CN108583813A - A kind of deep-sea rescue system - Google Patents
A kind of deep-sea rescue system Download PDFInfo
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- CN108583813A CN108583813A CN201810386300.6A CN201810386300A CN108583813A CN 108583813 A CN108583813 A CN 108583813A CN 201810386300 A CN201810386300 A CN 201810386300A CN 108583813 A CN108583813 A CN 108583813A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention discloses a kind of deep-sea rescue system.The deep-sea rescue system includes：System is supported on ultra short baseline locating system, three-dimensional acoustics imaging system, optical photo system, docking grasping system, deck control system and deck.The acoustic picture for the position data and the acquisition of three-dimensional acoustics imaging system that deck control system is used to be acquired according to ultra short baseline locating system, the close underwater object to be rescued of guiding docking grasping system successively, and the optical imagery acquired by optical photo system, realize that docking grasping system treats the docking and crawl of rescue object.System using the present invention can combine undersea optical camera shooting, mechanical splice/crawl, acoustics imaging and positioning, realize deep-sea low cost, quickly rescue.
Description
Technical field
The present invention relates to deep-seas to rescue field, more particularly to a kind of deep-sea rescue system.
Background technology
Deep ocean work type remotely pilotless submersible (ROV) and manned underwater vehicle (HOV) are two kinds of carrying manipulators, can hold
The deep-sea heavy type working equipment of row underwater operation task.Existing deep-sea rescue salvaging system relies primarily on operation type remotely pilotless
Submersible ROV or manned underwater vehicle HOV is realized.
If weight of object to be salvaged is lighter, such as aircraft black box, then can directly be utilized by deep ocean work type ROV/HOV
Its manipulator captures, and carries and returns to the water surface；It has been more than the negative of deep ocean work type ROV/HOV if weight of object to be salvaged is larger
Lotus then needs by rope, wirerope etc..At this point, deep ocean work type ROV/HOV mainly undertakes the work such as traction, hook.
It is salvaged using deep ocean work type ROV/HOV objects to be salvaged to deep-sea, then can play it to greatest extent
Big deep operation advantage, can flexible operation using its manipulator.However, deep ocean work type ROV/HOV belongs to large-scale deep-sea
Equipment, system complex need to be equipped with special technical maintenance guarantee team, and dive high cost.This so that they are main
It is salvaged for some accidents with great social effectiveness, such as to aircraft black box, aircraft remains, and it is seldom right
Accident Autonomous Underwater Vehicle AUV, ROV, lander etc. are salvaged.
Invention content
The object of the present invention is to provide a kind of deep-sea rescue systems, to reduce the cost of deep-sea salvaging, realize that deep-sea is fast
Speed rescue.
To achieve the above object, the present invention provides following schemes：
A kind of deep-sea rescue system, the deep-sea rescue system include：Ultra short baseline locating system, three-dimensional acoustics imaging system
System is supported on system, optical photo system, docking grasping system, deck control system and deck；
The ultra short baseline locating system, the submarine site for positioning, tracking docking grasping system in real time；
The three-dimensional acoustics imaging system, for acquiring the three dimensional sound docked within the scope of 120 meters of grasping system lower part in real time
Image is received, for being quickly found out underwater object to be rescued；
The optical photo system, be arranged on the docking grasping system, for acquire the docking grasping system and
The docking image and crawl image of the object to be rescued；
The docking grasping system supports system to connect, for docking and capturing object to be rescued with the deck；
The deck control system, respectively with the ultra short baseline locating system, the three-dimensional acoustics imaging system, described
Optical photo system, the docking grasping system and the deck support system to connect, for being positioned according to the ultra-short baseline
The position data of system acquisition grasps ship guiding docking grasping system close to underwater object to be rescued by control；According to three dimensional sound
Study the acoustic picture as system acquisition, quickly find underwater object to be rescued, it is to be found after rescuing object, guidance mode by
Ultra-short baseline positions and is switched to three-dimensional imaging sonar, continues through control behaviour's ship and guides docking grasping system is close to wait rescuing under water
Object；According to optical photo system acquire optical imagery, control docking grasping system to the docking of object rescue under water with
Crawl.
Optionally, the rescue system further includes：Display system, with the ultra short baseline locating system, the three dimensional sound
Imaging system, the optical photo system are connected with the deck control system, for showing ultra-short baseline positioning system
The location information of system acquisition, the acoustic picture information of three-dimensional acoustics imaging system acquisition and optical photo system acquisition
Optical image information.
Optionally, the rescue system further includes：Sensor, the sensor include that GPS sensor and fibre movement pass
Sensor, the GPS sensor is connect with the display system, the ultra short baseline locating system respectively, and the fibre movement passes
Sensor is connect with the ultra short baseline locating system, and the GPS sensor is used for the fibre movement sensor to ultrashort base
Line position, which resolves, provides necessary auxiliary information.Optionally, the display system includes：Position indicator, optical imagery are aobvious
Show device and acoustics image display.
Optionally, the rescue system further includes：Fibre multiplexer system, with the display system, the deck
Support system, the optical photo system are connected with the three-dimensional acoustics imaging system, for adopting the optical photo system
The docking of collection/crawl image and the sonar image of three-dimensional acoustics imaging system acquisition support system transmission by the deck
To the display system.
Optionally, the fibre multiplexer system includes：Water surface sonet multiplexer and underwater optical fibre multiplexer, it is described
Water surface sonet multiplexer supports system and the display system to connect with the deck, the underwater optical fibre multiplexer and the light
It learns picture system to connect with the three-dimensional acoustics imaging system, the water surface sonet multiplexer is logical with the underwater optical fibre multiplexer
Cross the armouring optoelectronic composite cable connection that system is supported on the deck.
Optionally, the rescue system further includes：High voltage direct current power supply system docks grasping system, the light with described
Learn picture system, three-dimensional acoustics imaging system connection.
Optionally, the rescue system further includes：Ultra-short baseline localizer beacon, it is mutual with the ultra short baseline locating system
The real-time positioning to docking grasping system is completed in cooperation.
Optionally, the rescue system further includes：Underwater propeller is arranged on the docking grasping system, and described
Deck control system connection, for docking the distance between grasping system and the object to be rescued described in intense adjustment.
Optionally, the rescue system further includes：Terminal box, summarizing and transfer for circuit.
According to specific embodiment provided by the invention, the invention discloses following technique effects：Deep-sea provided by the invention
Rescue system, the position data and three-dimensional acoustics imaging system acquired according to ultra short baseline locating system by deck control system
The acoustic picture of acquisition, guiding docking grasping system is close to underwater object to be rescued successively, and is acquired by optical photo system
Optical imagery, realize docking grasping system treat rescue object docking and crawl.The present invention by the way that undersea optical is imaged,
Mechanical splice/crawl, acoustics imaging and positioning combine, and realize deep-sea low cost, quickly rescue.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is 1 deep-sea rescue system structure chart of present example；
Fig. 2 is that the present invention implements 1 deep-sea rescue system installation drawing；
Fig. 3 is the rescue flow chart of 2 deep-sea rescue system of the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of deep-sea rescue systems, to reduce the cost of deep-sea salvaging.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Specific embodiment 1：
Fig. 1 is 1 deep-sea rescue system structure chart of the embodiment of the present invention.As shown in Figure 1, a kind of deep-sea rescue system, described
Deep-sea rescue system includes：Ultra short baseline locating system 1, three-dimensional acoustics imaging system 2, optical photo system 3, docking crawl system
System 6 is supported on system 4, deck control system 5 and deck；
The ultra short baseline locating system 1, the submarine site for positioning, tracking docking grasping system in real time；It is described super
Short baseline positioning system 1 includes mainly signal processing unit, elevating mechanism, transducer array, and is connected with deck display system 8,
Positioning result is shown by position indicator.
The three-dimensional acoustics imaging system 2, for acquiring the three-dimensional sonar image for docking 4 lower section of grasping system in real time；Institute
The important supplement that three-dimensional acoustics imaging system 2 is the ultra short baseline locating system 1 and the optical camera system 3 is stated, it can be with
Three-dimensional real time imagery, the early detection for object 14 to be rescued are carried out to the immersed body within the scope of 120m；It is to be found to wait rescuing
After helping object, guidance mode is switched to three-dimensional imaging sonar by ultra-short baseline positioning, continues through control behaviour's ship guiding docking and grabs
Take system close to underwater object to be rescued；They are connected by armouring optoelectronic composite cable with deck display system 8, by three-dimensional real
When imaging sonar display show its three-dimensional acoustics imaging.
The optical photo system 3 is arranged on the docking grasping system, for acquiring the docking grasping system 4
With the object 14 to be rescued dock image and crawl image；The optical system includes light source and video camera, effect away from
It is 5~8m from range.
The docking grasping system 4 supports system 6 to connect, for docking and capturing object to be rescued with the deck；Institute
The core that docking grasping system 4 is rescue system, including executing agency and driving mechanism are stated, supports to open and be closed repeatedly, grab
Take object 14 to be rescued；They are connected by optoelectronic composite cable with the deck control system 5, are grasped by underwater mating/crawl
Control unit docking grasping system 4 is controlled.
The deck control system 5, respectively with the ultra short baseline locating system 1, the three-dimensional acoustics imaging system 2,
The optical photo system 3, the docking grasping system 4 and the deck support system 6 to connect, for according to the ultrashort base
The acoustic picture and the optical imagery for the position data, the three-dimensional acoustics imaging system 2 acquisition that line positioning system 1 acquires
The optical imagery that system 3 acquires guides the docking grasping system 4 close to underwater object 14 to be rescued, and controls docking crawl
The docking and crawl of system 4.The deck control system 5 is the master control unit of system, including winch manipulation unit, underwater right
Manipulation unit, underwater propeller manipulation unit, high voltage direct current power supply unit, fibre multiplexer etc. are connect/captured, is provided man-machine
Interface；Wherein winch manipulation unit supports system 6 to be connected with the deck, for controlling winch folding and unfolding cable；Underwater mating/crawl
Manipulation unit is connected by armouring optoelectronic composite cable with the docking grasping system 4, for controlling underwater mating/crawl；Under water
Propeller manipulation unit is connected by armouring optoelectronic composite cable with underwater propeller system 7, for controlling underwater propeller；High pressure
DC power supply unit by armouring optoelectronic composite cable, (optical photo system 3, dock with underwater main body by three-dimensional acoustics imaging system 2
Grasping system 4 etc.) it is connected, it is used for the system power supply of the underwater main body of deep-sea rescue system；Fibre multiplexer and armouring photoelectricity
Composite rope is connected, and is multiplexed for fiber optic.
The deck supports system 6 to include armouring optoelectronic composite cable, winch, photoelectricity slip ring, leading block, folding arm crane etc.,
Laying and recycling for the underwater main body of rescue system；They are connected with deck control system 5, and manipulating unit by winch carries out
Control.
The rescue system further includes：Underwater propeller system 7 is arranged on the docking grasping system 4, with the first
Plate supports system 6 to connect, for docking the opposite position between grasping system 4 and the object to be rescued 14 described in intense adjustment
It sets.Underwater propeller system 7 includes multiple propellers, realize in horizontal plane docking grasping system 4 and object 14 to be rescued it
Between relative position fine tuning and auxiliary docking/crawl；They are connected by armouring optoelectronic composite cable with deck control system 5,
Unit is manipulated by underwater propeller to control it.
The rescue system further includes：Display system 8 is imaged with the ultra short baseline locating system 1, the three-dimensional acoustics
System 2, the optical photo system 3 and the deck control system 5 connection, for showing the ultra short baseline locating system 1
The three sonar image information and the optical photo system 3 that the location information of acquisition, the three-dimensional acoustics imaging system 2 acquire
The image information of acquisition.
The rescue system further includes：Sensor, the sensor include GPS sensor 9 and fibre movement sensor 10,
The GPS sensor 9 is connect with the display system 8, the ultra short baseline locating system 1 respectively, the fibre movement sensing
Device 10 is connect with the ultra short baseline locating system 1, and the GPS sensor 9 and the fibre movement sensor 10 are used for super
Short baseline position, which resolves, provides necessary auxiliary information.
The display system 8 includes：Position indicator, optical imagery display and acoustics image display.Wherein position
Display is connected by cable with GPS sensor 9 and ultra short baseline locating system 1, for Ship GPS position, ultra-short baseline
Positioning result is shown；Three-dimensional real time imagery sonar display passes through fibre multiplexer and three-dimensional acoustics imaging system 2
It is connected, is used for the image of real-time display three-dimensional imaging sonar；Optical imagery display passes through fibre multiplexer 11/12 and light
It learns picture system 3 to be connected, the underwater optics image for showing Underwater Camera shooting；Entire deck display system 8 is mainly used
Underwater search and docking are completed in auxiliary.
The rescue system further includes：Fibre multiplexer system 11/12, with the display system 8, the deck branch
System 6, the optical photo system 3 and the three-dimensional acoustics imaging system 2 connection are held, is used for the optical photo system 3
The docking of acquisition/crawl image and the sonar image of the three-dimensional acoustics imaging system 2 acquisition support system 6 by the deck
It is transferred to the display system 8.
The fibre multiplexer system includes：Water surface sonet multiplexer 11 and underwater optical fibre multiplexer 12, the water
Face sonet multiplexer 11 supports system 6 and the display system 8 to connect with the deck, the underwater optical fibre multiplexer 12 and institute
It states three-dimensional acoustics imaging system 2 and the optical photo system 3 connects, the water surface sonet multiplexer 11 and the underwater optical fibre
Multiplexer 12 supports system 6 to connect by the deck.
The rescue system further includes：High voltage direct current power supply system, with underwater main body (the three-dimensional acoustics imaging system 2,
The optical photo system 3, the docking grasping system 4, underwater propeller system 7 etc.) connection.
The rescue system further includes：Ultra-short baseline localizer beacon 13 is matched with ultra short baseline locating system described in the water surface 1
It closes, the submarine site of rescue system is waited for for positioning, tracking in real time.
The rescue system further includes：Terminal box, summarizing and transfer for circuit.
Fig. 2 is 1 deep-sea rescue system installation drawing of the embodiment of the present invention.As shown in Fig. 2, the deep-sea rescue system device point
For underwater portion and water surface part.
The deep-sea rescue system of the present invention is a kind of novel deep sea rescue system not depending on operation type underwater robot, should
Novel deep-sea rescue system combines undersea optical camera shooting, mechanical splice/crawl, acoustics imaging and positioning etc.,
Deep-sea low cost, Quick rescue may be implemented.
Specific embodiment 2：
It is only determining after the submarine site of rescue object, can just utilize the novel deep sea rescue system to seabed object
Body is rescued and is salvaged.Fig. 3 gives the deep-sea rescue flow chart of 2 deep-sea rescue system of the embodiment of the present invention.It is specific to salvage
Flow is as follows：
(1) ship needs to navigate by water to above object to be rescued, if having dynamic positioning function, implements dynamic positioning；
If not having dynamic positioning, ship is centered on object space to be rescued, low speed drift boat；It should be noted that when, to avoid
Armoured cable is pressed into hull bottom and causes the accident, and entire rescue operations should select fore top to flow operation as possible；
(2) novel rescue system is transferred into water by winch, is transferred with the cable releasing speed of 40m/min, wait for away from
Bottom height reduces cable releasing speed when within 500m；
(3) while optical camera system and three-dimensional real time imagery sonar are opened, wherein the effect of three-dimensional real time imagery sonar
Distance reaches 120m, can find object to be rescued early；If sea-floor relief is complicated, three-dimensional real time imagery sonar should be mounted on
Apart from rescue system 30~50m height, can avoid touching seabed with monitoring and rescuing system and ambient enviroment；
(4) the whole position that novel rescue system is tracked using ultra short baseline locating system guides it close by grasping ship
Object to be rescued；
(5) it is found after rescuing object after three-dimensional real time imagery sonar, guidance mode is switched to three by ultra-short baseline positioning
Tie up real time imagery sonar；
(6) it sees after rescuing object after optical camera system, is manipulated by the underwater propeller in the control system of deck
Unit starts horizontal position of the propeller fine tuning rescue system relative to object to be rescued；Unit is manipulated by winch, is slowly received
Cable laying finely tunes upright position between the two；
(7) when the docking of rescue system ,/grasping system can dock/captures when rescuing object, and system is controlled by deck
The underwater mating of system/crawl manipulates unit, drives the executing agency of docking/grasping system, complete to treat the docking of rescue object/
Crawl；
(8) confirm that docking/crawl effect is controlled if docking/crawl is unqualified by deck by optical camera system
The underwater mating of system processed/crawl manipulates unit, and unlatching connects/executing agency is captured, re-execute step (6), (7), Zhi Daocheng
Work(docking/crawl；
(9) winch of deck control system manipulates unit, slowly recycles rescue system, and real-time by optical camera system
Observation；
(10) when being discharged, if object volume to be rescued and weight are little, directly it is recycled to deck；If object to be rescued
Body weight is very big or sufficiently bulky, then needs that object to be rescued is hung go back to deck using the crane (folding arm crane, A type frame) on ship,
Centre crane hook is completed by ship release pneumatic boat.
Deep-sea is rescued other than having preferable rescue aid, and rescue mode and operating technology are also vital.Entirely
Before rescue system needs more people's cooperations, especially rescue system to enter water and after water outlet, more people is needed to participate in only swinging.Specific manipulation people
Member should grasp the performance of the system, and can be proper use of.Rescue personnel should be fitted close with ship-handling department, improve rescue
Efficiency avoids the generation of accident.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Principle and implementation of the present invention are described for specific case used herein, and above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of deep-sea rescue system, which is characterized in that the deep-sea rescue system includes：Ultra short baseline locating system, three-dimensional
System is supported on acoustic imaging system, optical photo system, docking grasping system, deck control system and deck；
The ultra short baseline locating system, the submarine site for positioning, tracking docking grasping system in real time；
The three-dimensional acoustics imaging system, for acquiring the three-dimensional sonar image below underwater mating grasping system in real time；
The optical photo system, be arranged on the docking grasping system, for acquire the docking grasping system with it is described
The docking image and crawl image of object to be rescued；
The docking grasping system supports system to connect, for docking and capturing object to be rescued with the deck；
The deck control system, respectively with the ultra short baseline locating system, the optical photo system, the three-dimensional acoustics
Imaging system, the deck support system to be connected with the docking grasping system, for according to the ultra short baseline locating system
The position data of acquisition grasps ship guiding docking grasping system close to underwater object to be rescued by control；According to three-dimensional acoustics at
As the acoustic picture of system acquisition, underwater object to be rescued quickly is found, to be found after rescuing object, guidance mode is by ultrashort
Baseline positioning is switched to three-dimensional imaging sonar, continues through control behaviour ship guiding docking grasping system close to underwater object to be rescued
Body；According to the optical imagery that optical photo system acquires, control docking grasping system to the docking of object to be rescued under water and is grabbed
It takes.
2. deep-sea rescue system according to claim 1, which is characterized in that the rescue system further includes：Display system,
It is controlled with the ultra short baseline locating system, the three-dimensional acoustics imaging system, the optical photo system and the deck and is
System connection, for showing the location information of the ultra short baseline locating system acquisition, the acoustics of three-dimensional acoustics imaging system acquisition
The image information of image information and optical photo system acquisition.
3. deep-sea rescue system according to claim 2, which is characterized in that the display system includes：Position indicator,
Optical imagery display and acoustics image display.
4. deep-sea rescue system according to claim 1, which is characterized in that the rescue system further includes：Sensor, institute
It includes GPS sensor and fibre movement sensor to state sensor, the GPS sensor respectively with the display system, described super
Short baseline positioning system connection, the fibre movement sensor are connect with the ultra short baseline locating system, the GPS sensor
It is used to resolve ultra-short baseline position with the fibre movement sensor and necessary auxiliary information is provided.
5. deep-sea rescue system according to claim 2, which is characterized in that the rescue system further includes：Fiber optic
Multiplexer system supports system, the optical photo system and the three-dimensional acoustics to be imaged with the display system, the deck
System connects, docking/crawl image for acquiring the optical photo system and three-dimensional acoustics imaging system acquisition
Sonar image by the deck support system be transferred to the display system.
6. deep-sea rescue system according to claim 5, which is characterized in that the fibre multiplexer system includes：
Water surface sonet multiplexer and underwater optical fibre multiplexer, the water surface sonet multiplexer support system and the display with the deck
System connects, and the underwater optical fibre multiplexer is connect with the optical photo system and the three-dimensional acoustics imaging system, described
Water surface sonet multiplexer supports the armouring optoelectronic composite cable of system to connect with the underwater optical fibre multiplexer by the deck.
7. deep-sea rescue system according to claim 1, which is characterized in that the rescue system further includes：High voltage direct current
Power supply system is connect with the docking grasping system, the optical photo system, the three-dimensional acoustics imaging system.
8. deep-sea rescue system according to claim 1, which is characterized in that the rescue system further includes：Ultra-short baseline
Localizer beacon cooperates with the ultra short baseline locating system, completes the real-time positioning of docking grasping system.
9. deep-sea rescue system according to claim 1, which is characterized in that the rescue system further includes：Underwater spiral
Oar system is arranged on the docking grasping system, is connect with the deck control system, is grabbed for docking described in intense adjustment
Take the distance between system and the object to be rescued.
10. deep-sea rescue system according to claim 1, which is characterized in that the rescue system further includes：Terminal box,
Summarizing and transfer for circuit.
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| CN110471455A (en) * | 2019-04-16 | 2019-11-19 | 哈尔滨工程大学 | A kind of black box acoustic marker based on bathyscaph searches spy Route planner |
| CN111136687A (en) * | 2019-12-31 | 2020-05-12 | 哈尔滨工程大学 | Underwater robot vision control target grabbing test system and method |
| CN114506423A (en) * | 2022-01-28 | 2022-05-17 | 集美大学 | Underwater target capturing system |
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| Publication number | Publication date |
|---|---|
| CN108583813B (en) | 2019-07-19 |
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