane to obtain the two-dimensional position offset vector pointing from the initial center of gravity projection point to the planar coordinate point of the counterweight unit; the direction of this offset vector indicates the orientation of the counterweight unit relative to the initial center of gravity of the diving bell, and its modulus indicates the horizontal distance between the counterweight unit and the initial center of gravity.

[0031] Step 303: Obtain the local positive buoyancy compensation vector generated at the corresponding coordinate position due to the jettisoning of the alternative counterweight unit, based on the underwater equivalent weight loss value. Specifically, take the absolute value of the underwater equivalent weight loss value obtained in step 301 and define the direction as vertically upward to obtain the local positive buoyancy compensation vector generated at the installation coordinate position of the counterweight unit due to the jettisoning of the counterweight unit; the magnitude of this vector represents the magnitude of the additional positive buoyancy brought about by the jettisoning of the counterweight unit.

[0032] Step 304: Obtain the torque vector that the diving bell can acquire when jettisoning the alternative counterweight unit based on the two-dimensional position offset vector and the local positive buoyancy compensation vector. Specifically, the control unit performs a vector cross product operation on the two-dimensional position offset vector and the local positive buoyancy compensation vector to obtain the torque vector acting on the diving bell when the counterweight unit is jettisoned; this torque vector represents the direction and magnitude of the torque acquired by the diving bell due to the jettisoning of the counterweight unit.

[0033] In another implementation, the torque vector that the diving bell can obtain when jettisoning the alternative counterweight unit is obtained based on the two-dimensional position offset vector and the local positive buoyancy compensation vector. After the torque vectors corresponding to multiple alternative counterweight units are calculated, a normalization operation can be added to unify the magnitude of each torque vector for subsequent torque matching and sorting.

[0034] By combining the underwater equivalent weightlessness of the candidate counterweight unit with its position offset relative to the initial center of gravity, the torque vector obtained by the diving bell after the jettison of each counterweight unit is calculated, which facilitates the selection of the reverse balance counterweight unit based on the attitude tilt direction during emergency ascent.

[0035] In some implementations, based on triaxial attitude tilt angle data, a target counterweight unit capable of generating a reverse balancing torque is located in a preset counterweight topology matrix, and the control port identifier corresponding to the target counterweight unit is obtained, including: Step 401: Analyze the three-axis attitude tilt data to obtain the current roll and pitch angles of the diving bell. Specifically, the control unit separates the roll and pitch components from the three-axis attitude tilt data output by the inertial measurement unit. The yaw angle, which rotates in the horizontal plane, does not affect the determination of the diving bell's tilt direction and degree. The roll angle reflects the degree of tilt of the diving bell about its longitudinal axis, and the pitch angle reflects the degree of tilt of the diving bell about its lateral axis. Together, they determine the current tilt direction and magnitude of the diving bell.

[0036] Step 402: Based on the roll and pitch angles, and combined with the initial center of gravity parameters of the diving bell, calculate the overall center of gravity offset vector of the diving bell. Specifically, when the diving bell tilts, the projection position of its overall center of gravity on the horizontal reference plane is displaced relative to the initial center of gravity projection position; the control unit uses the roll angle to describe the offset component in the left-right direction and the pitch angle to describe the offset component in the front-back direction, and combines the vertical height value of the initial center of gravity parameters to calculate the overall center of gravity offset vector.

[0037] Step 403: In the counterweight topology matrix containing the coordinates of multiple available counterweight units, traverse and search for candidate counterweight units whose torque vector and the overall center of gravity offset vector are within a preset obtuse angle range. Specifically, the control unit reads the torque vector of each candidate counterweight unit from the counterweight topology matrix one by one, and calculates the angle between each torque vector and the overall center of gravity offset vector. If the angle between a certain torque vector and the overall center of gravity offset vector is within the preset obtuse angle range, it indicates that the direction of the torque generated by throwing the counterweight unit is approximately opposite to the direction of the center of gravity offset, and can exert a reverse balancing effect on the diving bell. Then, the counterweight unit is determined as a candidate counterweight unit.

[0038] Step 404: Obtain the control port identifier bound to the candidate counterweight unit, which will serve as the control port identifier corresponding to the target counterweight unit. Specifically, the control unit reads the control port identifier bound to the selected candidate counterweight units from the counterweight topology matrix. When there are multiple candidate counterweight units, the candidate counterweight unit with the largest torque vector magnitude can be selected as the target counterweight unit to obtain the maximum attitude correction effect.

[0039] In one implementation, based on the three-axis attitude tilt angle data, a target counterweight unit that can generate a reverse balancing torque is searched in a preset counterweight topology matrix, and the control port identifier corresponding to the target counterweight unit is obtained. When there are multiple candidate counterweight units whose torque vectors and the overall center of gravity offset vectors are within a preset obtuse angle range, the tilt angle amplitude can be further introduced as a selection weight to preferentially select the candidate counterweight unit whose torque vector direction is closest to the opposite direction of the center of gravity offset.

[0040] By using the above technical solution, the tilt direction reflected by the current roll and pitch angles of the diving bell is matched with the torque direction of each counterweight unit in the counterweight topology matrix. The counterweight unit that can produce a reverse correction effect on the current tilt after the load is released is selected, so as to achieve the target-oriented selection of counterweight release and avoid the tilt attitude being aggravated by random load release.

[0041] In one implementation, based on multi-channel environmental water pressure data and three-axis attitude tilt data, the current vertical depth, actual vertical ascent velocity, and ascent acceleration of the diving bell are calculated, including: Step 501: Calculate the vertical projection deviation angle of the diving bell based on the three-axis attitude tilt angle data. Specifically, when the diving bell tilts due to water flow disturbance or uneven weight distribution, the height reference of each independent water pressure sensor relative to the geometric center of the diving bell changes, causing the water pressure values ​​measured by each sensor to be unable to be directly converted into the accurate depth of the geometric center of the diving bell; the control unit reads the roll angle and pitch angle from the three-axis attitude tilt angle data, and obtains the vertical projection deviation angle of the overall axis of the diving bell relative to the vertical direction through trigonometric synthesis calculation.

[0042] Step 502: Perform spatial geometric projection transformation on the multi-channel environmental water pressure data using the vertical projection deviation angle to obtain a fused water pressure value. Specifically, the control unit applies tilt compensation correction to each channel of environmental water pressure data based on the installation position coordinates of each independent water pressure sensor and the vertical projection deviation angle, mapping the water pressure value at each sensor location to the equivalent water pressure value at the geometric center of the diving bell; the corrected multiple water pressure values ​​are then fused to obtain a fused water pressure value, which eliminates the sampling deviation of the branch water pressure caused by the tilt of the diving bell.

[0043] Step 503: Multiply the combined water pressure value by a preset fluid density constant to obtain the current vertical depth value. Specifically, according to the liquid pressure calculation formula, the pressure value is equal to the product of the fluid density constant, gravitational acceleration, and depth value. The combined water pressure value obtained by the control unit is divided by the product of the fluid density constant and gravitational acceleration to obtain the current vertical depth value with the geometric center of the diving bell as the reference point; the fluid density constant mentioned here is the average density of seawater in the operating area.

[0044] Step 504: Calculate the first-order time derivative of the current vertical depth value to obtain the actual vertical ascent speed. Specifically, perform a difference operation on the depth values ​​at two adjacent moments and divide by the sampling interval to obtain the rate of change of depth over time, which is the actual vertical ascent speed. A positive value indicates that the diving bell is moving upward, and a negative value indicates that it is moving downward.

[0045] Step 505: Calculate the time derivative of the actual vertical ascent speed to obtain the ascent acceleration. Specifically, the control unit, based on the actual vertical ascent speed time data, takes the speed difference between two adjacent time points and divides it by the sampling interval to obtain the rate of change of speed with time, which is the ascent acceleration; a positive ascent acceleration indicates that the diving bell is accelerating upwards, and a negative ascent acceleration indicates that it is decelerating upwards.

[0046] In one implementation, the spatial geometric projection transformation of multiple environmental water pressure data is performed using the vertical projection deviation angle to obtain a fused water pressure value, including: Step 601: Read the relative installation position coordinates of each independent water pressure sensor in the diving bell's coordinate system. Specifically, the control unit reads the three-dimensional installation position coordinates of each independent water pressure sensor in the diving bell's coordinate system from the pre-stored sensor calibration parameter file. The diving bell's coordinate system refers to a local rectangular coordinate system established with the geometric center of the diving bell as the origin and the vertically upward direction as the positive Z-axis; the relative installation position coordinates of each sensor are calibrated and stored in the control unit after the diving bell is assembled.

[0047] Step 602: Based on the relative installation position coordinates and the vertical projection deviation angle, calculate the vertical height difference of each independent water pressure sensor relative to the geometric center of the diving bell. Specifically, due to the tilt of the diving bell, its coordinate system has a vertical projection deviation angle relative to the vertical direction, and the effective height of each sensor in the vertical direction is not equal to its original Z-coordinate value. The control unit uses a three-dimensional coordinate rotation transformation to rotate the relative installation position coordinates of each sensor around the horizontal axis by the vertical projection deviation angle, obtaining the Z-axis projection value of each sensor in the rotated coordinate system. The difference between this value and the zero Z-coordinate value of the diving bell's geometric center is used to obtain the vertical height difference of the sensor. The larger the tilt angle and the farther the horizontal distance of the sensor from the geometric center, the greater its vertical height difference.

[0048] Step 603: Convert the vertical height difference into water pressure error compensation for each independent water pressure sensor. Specifically, based on the vertical height difference and a preset fluid density constant and gravitational acceleration, the height deviation is converted into a water pressure deviation; this water pressure error compensation represents the additional water head pressure caused by the sensor installation position deviating from the vertical projection point of the diving bell's geometric center.

[0049] Step 604: Add the corresponding water pressure error compensation amount to the multiple ambient water pressure data to obtain multiple calibrated water pressure data, and calculate the average value of the multiple calibrated water pressure data as the fused water pressure value. Specifically, the control unit adds the corresponding water pressure error compensation amount to the original ambient water pressure data collected by each independent water pressure sensor to obtain the tilt-compensated calibrated water pressure data; the arithmetic mean of all calibrated water pressure data is taken to obtain the fused water pressure value, which eliminates the measurement deviation caused by the difference in installation position of each sensor and the tilt of the diving bell.

[0050] In one implementation, the spatial geometric projection transformation of multiple environmental water pressure data is performed using the vertical projection deviation angle to obtain the fused water pressure value. When the deviation between the original acquisition value of a certain water pressure sensor and the fused water pressure value exceeds a preset outlier threshold, the data of that sensor can be discarded and the average value of the remaining sensors can be recalculated to eliminate abnormal data interference caused by sensor failure.

[0051] In another implementation, the spatial geometric projection transformation of multiple environmental water pressure data is performed using the vertical projection deviation angle to obtain the fused water pressure value. The conversion of the vertical height difference to the water pressure error compensation can be done by a lookup table instead of real-time calculation. The compensation values ​​corresponding to different tilt angles and different sensor positions are pre-made into a two-dimensional lookup table and stored in the control unit. During the operation phase, the values ​​are directly retrieved from the table to reduce the computational load.

[0052] The above technical solution corrects the head deviation of each water pressure sensor caused by the difference in installation position according to the tilt state of the diving bell, so that the fused water pressure value accurately reflects the real water pressure value at the geometric center of the diving bell, and eliminates the depth measurement system error caused by tilt.

[0053] In one implementation, the predicted ascent speed of the diving bell to reach the next depth monitoring node is calculated based on the actual vertical ascent speed and ascent acceleration, including: Step 701: Read the set measurement cycle duration and obtain the current actual vertical ascent speed and ascent acceleration. Specifically, the measurement cycle duration is a system-preset time step constant, representing the time interval between two continuous depth monitoring nodes; the control unit reads the measurement cycle duration value and obtains the latest calculated actual vertical ascent speed and ascent acceleration values ​​from the current output port of the speed calculation module.

[0054] Step 702: Multiply the ascent acceleration by the measurement period to obtain the theoretical speed increment. Specifically, assuming that the ascent acceleration remains constant within the current measurement period, the control unit multiplies the acquired ascent acceleration by the measurement period to obtain the increase in speed after one measurement period if the diving bell continues to move at this acceleration, i.e., the theoretical speed increment; a positive theoretical speed increment indicates that it will accelerate upwards, and a negative theoretical speed increment indicates that it will decelerate upwards.

[0055] Step 703: Add the theoretical velocity increment to the current actual vertical ascent velocity to obtain the theoretical expected velocity. Specifically, the control unit directly adds the theoretical velocity increment to the current actual vertical ascent velocity to obtain the theoretical expected velocity; this theoretical expected velocity is based on the assumption that the current acceleration trend remains constant and represents the ideal velocity estimate when the diving bell reaches the next depth monitoring node.

[0056] Step 704: Obtain the water flow resistance coefficient corresponding to the current depth of the diving bell. Specifically, the viscous resistance and turbulent dissipation effect of seawater flow cause the actual velocity increment of the diving bell to be lower than the theoretically calculated value; the control unit reads the preset water flow resistance coefficient curve or segmented table, and looks up the corresponding water flow resistance coefficient with the current vertical depth value as the index; the value of the water flow resistance coefficient is between zero and one, and the greater the depth, the closer the resistance coefficient is to one, that is, the smaller the resistance effect, because the water flow velocity in deep water is usually lower than that in shallow water.

[0057] Step 705: Correct the theoretical expected speed by applying water resistance attenuation using the water flow resistance coefficient to obtain the predicted ascent speed. Specifically, the control unit multiplies the theoretical expected speed by the water flow resistance coefficient to obtain the predicted ascent speed after water resistance attenuation correction. The corrected predicted ascent speed takes into account the attenuation effect of seawater flow on the diving bell's speed and is closer to the actual situation than the theoretical expected speed.

[0058] In one implementation, the predicted ascent speed of the diving bell to reach the next depth monitoring node is calculated based on the actual vertical ascent speed and ascent acceleration. The calculation cycle can be adjusted according to the change in the current depth of the diving bell. In deep water, where the speed change is slower, the calculation cycle can be extended to reduce the calculation frequency, while in shallow water, where the speed change is faster, the calculation cycle can be shortened to improve the prediction response speed.

[0059] In another implementation, the predicted ascent speed is calculated based on the actual vertical ascent speed and ascent acceleration. The current actual vertical ascent speed of the diving bell can be further introduced as a correction dimension to obtain the water flow resistance coefficient. A two-dimensional lookup table is used to index the depth and current speed together, which more accurately reflects the changes in water flow resistance under different speed conditions.

[0060] By using the above technical solution, the speed at the next moment is deduced based on the current motion parameters and water flow resistance attenuation correction is introduced, so that the predicted surfacing speed is closer to the actual motion law of the diving bell in the water, and the decision to jettison is delayed due to overestimation of future speed caused by ignoring water resistance attenuation.

[0061] In one implementation, obtaining the target safe speed range corresponding to the current vertical depth value includes: Step 801: Read the current vertical depth value. Specifically, the control unit obtains the latest calculated current vertical depth value of the diving bell from the output port of the depth calculation module.

[0062] Step 802: Traverse the pre-defined depth segmentation safety mapping table to find the target depth interval containing the current vertical depth value. Specifically, the control unit traverses the depth segmentation safety mapping table pre-stored in memory; this mapping table divides the entire water depth range into multiple consecutive depth intervals, each depth interval having two endpoints: an upper boundary depth and a lower boundary depth; the control unit compares the current vertical depth value with the upper and lower boundary depths of each interval one by one, and determines the depth interval containing the current vertical depth value as the target depth interval.

[0063] Step 803: Obtain the target safe speed range bound to the target depth range. The shallower the target depth range, the smaller the value of the target safe speed range, to ensure decompression safety in shallow water. Specifically, the control unit reads the upper and lower safe speed thresholds bound to the target depth range from the depth segment safety mapping table. These two values ​​constitute the target safe speed range. The diving bell must ascend at a lower speed in shallow water near the surface to avoid decompression sickness for the personnel inside the cabin. Therefore, the configuration of the depth segment safety mapping table follows the principle that the shallower the water, the smaller the upper and lower safe speed thresholds of the corresponding safe speed range.

[0064] The above technical solution sets differentiated safe speed ranges for different water depths based on a depth segmentation mapping table, and follows the configuration principle of lower speeds for shallower water to ensure decompression safety, so that the jettison speed adjustment strategy meets the requirements of diving medical operation procedures for decompression health protection.

[0065] After comparing the predicted ascent speed with the target's safe speed range, the method also includes: Step 901: When the predicted ascent speed exceeds the upper limit threshold of the target safe speed range, the diving bell is determined to be in a dangerous state of overspeed ascent. Specifically, after comparing the predicted ascent speed with the upper limit threshold of the target safe speed range, if the control unit determines that the predicted ascent speed exceeds the upper limit threshold, it means that according to the current trend, the diving bell will continue to ascend at a speed exceeding the safe upper limit after one calculation cycle, and may not be able to reduce the speed below the decompression safe speed in shallow water. Therefore, the diving bell is determined to be in a dangerous state of overspeed ascent.

[0066] Step 902: Generate a lockout control signal and send it to all inactive release actuators. Specifically, after confirming an overspeed ascent hazard, the control unit generates a lockout control signal containing coded information prohibiting release. The control unit broadcasts this lockout control signal via the control bus to all standby release actuators on the diving bell base that have not yet performed a jettisoning operation, thus preventing unnecessary jettisoning operations that may be triggered subsequently.

[0067] Step 903: Block the drive power supply circuit of the release actuator to stop the weight jetting action and suppress the upward acceleration. Specifically, each release actuator that receives the lockout control signal drives the lockout relay in its own power supply circuit to disconnect, cutting off the power supply path of the drive motor or electromagnetic unlocking device, causing the release actuator to enter an electrically locked state. In the locked state, even if the control unit issues another weight jetting command due to insufficient subsequent speed, the release actuator cannot perform the weight jetting action, suppressing the further increase of the diving bell's positive buoyancy and indirectly suppressing the continued increase of upward acceleration.

[0068] The above technical solution locks up unused release actuators in advance when the predicted speed exceeds the safety limit, preventing additional load shedding from being erroneously triggered due to fluctuations in subsequent speed calculations, thus ensuring that the ascent speed meets the lower limit while preventing overspeed ascent.

[0069] After generating a counterweight release command based on the control port identifier and sending it to the corresponding release actuator to control the release actuator to discard the target counterweight unit, the method further includes: Step 1001: Activate the preset duration action monitoring window. Specifically, the control unit starts a timer while sending the counterweight throwing command to the target release actuator. The duration of this timer is determined by a preset action monitoring window duration constant. The action monitoring window is a time window for the control unit to monitor whether the release actuator correctly performs the throwing action.

[0070] Step 1002: Within the action monitoring window, monitor the disconnection receipt level signal from the release actuator. Specifically, after the release actuator completes the actions of releasing the electromagnetic lock and dropping the counterweight unit, its internal status detection switch generates a level change and outputs a disconnection receipt level signal to the control unit. The control unit continuously monitors the level change status of the control port corresponding to the target release actuator within the time interval of the action monitoring window to confirm whether the load-dropping action has been successfully executed.

[0071] Step 1003: When the action monitoring window ends and no disconnection acknowledgment level signal is received, the control port identifier is marked as a stuck failure node in the counterweight topology matrix. Specifically, if the action monitoring window timer ends and the control unit still fails to capture a disconnection acknowledgment level signal from the corresponding control port, it indicates that the target release actuator failed to perform the load-dropping action due to mechanical jamming, electrical fault, or communication interruption. The control unit searches for the control port identifier corresponding to the target counterweight unit in the counterweight topology matrix and sets its status flag to the stuck failure state.

[0072] Step 1004: Re-execute the steps based on the three-axis attitude tilt angle data to find the target counterweight unit that can generate a reverse balancing torque in the preset counterweight topology matrix, and obtain the control port identifier corresponding to the target counterweight unit. Specifically, after marking the original target counterweight unit as invalid, the control unit re-executes the counterweight retrieval process of steps 401 to 404, finds the next alternative counterweight unit that can generate a reverse balancing torque from the remaining available counterweight units in the counterweight topology matrix as the new target counterweight unit, obtains its control port identifier, and generates a counterweight release command again to send to the corresponding release actuator.

[0073] In one implementation, after generating a counterweight dropping command based on the control port identifier and sending it to the corresponding release actuator to control the release actuator to discard the target counterweight unit, the preset duration of the action monitoring window can be adjusted according to the current depth of the diving bell. The shallower the depth and the closer to the water surface, the shorter the monitoring window duration, so as to make a faster reselection response to the dropping failure state in shallow water.

[0074] The above technical solution allows for feedback monitoring and jamming failure determination of the release actuator after each release command is sent. The failed counterweight unit is marked and a replacement counterweight unit is selected, thereby improving the reliability of the release decision during emergency ascent.

[0075] In one implementation, after obtaining the target safe speed range corresponding to the current vertical depth value, the method further includes: Step 1101: Obtain the internal air pressure data of the diving bell. Specifically, a pressure sensor is installed inside the diving bell chamber to monitor the pressure value of the gas environment inside the chamber in real time.

[0076] Step 1102: Calculate the gas volume expansion ratio of the internal environmental pressure data relative to the standard atmospheric pressure at the water surface. Specifically, according to Boyle's Law, under constant temperature conditions, gas volume is inversely proportional to pressure. The control unit uses the standard atmospheric pressure at the water surface as a reference and divides the standard atmospheric pressure at the water surface by the current internal environmental pressure data to obtain the gas volume expansion ratio; this ratio represents the expected expansion factor of the gas volume if the gas at the current water depth is depressurized to the standard atmospheric pressure at the water surface. The greater the water depth and the higher the internal environmental pressure, the larger the gas volume expansion ratio, indicating that the gas in the diving bell chamber needs to have a larger expansion margin to be discharged during the ascent.

[0077] Step 1103: Multiply the target safe speed range by a safety correction coefficient that is negatively correlated with the gas volume expansion ratio to obtain a tightened and updated target safe speed range. Specifically, the larger the gas volume expansion ratio, the more violently the gas expands during the ascent and decompression process in the diving bell chamber, the faster the inert gas dissolved in human tissues and blood escapes, and the higher the risk of decompression sickness. To reduce this risk, the control unit calculates the corresponding safety correction coefficient based on a table or formula using the gas volume expansion ratio. The value of this coefficient decreases as the gas volume expansion ratio increases, i.e., it shows a negative correlation. Multiply the upper and lower threshold values ​​of the original target safe speed range by this safety correction coefficient to obtain a tightened and updated target safe speed range, whose value is smaller than the original range, requiring the diving bell to ascend at a lower permissible speed.

[0078] Step 1104: Replace the original target safe speed range with the tightened and updated target safe speed range, and perform the step of comparing the predicted ascent speed with the target safe speed range. Specifically, the control unit writes the tightened and updated target safe speed range into the reference range register of the speed comparison module, overwriting the original range value. The subsequent comparison operation in step 105 will be performed based on the tightened safe speed range, enabling the ascent speed control strategy to have the safety assurance capability of real-time adjustment when internal air pressure conditions change.

[0079] Through the above technical solution, after obtaining the original safe speed range corresponding to the depth, the speed range is tightened and corrected based on the air pressure data inside the diving bell and the gas volume expansion state. This reduces the upper limit of the safe speed as the risk of gas decompression and expansion inside the cabin increases. While ensuring that the ascent speed does not fall below the lower limit, the upper limit of the speed limit is adjusted in real time, taking into account both ascent efficiency and the decompression safety of the personnel inside the cabin.

[0080] In one implementation, before obtaining the target safe speed range corresponding to the current vertical depth value, the method further includes: Step 1201: When the current vertical depth value is less than a preset absolute surface buffer depth threshold, it is determined that the diving bell is about to break through the water surface. Specifically, the absolute surface buffer depth threshold is a preset safe shallow water depth value close to the water surface. Before performing the target safe speed range query, the control unit first compares the current vertical depth value with the absolute surface buffer depth threshold; when the diving bell has risen above the threshold depth, that is, the depth value is less than the threshold, it indicates that the diving bell will soon break through the water surface. Continuing to perform the underwater counterweight jetting operation is meaningless and may cause the diving bell to experience a sudden change in attitude due to the remaining jetting action at the moment of surfacing.

[0081] Step 1202: Clear the queue of all candidate control port addresses in the counterweight topology matrix called in memory. Specifically, the control unit performs a clear operation on the counterweight topology matrix data loaded in memory, removes all candidate control port addresses from the run queue, and ends all pending counterweight selection processes.

[0082] Step 1203: Disconnect the drive power supply to all remaining release actuators. Specifically, the control unit sends a power cut-off command to all release actuators through the power management module, disconnecting the drive power supply circuit of each release actuator. This operation puts all release actuators that have not yet performed the load-dropping action into a de-energized state. Even if the control unit unexpectedly issues a counterweight load-dropping command again due to a program loop, the release actuators will not have the power to perform the load-dropping action, thus electrically preventing unnecessary load-dropping during the water surface breakthrough stage.

[0083] Step 1204: Terminate the step of comparing the predicted ascent speed with the target safe speed range, and complete the surfacing maneuver using the residual buoyancy of the diving bell. Specifically, the control unit sets the status flag of the emergency ascent procedure to the surface termination state, and stops executing the comparison and ballast jettison logic loop. After ballast jettisoning is terminated, the diving bell continues to rise and break through the water surface using the residual positive buoyancy generated by the jettisoned counterweight unit. No speed comparison or counterweight jettisoning operations are performed during the surfacing process.

[0084] The above technical solution terminates the jettisoning operation before the diving bell approaches the surface breakthrough stage, clears the queue of optional counterweights and cuts off the power to the release actuator, eliminates unnecessary jettisoning near the surface, and allows the diving bell to complete the water exit with stable residual buoyancy. This avoids sudden attitude changes and impacts caused by additional jettisoning at the moment of water exit, and ensures safety during the surface breakthrough stage.

[0085] In one implementation, after comparing the predicted ascent speed with the target safe speed range, the method further includes: Step 1301: When the predicted ascent speed is greater than or equal to the lower threshold of the target safe speed range and less than or equal to the upper threshold of the target safe speed range, the current ascent state is determined to be safe. Specifically, after comparing the predicted ascent speed with the target safe speed range, if the control unit determines that the predicted ascent speed falls between the lower and upper thresholds, it indicates that the diving bell's speed will be within a safe range according to the current trend. There is no need to jettison ballast or increase buoyancy due to excessively low speed, nor is it necessary to suppress jettisoning or trigger lockout due to excessively high speed. At this time, the control unit determines the current ascent state to be safe.

[0086] Step 1302: Maintain the current locked state of all release actuators. Specifically, after determining that the buoyancy is safe, the control unit does not send any new action commands to any release actuator, and all release actuators remain in their current state: locked actuators remain locked, inactive actuators remain in standby, and actuators that have performed release after ballast jetting remain in their released state; no new ballast jetting actions are generated to avoid unnecessary changes to the positive buoyancy and attitude of the diving bell due to ballast jetting.

[0087] Step 1303: End the current determination cycle. Specifically, after completing the current round of security comparison and status determination, the control unit records the completion flag and determination result log of the current determination cycle, releases the temporary register resources and comparison buffer area occupied by the current cycle, and ends the current determination cycle.

[0088] In one implementation, based on the fixed mass parameter and the preset density constant of the counterweight material, the underwater equivalent weight loss value corresponding to the jettisoning of the alternative counterweight unit in the underwater environment is calculated, including: Step 1401: Read the fixed mass parameter and the preset density constant of the counterweight material of the candidate counterweight unit. Specifically, the control unit reads the fixed mass parameter of the candidate counterweight unit recorded in the counterweight calibration parameter storage area, that is, the nominal mass value of the counterweight unit in air; at the same time, it reads the preset density constant of the counterweight material from the system parameter configuration, that is, the bulk density value of the material used to manufacture the counterweight unit, such as cast iron or lead-based alloy.

[0089] Step 1402: Divide the fixed mass parameter by the density constant of the counterweight material to obtain the drainage volume of the candidate counterweight unit. Specifically, according to the density definition formula, the volume of an object is equal to its mass divided by the material density; the control unit divides the read fixed mass parameter by the density constant of the counterweight material to calculate the material volume occupied by the candidate counterweight unit in the air. Since the counterweight unit is usually a solid block structure without internal cavities, this material volume is the volume of water displaced when the counterweight unit is completely submerged in water, i.e., the drainage volume.

[0090] Step 1403: Multiply the drainage volume by a preset fluid density constant to obtain the buoyancy compensation mass of the candidate counterweight unit. Specifically, the buoyancy force on an object immersed in water is equal to the weight of the water it displaces. The control unit multiplies the drainage volume by the preset fluid density constant to calculate the mass of water equal to the drainage volume of the counterweight unit, i.e., the buoyancy compensation mass.

[0091] Step 1404: Subtract the buoyancy compensation mass from the fixed mass parameter to obtain the underwater equivalent weight loss value. Specifically, the control unit subtracts the buoyancy compensation mass from the fixed mass parameter to obtain the equivalent net weight of the counterweight unit in water, and then takes a negative value to obtain the underwater equivalent weight loss value. A positive underwater equivalent weight loss value indicates the reduction in downward net load of the diving bell after jettisoning the counterweight unit, which is the increase in positive buoyancy gained by the diving bell. The larger the absolute value of this value, the stronger the positive buoyancy compensation effect brought about by jettisoning the counterweight unit.

[0092] All of the above-mentioned optional technical solutions can be combined in any way to form optional embodiments of this application, and will not be described in detail here.

[0093] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0094] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0096] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0098] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program verification codes.

[0099] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0100] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0101] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0102] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A method for jettisoning counterweights during emergency ascent of a diving bell, characterized in that, include: It acquires multi-channel environmental water pressure data collected by multiple independent water pressure sensors distributed around the diving bell's outer shell, as well as three-axis attitude tilt data collected by the built-in inertial measurement unit; Based on the multi-channel environmental water pressure data and the three-axis attitude tilt angle data, the current vertical depth, actual vertical ascent speed, and ascent acceleration of the diving bell are calculated. Obtain the target safe speed range corresponding to the current vertical depth value; The predicted ascent speed of the diving bell to reach the next depth monitoring node is calculated based on the actual vertical ascent speed and the ascent acceleration. Compare the predicted ascent speed with the target safe speed range; When the predicted ascent speed is less than the lower limit threshold of the target safe speed range; based on the three-axis attitude tilt angle data, search for a target counterweight unit that can generate a reverse balancing torque in the preset counterweight topology matrix and obtain the control port identifier corresponding to the target counterweight unit; A counterweight release command is generated based on the control port identifier and sent to the corresponding release actuator to control the release actuator to discard the target counterweight unit.

2. The method according to claim 1, characterized in that, The steps for constructing the counterweight topology matrix include: Obtain the spatial coordinates of all alternative counterweight units mounted on the base of the diving bell relative to the geometric center of the diving bell, their fixed mass parameters, and the control port identifiers of the release actuators that control the detachment of each alternative counterweight unit. The spatial coordinates are projected onto the horizontal reference plane of the diving bell to obtain the two-dimensional planar distribution coordinates of each of the candidate counterweight units; Based on the two-dimensional plane distribution coordinates, the fixed mass parameters, and the initial center of gravity parameters of the diving bell, calculate the torque vector that the diving bell can obtain when the alternative counterweight unit at the corresponding position is thrown. The two-dimensional plane distribution coordinates, the torque vector, and the control port identifier are feature-mapped and bound to generate the counterweight topology matrix.

3. The method according to claim 2, characterized in that, Based on the two-dimensional planar distribution coordinates, the fixed mass parameters, and the initial center of gravity parameters of the diving bell, calculate the torque vector that the diving bell can acquire when the alternative counterweight unit at the corresponding position is launched; including: Based on the fixed mass parameters and the preset density constant of the counterweight material, calculate the underwater equivalent weight loss value corresponding to the jettisoning of the alternative counterweight unit in the underwater environment; Calculate the two-dimensional position offset vector of the two-dimensional planar distribution coordinates relative to the initial centroid parameter on the horizontal reference plane; Based on the underwater equivalent weight loss value, the local positive buoyancy compensation vector generated at the corresponding coordinate position due to the jettisoning of the alternative counterweight unit is obtained. The torque vector that the diving bell can obtain when the alternative counterweight unit is jettisoned is obtained based on the two-dimensional position offset vector and the local positive buoyancy compensation vector.

4. The method according to claim 3, characterized in that, Based on the triaxial attitude tilt angle data, a target counterweight unit capable of generating a reverse balancing torque is located in a preset counterweight topology matrix, and the control port identifier corresponding to the target counterweight unit is obtained; including: Analyze the three-axis attitude tilt data to extract the current roll and pitch angles of the diving bell; Based on the roll angle and the pitch angle, and combined with the initial center of gravity parameters of the diving bell, the overall center of gravity offset vector of the diving bell is calculated. In the counterweight topology matrix containing the coordinates of multiple available counterweight units, traverse and search for candidate counterweight units whose torque vector and the overall center of gravity offset vector are within a preset obtuse angle range. Obtain the control port identifier bound to the candidate counterweight unit, and use it as the control port identifier corresponding to the target counterweight unit.

5. The method according to claim 4, characterized in that, Based on the multi-channel environmental water pressure data and the triaxial attitude tilt angle data, the current vertical depth, actual vertical ascent speed, and ascent acceleration of the diving bell are calculated; including: The vertical projection deviation angle of the diving bell is calculated based on the aforementioned three-axis attitude tilt angle data; The combined water pressure value is obtained by performing spatial geometric projection transformation on the multiple channels of environmental water pressure data using the vertical projection deviation angle. The current vertical depth value is obtained by multiplying the fused water pressure value by a preset fluid density constant. The actual vertical ascent speed is obtained by calculating the first time derivative of the current vertical depth value. The buoyancy acceleration is obtained by calculating the time derivative of the actual vertical buoyancy velocity.

6. The method according to claim 5, characterized in that, The spatial geometric projection transformation of the multiple environmental water pressure data is performed using the vertical projection deviation angle to obtain a fused water pressure value; including: Read the relative installation position coordinates of each of the independent water pressure sensors in the coordinate system of the diving bell body; Based on the relative installation position coordinates and the vertical projection deviation angle, calculate the vertical height difference of each independent water pressure sensor relative to the geometric center of the diving bell; The vertical height difference is converted into the water pressure error compensation amount corresponding to each of the independent water pressure sensors; The corresponding water pressure error compensation amount is added to the multi-channel environmental water pressure data to obtain multi-channel calibrated water pressure data, and the average value of the multi-channel calibrated water pressure data is calculated as the fused water pressure value.

7. The method according to claim 6, characterized in that, The predicted ascent speed of the diving bell to reach the next depth monitoring node is calculated based on the actual vertical ascent speed and the ascent acceleration; including: Read the set measurement cycle duration and obtain the current actual vertical ascent speed and ascent acceleration; The theoretical velocity increment is obtained by multiplying the buoyancy acceleration by the measurement period duration. The theoretical speed increment is added to the current actual vertical ascent speed to obtain the theoretical expected speed; Obtain the water flow resistance coefficient corresponding to the current depth of the diving bell; The predicted buoyancy speed is obtained by correcting the theoretical expected velocity with water resistance attenuation using the water flow resistance coefficient.

8. The method according to claim 7, characterized in that, Obtain the target safe speed range corresponding to the current vertical depth value; including: Read the current vertical depth value; Traverse the pre-defined depth segmentation safety mapping table to find the target depth range containing the current vertical depth value; Obtain the target safe speed range bound to the target depth range, wherein the value of the target safe speed range corresponding to the shallower water depth range is smaller, so as to ensure decompression safety in shallow water areas.

9. The method according to claim 8, characterized in that, After comparing the predicted ascent speed with the target safe speed range, the method further includes: When the predicted ascent speed is greater than the upper limit threshold of the target safe speed range, the diving bell is determined to be in a dangerous state of overspeed ascent. Generate a lockout control signal; send the lockout control signal to all the release actuators that are inactive; The drive power supply circuit of the release actuator is blocked to stop the ejection action and suppress the upward acceleration.

10. The method according to claim 9, characterized in that, After generating a counterweight release command based on the control port identifier and sending it to the corresponding release actuator to control the release actuator to discard the target counterweight unit, the method further includes: Start the action listening window for a preset duration; Within the action monitoring window, the disconnection receipt level signal from the release actuator is monitored; When the action monitoring window ends and no disconnection receipt level signal is received, the control port is marked as a stuck failure node in the counterweight topology matrix. Re-execute the steps based on the three-axis attitude tilt angle data, search for the target counterweight unit that can generate the reverse balancing torque in the preset counterweight topology matrix, and obtain the control port identifier corresponding to the target counterweight unit.

Images