Underwater emergency rescue and escape cabin with obstacle avoidance function

Abstract

The application discloses an underwater emergency rescue and escape cabin with an obstacle avoidance function, a lifting adjusting mechanism is installed on the outer wall of the cabin body, an obstacle avoidance mechanism is installed on the top of the cabin body, the obstacle avoidance mechanism comprises four propellers which are arranged along the circumference of the cabin body and are uniformly and spacedly arranged, each propeller is installed on a corresponding support rod, one end of each support rod is hingedly connected to the top center of the cabin body, the other end of each support rod is hingedly connected to one end of a corresponding electric telescopic rod, the other end of each electric telescopic rod is hingedly connected to the outer wall of the cabin body, the propelling direction of each propeller is perpendicular to the axial direction of the corresponding support rod, the propelling direction of the relative propeller is in the same plane as the central axis of the cabin body, the propelling direction of the propeller is adjusted through the telescopic adjustment of the electric telescopic rod, an ultrasonic range finder corresponding to the electric telescopic rod is installed on the left and right front and back outer walls of the cabin body, a first gyroscope is installed on each support rod, the detection direction of each ultrasonic range finder is upward, and a controller is arranged in the cabin body.

Description

Technical Field

[0001] This invention relates to the field of escape pods, and in particular to an underwater emergency rescue escape pod with obstacle avoidance function. Background Technology

[0002] Submarines are ships capable of operating underwater. They are vulnerable to damage from torpedo attacks or impacts, and the high water pressure in the deep sea allows seawater to quickly flood into the submarine, potentially leading to catastrophic destruction and loss of life. Emergency escape devices on submarines provide a possibility of survival.

[0003] The publication number CN105644746A discloses a submarine with a deep-sea emergency escape device. Its drawback is that it does not disclose how to achieve rapid surfacing of the escape capsule to the surface and how to deal with obstacles encountered during rapid surfacing. Based on this, the present invention designs an underwater emergency rescue and escape capsule with obstacle avoidance function. Summary of the Invention

[0004] This invention addresses the problems and shortcomings of existing technologies by providing an underwater emergency rescue and escape capsule with obstacle avoidance function.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution:

[0006] This invention provides an underwater emergency rescue and escape cabin with obstacle avoidance function, comprising a cabin body with a sealed door for submarine escape personnel to enter and exit. The cabin body is characterized by a lifting and adjusting mechanism installed on its outer wall, and an obstacle avoidance mechanism installed on its top. The obstacle avoidance mechanism includes four thrusters arranged circumferentially and evenly spaced along the cabin body. Each thruster is mounted on a corresponding support rod. One end of each support rod is hinged to the center of the top of the cabin body, and the other end is hinged to one end of a corresponding electric telescopic rod. The other end of each electric telescopic rod is hinged to the outer wall of the cabin body. The thrusting direction of each thruster is perpendicular to the axial direction of the corresponding support rod, and the thrusting direction of the thruster is in the same plane as the central axis of the cabin body. The thrusting direction of the thrusters is adjusted by extending and retracting the electric telescopic rods. Ultrasonic rangefinders, corresponding to the electric telescopic rods, are installed on the left, right, front, and rear outer walls of the cabin body. A first gyroscope is installed on each support rod. The detection direction of each ultrasonic rangefinder is upward. A controller is also provided inside the cabin body.

[0007] The controller, upon receiving an ascent command for the escape capsule, controls the lifting and adjusting mechanism to rapidly ascend the capsule. During this rapid ascent, it receives ultrasonic signals detected by four ultrasonic rangefinders. A timer begins when the ultrasonic signal analysis indicates an obstacle in the ascent direction. If, within the set time, the ultrasonic signal analysis indicates no obstacle in the ascent direction, the ascent continues. If, at the end of the set time, the ultrasonic signal analysis indicates an obstacle in the ascent direction, the controller enters obstacle avoidance mode. In obstacle avoidance mode, the lifting and adjusting mechanism is first paused to stop the ascent. Within a set safe obstacle avoidance time, the controller determines whether the ultrasonic signals detected by the ultrasonic rangefinders indicate an obstacle in the ascent direction and whether the distance between the obstacle and the capsule is greater than a first set limit. If yes, the determination continues. If the ultrasonic signals indicate no obstacle in the ascent direction... Then, the lifting and adjusting mechanism is controlled to make the entire cabin float up quickly. When the ultrasonic signal indicates an obstacle in the upward direction, but the distance between the obstacle and the cabin is less than or equal to the first set limit distance, or when the ultrasonic signal indicates an obstacle in the upward direction at the end of the set safe obstacle avoidance time, the obstacle avoidance trajectory is analyzed based on the ultrasonic signals detected by each ultrasonic rangefinder. Based on the obstacle avoidance trajectory, the extension and retraction of the corresponding electric telescopic rod and the start of the corresponding thruster are controlled so that the thruster's thrust direction is synchronously towards the obstacle avoidance trajectory. When the ultrasonic signal indicates no obstacle in the upward direction, the corresponding electric telescopic rod is reset and the corresponding thruster is paused. Then, the lifting and adjusting mechanism is controlled to make the entire cabin float up quickly. During the thruster's operation, the three-dimensional coordinates of the corresponding thruster are received from the feedback of each of the first gyroscopes to determine the thruster's thrust direction.

[0008] The positive and progressive effects of this invention are as follows: This invention enables the underwater emergency rescue and escape capsule to rise rapidly, and to avoid obstacles in a timely manner when encountering obstacles during the rapid ascent. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the underwater emergency rescue and escape cabin of a specific embodiment 1 of the present invention.

[0010] Figure 2 This is a schematic diagram of the obstacle avoidance mechanism in specific embodiment 1 of the present invention. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0012] Example 1

[0013] like Figure 1 and Figure 2 As shown, this embodiment provides an underwater emergency rescue and escape cabin with obstacle avoidance function, including a cabin body 1. The cabin body 1 is vertically pill-shaped and includes an upper hemispherical cavity, a cylindrical cavity and a lower hemispherical cavity integrally formed from top to bottom. A sealed door (not shown in the figure) is installed on the cabin body 1 for submarine escape personnel to enter and exit.

[0014] The outer wall of the cabin 1 is equipped with a lifting and adjusting mechanism, which includes lifting and adjusting chambers 2 arranged circumferentially and evenly spaced. The top and bottom of each lifting and adjusting chamber 2 are arc-shaped. Each lifting and adjusting chamber 2 has an air inlet 3 and an exhaust outlet 4 at the top and a water inlet 5 and a drain outlet 6 at the bottom. The cabin 1 is equipped with an air inlet pipe 7 for connecting to each air inlet 3 and an exhaust pipe 8 for connecting to each exhaust outlet 4. Each air inlet pipe 7 is connected to a first gas cylinder 9 located at the bottom of the cabin 1. Each chamber is equipped with an air intake check valve and an air intake solenoid valve. Each exhaust pipe 8 is connected to a second gas cylinder located at the bottom of the chamber 1. Each exhaust pipe 8 is equipped with an exhaust check valve and an exhaust solenoid valve. Each lifting adjustment chamber 2 is equipped with a pressure sensor at the top. Each water inlet 5 is equipped with a water inlet check valve and a water inlet solenoid valve. Each drain outlet 6 is equipped with a drain check valve and a drain solenoid valve. Each lifting adjustment chamber 2 is equipped with a second gyroscope. Each second gyroscope obtains the three-dimensional coordinates of the corresponding chamber position and thus obtains the stability of the chamber.

[0015] A horizontal step 10 is fixed between the lower hemispherical cavity and the cylindrical cavity, and the first gas cylinder 9 and the second gas cylinder are placed inside the lower hemispherical cavity.

[0016] An obstacle avoidance mechanism is installed on the top of the cabin 1. This mechanism includes four evenly spaced thrusters 11 arranged circumferentially around the cabin. Each thruster 11 is mounted on a corresponding support rod 12. One end of each support rod 12 is hinged to the center of the top of the cabin 1, and the other end is hinged to one end of a corresponding electric telescopic rod 13. The other end of each electric telescopic rod 13 is hinged to the outer wall of the cabin 1. The four electric telescopic rods 13 are located on the left, right, front, and right sides of the cabin 1, respectively. The thrust direction of each thruster 11 is perpendicular to the axial direction of the corresponding support rod 12, and the left and right sides... The thruster 11 is propelled in the same plane as the central axis of the cabin 1. The thruster 11 on the front and rear sides is propelled in the same plane as the central axis of the cabin 1. The thruster 11 is propelled by the extension and retraction of the electric telescopic rod 13. Ultrasonic rangefinders 14 are installed on the left, right, front and rear outer walls of the cabin 1. Each ultrasonic rangefinder 14 corresponds to an electric telescopic rod 13. The detection direction of each ultrasonic rangefinder 14 is upward. A first gyroscope 15 is installed on each support rod 12. A controller is also installed inside the cabin 1. The controller can be placed in the lower hemispherical cavity.

[0017] The first gas cylinder 9 and the second gas cylinder are connected by a gas supply pipe. The gas supply pipe is equipped with a gas supply check valve and a gas supply solenoid valve. The controller is used to control the gas supply solenoid valve to open when the pressure in the second gas cylinder reaches the set pressure value, so that the gas in the second gas cylinder is transported to the first gas cylinder 9 through the gas supply pipe. The gas discharged from the exhaust port 4 is temporarily stored in the second gas cylinder. When the amount of gas temporarily stored in the second gas cylinder reaches a certain amount, the gas in the second gas cylinder is transported to the first gas cylinder 9 to make full use of the discharged gas.

[0018] When the controller receives the command for the escape capsule to float, it simultaneously controls the opening of four air intake electronic control valves and four drain electronic control valves. The gas in the first gas cylinder 9 is forced into the corresponding lifting adjustment chamber 2 through each air intake pipe 7 and air intake port 3. The water in each lifting adjustment chamber 2 is discharged through the corresponding drain port 6. The overall weight of the capsule 1 becomes lighter, so that the capsule 1 floats up quickly. The controller also receives the air pressure value in the corresponding lifting adjustment chamber 2 detected by each air pressure sensor and the three-dimensional coordinates of the corresponding capsule position detected by each second gyroscope to determine the stability of the capsule.

[0019] The controller is used to receive ultrasonic signals detected by four ultrasonic rangefinders 14 during the rapid ascent of the entire cabin. When the ultrasonic signals indicate that there is an obstacle in the ascent direction, the controller starts timing. If there is no obstacle in the ascent direction within the set timing time (10s-20s), the controller continues to ascend. If there is still an obstacle in the ascent direction when the ultrasonic signals are analyzed at the end of the set timing time, the controller will control the cabin to enter obstacle avoidance mode.

[0020] In this design, when an obstacle is encountered, the cabin does not immediately enter obstacle avoidance mode. Instead, a certain amount of time is given. If the obstacle moves away from directly above the cabin on its own or is not directly above the cabin due to water flow within this time, it does not affect the cabin's rapid ascent. If the obstacle is still directly above the cabin within this time, then the cabin will enter obstacle avoidance mode.

[0021] In obstacle avoidance mode, first, the four air intake valves and four drainage valves are closed to stop the hull from buoyancy. Within a set safe obstacle avoidance time (e.g., 2 minutes), it is determined whether the ultrasonic signal detected by the ultrasonic rangefinder 14 indicates an obstacle in the buoyancy direction and whether the distance between the obstacle and the hull 1 is greater than the first set limit. If yes, it indicates an obstacle above the hull and that the obstacle is relatively far from the top of the hull. At this time, the hull is relatively safe and does not need to be adjusted by starting the thrusters; it relies on water flow for adjustment. The judgment continues. If the ultrasonic signal indicates no obstacle in the buoyancy direction, it indicates that the hull is no longer obstructed by the water flow and can continue to buoyancy. Then, the four air intake valves and four drainage valves are opened to allow the hull to buoy rapidly. If the ultrasonic signal indicates an obstacle in the buoyancy direction but the distance between the obstacle and the hull is less than or equal to the first set limit, the hull is considered safe. When the ultrasonic signal indicates an obstacle in the upward direction at the end of the limited distance or the set safe obstacle avoidance time, it means that relying on water flow adjustment is still unable to avoid the obstacle. At this time, it is necessary to start the thruster 11 for obstacle avoidance adjustment. The obstacle avoidance trajectory is analyzed based on the ultrasonic signals detected by each ultrasonic rangefinder 14. Based on the obstacle avoidance trajectory, the extension and retraction of the corresponding electric telescopic rod 13 and the start of the corresponding thruster 11 are controlled so that the thrust direction of the corresponding thruster 11 is synchronously towards the obstacle avoidance trajectory. When the ultrasonic signal indicates no obstacle in the upward direction, the corresponding electric telescopic rod 13 is reset and the corresponding thruster 11 is paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to make the entire cabin 1 float up quickly. During the operation of the thruster 11, the three-dimensional coordinates of the corresponding thruster 11 are received from the feedback of each first gyroscope 15, and the thrust direction of the thruster 11 is fed back.

[0022] When the ultrasonic signal indicates an obstacle in the upward direction, but the distance between the obstacle and the hull is less than or equal to the first set limit distance, or when the ultrasonic signal indicates an obstacle in the upward direction at the end of the set safe obstacle avoidance time, the obstacle avoidance trajectory is analyzed based on the ultrasonic signals detected by each ultrasonic rangefinder 14. Based on the obstacle avoidance trajectory, the corresponding electric telescopic rod 13 is controlled to extend or retract, and the corresponding thruster 11 is activated, so that the thrust direction of the corresponding thruster 11 is synchronously oriented towards the obstacle avoidance trajectory. When the ultrasonic signal indicates no obstacle in the upward direction, the corresponding electric... The telescopic boom 13 resets and the corresponding thruster 11 pauses. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to allow the entire hull 1 to rise rapidly. Specifically, this can be categorized into the following scenarios: only one ultrasonic rangefinder 14 detects an ultrasonic signal indicating an obstacle in the upward direction; only two ultrasonic rangefinders 14 detect an ultrasonic signal indicating an obstacle in the upward direction; three ultrasonic rangefinders 14 detect an ultrasonic signal indicating an obstacle in the upward direction; and all four ultrasonic rangefinders 14 detect an ultrasonic signal indicating an obstacle in the upward direction. The specific operation process is as follows.

[0023] The controller is used to analyze the obstacle avoidance trajectory based on the ultrasonic signals detected by each ultrasonic rangefinder when the ultrasonic signal indicates an obstacle in the upward direction but the distance between the obstacle and the cabin is less than or equal to the first set limit distance, or when the ultrasonic signal indicates an obstacle in the upward direction at the end of the set safe obstacle avoidance time. When only the ultrasonic rangefinder 14 on the left side detects an obstacle in the upward direction, or when the ultrasonic rangefinders 14 on the left, front, and rear sides detect an obstacle in the upward direction, the controller analyzes that the obstacle avoidance trajectory is a rightward obstacle avoidance trajectory. Based on the obstacle avoidance trajectory, the controller controls the extension of the electric telescopic rod 13 on the left side, the shortening of the electric telescopic rod 13 on the right side, and the activation of the thrusters 11 on the left and right sides, so that the thrusters 11 on the left and right sides move synchronously towards the tilted upper right. When the controller obtains an ultrasonic signal indicating no obstacle in the upward direction, it controls the electric telescopic rods 13 on the left and right sides to reset and the thrusters 11 on the left and right sides to pause. Then, it controls the four air intake electronic control valves and the four drainage electronic control valves to open so that the cabin 1 as a whole can quickly rise.

[0024] When only the ultrasonic rangefinder 14 on the right side detects an obstacle in the upward direction, or when the ultrasonic rangefinders 14 on the right, front, and rear sides detect an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a leftward obstacle avoidance trajectory. Based on the obstacle avoidance trajectory, the electric telescopic rod 13 on the left side is shortened, the electric telescopic rod 13 on the right side is extended, and the thrusters 11 on the left and right sides are activated, so that the thrusters 11 on the left and right sides move synchronously towards the tilted upper left. When the ultrasonic signal indicates that there is no obstacle in the upward direction, the electric telescopic rods 13 on the left and right sides are reset and the thrusters 11 on the left and right sides are paused. Then, the four air intake electronic control valves and the four drainage electronic control valves are opened to make the entire cabin 1 rise rapidly.

[0025] When only the ultrasonic rangefinder 14 on the front side detects an obstacle in the upward direction, or when the ultrasonic rangefinders 14 on the front, left, and right sides detect an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a backward obstacle avoidance trajectory. Based on the obstacle avoidance trajectory, the rear electric telescopic rod 13 is shortened, the front electric telescopic rod 13 is extended, and the front and rear thrusters 11 are activated, so that the thrusting direction of the front and rear thrusters 11 is synchronously tilted upward and backward. When the ultrasonic signal is obtained that there is no obstacle in the upward direction, the front and rear electric telescopic rods 13 are reset and the front and rear thrusters 11 are paused. Then, the four air intake electronic control valves and the four drainage electronic control valves are opened to make the entire cabin 1 float up quickly.

[0026] When only the ultrasonic rangefinder 14 on the rear side detects an obstacle in the upward direction, or when the ultrasonic rangefinders 14 on the rear, left, and right sides detect an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a forward-moving obstacle avoidance trajectory. Based on the obstacle avoidance trajectory, the rear electric telescopic rod 13 is extended, the front electric telescopic rod 13 is shortened, and the front and rear thrusters 11 are activated, so that the thrusting direction of the front and rear thrusters 11 is synchronously tilted forward and upward. When the ultrasonic signal is obtained indicating that there is no obstacle in the upward direction, the front and rear electric telescopic rods 13 are reset and the front and rear thrusters 11 are paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to make the entire cabin 1 rise rapidly.

[0027] The controller is used to analyze the obstacle avoidance trajectory when only the ultrasonic signals detected by the ultrasonic rangefinders 14 on the left and right sides indicate an obstacle in the upward direction. Based on the obstacle avoidance trajectory, the controller controls the extension of the electric telescopic rods 13 on the rear / front side, the shortening of the electric telescopic rods 13 on the front / rear side, and the activation of the thrusters 11 on the front and rear sides. This ensures that the thrusters 11 on the front and rear sides move synchronously in the direction of tilting forward / backward. When the ultrasonic signal indicates no obstacle in the upward direction, the controller controls the electric telescopic rods 13 on the front and rear sides to reset and the thrusters 11 on the front and rear sides to pause. Then, the controller controls the four air intake valves and four drainage valves to open so that the entire cabin 1 can quickly rise.

[0028] When only the ultrasonic rangefinders 14 on the front and rear sides detect an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a left / right movement trajectory. Based on the obstacle avoidance trajectory, the left / right electric telescopic rods 13 are shortened, the right / left electric telescopic rods 13 are extended, and the left and right thrusters 11 are activated so that the thrusting direction of the left and right thrusters 11 is synchronously tilted to the left / right upper. When the ultrasonic signal is obtained indicating no obstacle in the upward direction, the left and right electric telescopic rods 13 are reset and the left and right thrusters 11 are paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to make the entire cabin 1 rise quickly.

[0029] When only the ultrasonic rangefinders 14 on the left and front sides detect ultrasonic signals indicating an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a rightward and backward obstacle avoidance trajectory. Based on the rightward obstacle avoidance trajectory, the left electric telescopic rod 13 is extended, the right electric telescopic rod 13 is shortened, and the left and right thrusters 11 are activated. Simultaneously, based on the backward obstacle avoidance trajectory, the front electric telescopic rod 13 is extended, the rear electric telescopic rod is shortened, and the front and rear thrusters 11 are activated, so that the thrusting direction of the left and right thrusters 11 is synchronously tilted to the upper right, and the thrusting direction of the front and rear thrusters 11 is synchronously tilted to the upper rear. When the ultrasonic signal indicates no obstacle in the upward direction, the left, right, front, and rear electric telescopic rods 13 are reset and the left, right, front, and rear thrusters 11 are paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to allow the entire cabin 1 to rise rapidly.

[0030] When only the ultrasonic rangefinders 14 on the left and rear sides detect ultrasonic signals indicating an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a rightward obstacle avoidance trajectory and a forward obstacle avoidance trajectory. Based on the rightward obstacle avoidance trajectory, the left electric telescopic rod 13 is extended, the right electric telescopic rod 13 is shortened, and the left and right thrusters 11 are activated. Simultaneously, based on the forward obstacle avoidance trajectory, the rear electric telescopic rod 13 is extended, the front electric telescopic rod 13 is shortened, and the front and rear thrusters 11 are activated, so that the thrusting direction of the left and right thrusters 11 is synchronously tilted to the upper right, and the thrusting direction of the front and rear thrusters 11 is synchronously tilted forward and upward. When the ultrasonic signal indicates no obstacle in the upward direction, the left, right, front, and rear electric telescopic rods 13 are reset, and the left, right, front, and rear thrusters 11 are paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to allow the entire cabin 1 to rise rapidly.

[0031] When only the ultrasonic rangefinders 14 on the right and front sides detect ultrasonic signals indicating an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a leftward and backward obstacle avoidance trajectory. Based on the leftward obstacle avoidance trajectory, the left electric telescopic rod 13 is shortened, the right electric telescopic rod 13 is extended, and the left and right thrusters 11 are activated. Simultaneously, based on the backward obstacle avoidance trajectory, the front electric telescopic rod 13 is extended, the rear electric telescopic rod 13 is shortened, and the front and rear thrusters 11 are activated, so that the thrusting direction of the left and right thrusters 11 is synchronously tilted to the upper left, and the thrusting direction of the front and rear thrusters 11 is synchronously tilted to the upper rear. When the ultrasonic signal indicates no obstacle in the upward direction, the left, right, front, and rear electric telescopic rods 13 are reset and the left, right, front, and rear thrusters 11 are paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to allow the entire cabin 1 to rise rapidly.

[0032] When only the ultrasonic rangefinders 14 on the right and rear sides detect ultrasonic signals indicating an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a leftward obstacle avoidance trajectory and a forward obstacle avoidance trajectory. Based on the leftward obstacle avoidance trajectory, the left electric telescopic rod 13 is shortened, the right electric telescopic rod 13 is extended, and the left and right thrusters 11 are activated. Simultaneously, based on the forward obstacle avoidance trajectory, the front electric telescopic rod 13 is shortened, the rear electric telescopic rod 13 is extended, and the front and rear thrusters 11 are activated, so that the thrusting direction of the left and right thrusters 11 is synchronously tilted to the upper left, and the thrusting direction of the front and rear thrusters 11 is synchronously tilted to the upper front. When the ultrasonic signal indicates no obstacle in the upward direction, the left, right, front, and rear electric telescopic rods 13 are reset and the left, right, front, and rear thrusters 11 are paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to make the entire cabin 1 rise rapidly.

[0033] When the ultrasonic signals detected by the ultrasonic rangefinders 14 on the left, right, front, and rear sides all indicate an obstacle in the upward direction, the controller analyzes and determines the obstacle avoidance trajectory to be one of the following: obstacle avoidance trajectory moving to the left, obstacle avoidance trajectory moving to the right, obstacle avoidance trajectory moving forward, obstacle avoidance trajectory moving backward, obstacle avoidance trajectory moving to the left and forward simultaneously, obstacle avoidance trajectory moving to the left and backward simultaneously, obstacle avoidance trajectory moving to the right and forward simultaneously. The obstacle avoidance trajectory, which moves to the right and backward, is controlled based on the selected obstacle avoidance trajectory. The electric telescopic rod 13 on the opposite side is extended and the thruster 11 on the opposite side is activated, so that the thruster 11 on the opposite side moves synchronously toward the obstacle avoidance trajectory. When the ultrasonic signal indicates that there are no obstacles in the upward direction, the electric telescopic rod 13 on the opposite side is reset and the thruster 11 on the opposite side is paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to make the entire cabin 1 float up quickly.

[0034] Example 2

[0035] Furthermore, based on Embodiment 1, when the ultrasonic signal indicates an obstacle in the upward direction but the distance between the obstacle and the cabin is less than or equal to the first set limit distance, or when the ultrasonic signal indicates an obstacle in the upward direction at the end of the set safe obstacle avoidance time, the obstacle avoidance trajectory is analyzed based on the ultrasonic signals detected by each ultrasonic rangefinder 14. Based on the obstacle avoidance trajectory, the extension and retraction of the corresponding electric telescopic rod 13 and the activation of the corresponding thruster 11 are controlled so that the thrusting direction of the corresponding thruster 11 is synchronously towards the obstacle avoidance trajectory. During the thrusting process, it is determined whether the ultrasonic signal detected by the ultrasonic rangefinder 14 indicates an obstacle in the upward direction and the distance between the obstacle and the cabin is greater than the second set limit distance. If yes, the determination continues. When the ultrasonic signal indicates no obstacle in the upward direction, the corresponding electric telescopic rod 13 is reset and the corresponding thruster 11 is paused. Then, the four air intake electronic control valves and four drainage electronic control valves are opened to allow the cabin 1 to rise rapidly as a whole. If there is an obstacle signal but the distance between the obstacle and the cabin is less than or equal to the second set limit distance, then the four exhaust control valves and four water inlet control valves are opened, making the cabin heavier and causing the cabin 1 to descend. During the descent, it is determined whether the ultrasonic signal detected by the ultrasonic rangefinder indicates an obstacle in the upward direction and the distance between the obstacle and the cabin reaches the first set limit distance. If so, the four exhaust control valves and four water inlet control valves are closed to prevent the cabin from descending. If the ultrasonic signal indicates an obstacle in the upward direction and the distance between the obstacle and the cabin does not reach the first set limit distance, the determination continues. If the ultrasonic signal indicates no obstacle in the upward direction, the four exhaust control valves and four water inlet control valves are closed to prevent the cabin from descending, the corresponding electric telescopic rod 13 is reset and the corresponding thruster 11 is paused, and then the four air inlet control valves and four water inlet control valves are opened to make the cabin 1 rise rapidly until the first set limit distance is greater than the second set limit distance.

[0036] In this scheme, during the propulsion process, the entire cabin will slowly float up due to the action of the propulsion. At this time, it is necessary to detect whether the cabin is relatively close to the obstacle. If it is relatively close, the cabin needs to be lowered to allow time for obstacle avoidance and prevent the drawback of hitting the obstacle before the obstacle avoidance function is realized.

[0037] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. An underwater emergency rescue and escape cabin with obstacle avoidance function, comprising a cabin body, wherein the cabin body is equipped with a sealed door for submarine escape personnel to enter and exit, characterized in that, The outer wall of the cabin is equipped with a lifting and adjusting mechanism, and the top of the cabin is equipped with an obstacle avoidance mechanism. The obstacle avoidance mechanism includes four thrusters arranged circumferentially and evenly spaced along the cabin. Each thruster is mounted on a corresponding support rod. One end of each support rod is hinged to the center of the top of the cabin, and the other end is hinged to one end of a corresponding electric telescopic rod. The other end of each electric telescopic rod is hinged to the outer wall of the cabin. The thrusting direction of each thruster is perpendicular to the axial direction of the corresponding support rod, and the thrusting direction of the thruster is in the same plane as the central axis of the cabin. The thrusting direction of the thruster is adjusted by extending and retracting the electric telescopic rod. Ultrasonic rangefinders corresponding to the electric telescopic rods are installed on the left, right, front, and rear outer walls of the cabin. A first gyroscope is installed on each support rod. The detection direction of each ultrasonic rangefinder is upward. A controller is also installed inside the cabin. The controller, upon receiving an ascent command for the escape capsule, controls the lifting and adjusting mechanism to rapidly ascend the capsule. During this rapid ascent, it receives ultrasonic signals detected by four ultrasonic rangefinders. A timer begins when the ultrasonic signal analysis indicates an obstacle in the ascent direction. If, within the set time, the ultrasonic signal analysis indicates no obstacle in the ascent direction, the ascent continues. If, at the end of the set time, the ultrasonic signal analysis indicates an obstacle in the ascent direction, the controller enters obstacle avoidance mode. In obstacle avoidance mode, the lifting and adjusting mechanism is first paused to stop the ascent. Within a set safe obstacle avoidance time, the controller determines whether the ultrasonic signals detected by the ultrasonic rangefinders indicate an obstacle in the ascent direction and whether the distance between the obstacle and the capsule is greater than a first set limit. If yes, the determination continues. If the ultrasonic signals indicate no obstacle in the ascent direction... Then, the lifting and adjusting mechanism is controlled to make the entire cabin float up quickly. When the ultrasonic signal indicates an obstacle in the upward direction, but the distance between the obstacle and the cabin is less than or equal to the first set limit distance, or when the ultrasonic signal indicates an obstacle in the upward direction at the end of the set safe obstacle avoidance time, the obstacle avoidance trajectory is analyzed based on the ultrasonic signals detected by each ultrasonic rangefinder. Based on the obstacle avoidance trajectory, the extension and retraction of the corresponding electric telescopic rod and the start of the corresponding thruster are controlled so that the thruster's thrust direction is synchronously towards the obstacle avoidance trajectory. When the ultrasonic signal indicates no obstacle in the upward direction, the corresponding electric telescopic rod is reset and the corresponding thruster is paused. Then, the lifting and adjusting mechanism is controlled to make the entire cabin float up quickly. During the thruster's operation, the three-dimensional coordinates of the corresponding thruster are received from the feedback of each of the first gyroscopes to determine the thruster's thrust direction.

2. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 1, characterized in that, The controller is used to analyze the obstacle avoidance trajectory based on the ultrasonic signals detected by each ultrasonic rangefinder when the ultrasonic signal indicates an obstacle in the upward direction but the distance between the obstacle and the cabin is less than or equal to the first set limit distance, or when the ultrasonic signal indicates an obstacle in the upward direction at the end of the set safe obstacle avoidance time. When only the ultrasonic rangefinder on the left side detects an obstacle in the upward direction, or when the ultrasonic rangefinders on the left, front, and rear sides detect an obstacle in the upward direction, the controller analyzes that the obstacle avoidance trajectory is a rightward obstacle avoidance trajectory. Based on the obstacle avoidance trajectory, the controller controls the extension of the electric telescopic rod on the left side, the shortening of the electric telescopic rod on the right side, and the activation of the thrusters on both sides, so that the thrusters on both sides move synchronously towards the tilted upper right. When the controller obtains an ultrasonic signal indicating no obstacle in the upward direction, it controls the electric telescopic rods on both sides to reset and the thrusters on both sides to pause. Then, it controls the lifting adjustment mechanism to make the cabin float up quickly. When only the ultrasonic rangefinder on the right side detects an obstacle in the upward direction, or when the ultrasonic rangefinders on the right, front, and rear sides detect an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a leftward obstacle avoidance trajectory. Based on the obstacle avoidance trajectory, the left electric telescopic rod is shortened, the right electric telescopic rod is extended, and the left and right thrusters are activated so that the thrusters on both sides move synchronously towards the tilted upper left. When the ultrasonic signal indicates that there is no obstacle in the upward direction, the left and right electric telescopic rods are reset and the left and right thrusters are paused. Then, the lifting adjustment mechanism is controlled to make the entire cabin float up quickly. When only the ultrasonic rangefinder on the front detects an obstacle in the upward direction, or when the ultrasonic rangefinders on the front, left, and right detect an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a backward obstacle avoidance trajectory. Based on the obstacle avoidance trajectory, the rear electric telescopic rod is shortened, the front electric telescopic rod is extended, and the front and rear thrusters are activated so that the thrusters on the front and rear sides move in the same direction towards tilting upward. When the ultrasonic signal indicates that there is no obstacle in the upward direction, the front and rear electric telescopic rods are reset and the front and rear thrusters are paused. Then, the lifting adjustment mechanism is controlled to make the entire cabin float up quickly. When only the ultrasonic rangefinder on the rear detects an obstacle in the upward direction, or when the ultrasonic rangefinders on the rear, left, and right detect an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a forward-moving obstacle avoidance trajectory. Based on the obstacle avoidance trajectory, the rear electric telescopic rod is extended, the front electric telescopic rod is shortened, and the front and rear thrusters are activated to ensure that the thrusters on the front and rear sides move in a synchronized upward-tilting direction. When an ultrasonic signal indicating no obstacle in the upward direction is obtained, the front and rear electric telescopic rods are reset and the front and rear thrusters are paused. Then, the lifting adjustment mechanism is controlled to make the entire cabin rise rapidly.

3. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 2, characterized in that, The controller is used to analyze the obstacle avoidance trajectory when only the ultrasonic signals detected by the ultrasonic rangefinders on the left and right sides indicate an obstacle in the upward direction. The controller then determines that the obstacle avoidance trajectory is a forward / backward movement. Based on the obstacle avoidance trajectory, the controller controls the extension of the rear / front electric telescopic rod, the shortening of the front / rear electric telescopic rod, and the activation of the front and rear thrusters. This ensures that the thrusters on the front and rear sides move in the same direction towards the tilted front / rear upward. When the controller receives an ultrasonic signal indicating no obstacle in the upward direction, it controls the front and rear electric telescopic rods to reset and the front and rear thrusters to pause. Finally, it controls the lifting adjustment mechanism to enable the entire cabin to rise rapidly. When only the ultrasonic rangefinders on the front and rear sides detect an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a left / right movement trajectory. Based on the obstacle avoidance trajectory, the left / right electric telescopic rods are shortened, the right / left electric telescopic rods are extended, and the left and right thrusters are activated so that the thrusters on the left and right sides move synchronously towards the tilted left / right upper direction. When the ultrasonic signal indicates that there is no obstacle in the upward direction, the left and right electric telescopic rods are reset and the left and right thrusters are paused. Then, the lifting adjustment mechanism is controlled to make the entire cabin float up quickly. When only the ultrasonic rangefinders on the left and front sides detect ultrasonic signals indicating an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a rightward and backward obstacle avoidance trajectory. Based on the rightward obstacle avoidance trajectory, the left electric telescopic rod is extended, the right electric telescopic rod is shortened, and the left and right thrusters are activated. Simultaneously, based on the backward obstacle avoidance trajectory, the front electric telescopic rod is extended, the rear electric telescopic rod is shortened, and the front and rear thrusters are activated. This ensures that the thrusters on the left and right sides move synchronously towards the tilted upper right, and the thrusters on the front and rear sides move synchronously towards the tilted upper rear. When the ultrasonic signal indicates no obstacle in the upward direction, the left, right, front, and rear electric telescopic rods are reset, and the thrusters on the left, right, front, and rear sides are paused. Then, the lifting adjustment mechanism is controlled to make the entire cabin rise rapidly. When only the ultrasonic rangefinders on the left and rear sides detect ultrasonic signals indicating an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a rightward obstacle avoidance trajectory and a forward obstacle avoidance trajectory. Based on the rightward obstacle avoidance trajectory, the left electric telescopic rod is extended, the right electric telescopic rod is shortened, and the left and right thrusters are activated. At the same time, based on the forward obstacle avoidance trajectory, the rear electric telescopic rod is extended, the front electric telescopic rod is shortened, and the front and rear thrusters are activated, so that the thrusters on the left and right sides move synchronously towards the tilted upper right, and the thrusters on the front and rear sides move synchronously towards the tilted upper front. When the ultrasonic signal indicates no obstacle in the upward direction, the left, right, front, and rear electric telescopic rods are reset and the thrusters on the left, right, front, and rear sides are paused. Then, the lifting adjustment mechanism is controlled to make the entire cabin float up quickly. When only the ultrasonic rangefinders on the right and front sides detect ultrasonic signals indicating an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a leftward and backward obstacle avoidance trajectory. Based on the leftward obstacle avoidance trajectory, the left electric telescopic rod is shortened, the right electric telescopic rod is extended, and the left and right thrusters are activated. Simultaneously, based on the backward obstacle avoidance trajectory, the front electric telescopic rod is extended, the rear electric telescopic rod is shortened, and the front and rear thrusters are activated. This ensures that the thrusters on the left and right sides move synchronously towards the tilted upper left, and the thrusters on the front and rear sides move synchronously towards the tilted upper rear. When the ultrasonic signal indicates no obstacle in the upward direction, the left, right, front, and rear electric telescopic rods are reset, and the thrusters on the left, right, front, and rear sides are paused. Then, the lifting adjustment mechanism is controlled to make the entire cabin rise rapidly. When only the ultrasonic rangefinders on the right and rear sides detect ultrasonic signals indicating an obstacle in the upward direction, the obstacle avoidance trajectory is analyzed to be a leftward obstacle avoidance trajectory and a forward obstacle avoidance trajectory. Based on the leftward obstacle avoidance trajectory, the left electric telescopic rod is shortened, the right electric telescopic rod is extended, and the left and right thrusters are activated. Simultaneously, based on the forward obstacle avoidance trajectory, the front electric telescopic rod is shortened, the rear electric telescopic rod is extended, and the front and rear thrusters are activated. This ensures that the thrusters on the left and right sides move synchronously towards the tilted upper left, and the thrusters on the front and rear sides move synchronously towards the tilted upper front. When the ultrasonic signal indicates no obstacle in the upward direction, the left, right, front, and rear electric telescopic rods are reset, and the thrusters on the left, right, front, and rear sides are paused. Then, the lifting adjustment mechanism is controlled to allow the entire cabin to rise rapidly.

4. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 3, characterized in that, The controller is used to analyze the obstacle avoidance trajectory when the ultrasonic signals detected by the ultrasonic rangefinders on the left, right, front, and rear sides all indicate an obstacle in the upward direction. The trajectory can be selected from any one of the following: a leftward obstacle avoidance trajectory, a rightward obstacle avoidance trajectory, a forward obstacle avoidance trajectory, a backward obstacle avoidance trajectory, a leftward obstacle avoidance trajectory combined with a forward obstacle avoidance trajectory, a leftward obstacle avoidance trajectory combined with a backward obstacle avoidance trajectory, or a rightward obstacle avoidance trajectory. Simultaneously, obstacle avoidance trajectories are selected for forward movement, rightward movement, and backward movement. Based on the selected obstacle avoidance trajectories, the extension and retraction of the electric telescopic rods on the opposite side and the activation of the thrusters on the opposite side are controlled so that the thrusters on the opposite side move in the same direction as the obstacle avoidance trajectories. When an ultrasonic signal indicating that there are no obstacles in the upward direction is received, the electric telescopic rods on the opposite side are reset and the thrusters on the opposite side are paused. Then, the lifting and adjusting mechanism is controlled to make the entire cabin rise rapidly.

5. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 1, characterized in that, The controller is used to analyze the obstacle avoidance trajectory based on the ultrasonic signals detected by each ultrasonic rangefinder when the ultrasonic signal indicates an obstacle in the upward direction, but the distance between the obstacle and the cabin is less than or equal to a first preset limit distance, or when the ultrasonic signal indicates an obstacle in the upward direction at the end of the preset safe obstacle avoidance time. Based on this trajectory, the controller controls the extension and retraction of the corresponding electric telescopic rods and the activation of the corresponding thrusters, ensuring that the thrusters move synchronously towards the obstacle avoidance trajectory. During the thrusting process, the controller determines whether the ultrasonic signal detected by the ultrasonic rangefinder indicates an obstacle in the upward direction and whether the distance between the obstacle and the cabin is greater than a second preset limit distance. If yes, the controller continues to determine whether the obstacle is an obstacle in the upward direction. If the ultrasonic signal indicates no obstacle in the upward direction, the controller resets the corresponding electric telescopic rod and pauses the corresponding thruster, then controls the lifting adjustment mechanism to rapidly ascend the entire cabin. When the ultrasonic signal indicates an obstacle in the upward direction, but the distance between the obstacle and the cabin is less than or equal to the second set limit distance, the lifting and adjusting mechanism is controlled to lower the cabin as a whole. During the descent, it is determined whether the ultrasonic signal detected by the ultrasonic rangefinder indicates an obstacle in the upward direction and whether the distance between the obstacle and the cabin reaches the first set limit distance. If yes, the lifting and adjusting mechanism is controlled to pause so that the cabin does not descend. If the ultrasonic signal indicates an obstacle in the upward direction and the distance between the obstacle and the cabin does not reach the first set limit distance, the determination continues. If the ultrasonic signal indicates no obstacle in the upward direction, the lifting and adjusting mechanism is controlled to pause so that the cabin does not descend, the corresponding electric telescopic rod is reset, and the corresponding thruster is paused. Then, the lifting and adjusting mechanism is controlled to make the cabin rise rapidly, and the first set limit distance is greater than the second set limit distance.

6. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 1, characterized in that, The lifting and adjusting mechanism includes lifting and adjusting cavities arranged evenly at intervals along the circumference of the cabin. Each lifting and adjusting cavity has an air inlet and an exhaust outlet at the top and a water inlet and a drain outlet at the bottom. An air inlet pipe for connecting to each air inlet and an exhaust pipe for connecting to each exhaust outlet are installed inside the cabin. Each air inlet pipe is connected to a first gas cylinder located at the bottom of the cabin. Each air inlet pipe is equipped with an air inlet check valve and an air inlet electrically controlled valve. Each exhaust pipe is connected to a second gas cylinder located at the bottom of the cabin. Each exhaust pipe is equipped with an exhaust check valve and an exhaust electrically controlled valve. A pressure sensor is installed at the top of each lifting and adjusting cavity. A water inlet is equipped with a water inlet check valve and a water inlet electrically controlled valve. A drain outlet is equipped with a drain check valve and a drain electrically controlled valve. A second gyroscope is installed in each lifting and adjusting cavity. Each second gyroscope obtains the three-dimensional coordinates of the corresponding cabin position, thereby determining the stability of the cabin. The controller is used to simultaneously open four air intake electronic control valves and four drain electronic control valves when it receives the command for the escape capsule to float. The gas in the first gas cylinder is forced into the corresponding lifting adjustment chamber through each air intake pipe and air intake port. The water in each lifting adjustment chamber is discharged through the corresponding drain port, so that the entire capsule floats up quickly. The controller also receives the air pressure value in the corresponding lifting adjustment chamber detected by each air pressure sensor.

7. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 6, characterized in that, The first gas cylinder and the second gas cylinder are connected by a gas supply pipe, and the gas supply pipe is equipped with a gas supply check valve and a gas supply electrically controlled valve. The controller is used to open the gas delivery valve when the pressure in the second gas cylinder reaches a set pressure value, so that the gas in the second gas cylinder can be delivered to the first gas cylinder through the gas delivery pipe.

8. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 6, characterized in that, The top and bottom of the lifting adjustment cavity are both arc-shaped.

9. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 1, characterized in that, The capsule is shaped like a vertical pill and includes an upper hemispherical cavity, a cylindrical cavity, and a lower hemispherical cavity that are integrally formed from top to bottom.

10. The underwater emergency rescue and escape cabin with obstacle avoidance function as described in claim 9, characterized in that, A horizontal footplate is fixed between the lower hemispherical cavity and the cylindrical cavity, and a first gas cylinder and a second gas cylinder are disposed inside the lower hemispherical cavity.

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