CN109334928A - A kind of multiple throwing support method of deep sea manned submersible - Google Patents
A kind of multiple throwing support method of deep sea manned submersible Download PDFInfo
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- CN109334928A CN109334928A CN201811294607.XA CN201811294607A CN109334928A CN 109334928 A CN109334928 A CN 109334928A CN 201811294607 A CN201811294607 A CN 201811294607A CN 109334928 A CN109334928 A CN 109334928A
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- Prior art keywords
- throwing
- underwater vehicle
- hazard event
- manned
- manned underwater
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
Abstract
The present invention provides a kind of multiple throwing support method of deep sea manned submersible, saves oneself technical field applied to manned underwater vehicle, which comprises establish the hazard event library of manned underwater vehicle, wherein includes multiple hazard events in the hazard event library；Establish each hazard event throwing load scheme corresponding with the manned underwater vehicle；It receives to throw and carries instruction；It determines that described throw carries hazard event corresponding to instruction, is executed according to hazard event with the corresponding relationship for throwing load scheme and throw load.Using the embodiment of the present invention, multiple throwings load is realized, to provide in a manner of the saving oneself of a variety of manned underwater vehicles, improve the reliability of manned underwater vehicle.
Description
Technical field
It is multiple more particularly to a kind of deep sea manned submersible the present invention relates to the technical field of saving oneself of water manned underwater vehicle
Throw support method.
Background technique
Deep-marine-environment is complicated and changeable, and there is huge uncertain and risk, while also containing mineral products money abundant
Source.Deep sea manned submersible (Human Occupied Vehicle, abbreviation HOV) as the state of deep-sea detecting and developmental research it
Treasure has great economy and scientific research value.It is limited to the complex environment and uncertainty at deep-sea, manned underwater vehicle operation
Various insecurity factors are faced in journey, once it is huge accidental loss occur, simultaneously as its manned characteristic is compared to unmanned diving
Requirement of the device for safety is higher.In face of fortuitous event, top priority is to guarantee personnel safety and manned underwater vehicle recycling, such as
The safety what carries out deep sea manned submersible, which throws load recycling, becomes an important technological problems.
Currently, traditional manned underwater vehicle, which is thrown, carries recycling using following strategy: when manned underwater vehicle occurs in deep ocean work
When failure cannot normally float, personnel send instruction of saving oneself by console in cabin, and controller of saving oneself drives executing agency of saving oneself
It dishes out kentledge, for manned underwater vehicle provides enough buoyancy and can float, when manned underwater vehicle floats to certain depth
Afterwards, self-rescue system release emergency buoy float to sea, by beacon GPS and radio station to lash ship issue position believe
Number, after lash ship discovery, lifting recycling is carried out, to realize saving oneself for HOV.
As it can be seen that in the prior art, throwing load kentledge using single instruction and saving oneself.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of deep sea manned submersible is multiple
Support method is thrown, realizes multiple throwings load, to provide in a manner of the saving oneself of a variety of manned underwater vehicles, improves the reliability of manned underwater vehicle.
In order to achieve the above objects and other related objects, the present invention provides a kind of multiple throwing load side of deep sea manned submersible
Method, which comprises
Establish the hazard event library of manned underwater vehicle, wherein include multiple hazard events in the hazard event library；
Establish each hazard event throwing load scheme corresponding with the manned underwater vehicle；
It receives to throw and carries instruction；
It determines that described throw carries the corresponding hazard event of instruction, throwing is executed according to hazard event and the corresponding relationship for throwing load scheme
It carries.
In a kind of implementation of the invention, the throwing load scheme include: kentledge, manipulator, sampling basket, battery case,
The combination of one or more of mercury.
In a kind of implementation of the invention, when the hazard event is that normal operation is completed；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
Kentledge is abandoned, and when height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency is floating
Mark.
In a kind of implementation of the invention, it can not be withdrawn when the hazard event is that manipulator is stuck in operation process
When；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with the manipulator is disconnected, and abandons the manipulator, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
In a kind of implementation of the invention, when the hazard event is to sample basket and be wound in operation process to lead to depth
When extra large manned underwater vehicle can not be detached from；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with the sampling basket is disconnected, and abandons sampling basket, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
In a kind of implementation of the invention, when the hazard event is manipulator and sampling basket is wound simultaneously；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with manipulator, sampling basket is disconnected, and abandons manipulator, sampling basket, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
In a kind of implementation of the invention, when the hazard event be manned underwater vehicle electrical malfunction and/or
When in manned underwater vehicle for hypoxgia；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
Whether within a preset range to judge the manned underwater vehicle submerged depth, is carried if it is, triggering to throw by external water pressure
Device then executes first and throws load scheme；
When height of the manned underwater vehicle apart from the water surface is less than the second preset height, release emergency buoy；
Alternatively,
The counter O reset of reset circuit,
When judging that the counting of the counter reaches preset threshold, throwing load trigger signal is issued after realizing setting time；
When height of the manned underwater vehicle apart from the water surface is less than the second preset height, release emergency buoy.
In a kind of implementation of the invention, the method also includes:
Within a preset period of time, judge whether the calculator cannot achieve clearing；
If so, reaching targets threshold in the counter, automatic trigger output control signal, throwing, which is downloaded from, to be rescued.
As described above, the multiple throwing support method of a kind of deep sea manned submersible provided in an embodiment of the present invention, compared to tradition
Single throwing carry recycling, various catastrophic failures of the manned underwater vehicle under deep-marine-environment can be directed to, formulate corresponding throwing load side
Case.Hazard event information according to monitoring judges automatically whether need to start multiple throwing load scheme.And it formulates in electrical power system
System can normally play it is not normal in the case where, thrown according to setting prediction scheme and carry kentledge, manipulator, sampling basket, battery case, mercury etc.；
In the electrical power system failure or aquanaut's incompetence, executes set depth triggering and setting time triggering is thrown and carried
It is floating, it is ensured that manned underwater vehicle system safety.
Detailed description of the invention
A kind of multiple flow diagram for throwing support method of deep sea manned submersible of Fig. 1 embodiment of the present invention.
It is periodically thrown in the multiple throwing support method of the deep sea manned submersible of Fig. 2 embodiment of the present invention and carries triggering figure.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.
Please refer to Fig. 1-2.It should be noted that only the invention is illustrated in a schematic way for diagram provided in the present embodiment
Basic conception, only shown in schema then with related component in the present invention rather than component count, shape when according to actual implementation
Shape and size are drawn, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its component cloth
Office's kenel may also be increasingly complex.
As shown in Figure 1, embodiment provides a kind of multiple throwing support method of deep sea manned submersible, the method when the present invention
Include:
S101 establishes the hazard event library of manned underwater vehicle, wherein includes multiple hazard events in the hazard event library.
It should be noted that hazard event library is the time library comprising multiple hazard events, and hazard event be relative to
The corresponding event setup of manned underwater vehicle, as its name suggests, hazard event are the dangerous things occurred for manned underwater vehicle
Part or moment.
Specifically, hazard event library may include 2 hazard events, 3 hazard events, 4 hazard events, 6 danger
Event, 8 hazard events, 10 hazard events, 20 hazard events, 50 hazard events, 100 hazard events, Yi Jigeng
Multiple hazard events, the embodiment of the present invention are not specifically limited herein.
S102 establishes each hazard event throwing load scheme corresponding with the manned underwater vehicle.
It is understood that different hazard events may for the security threat or the extent of injury of manned underwater vehicle
Not identical, therefore, the throwing that uses carries scheme may also can not be identical.
Therefore, the embodiment of the present invention establishes a corresponding throwing load scheme for each hazard event, can then having
Can there can be two or more hazard events and correspond to the same throwing load scheme.
In a kind of implementation, the throwing load scheme include: kentledge, manipulator, sampling basket, battery case, in mercury
One or more combination.
S103 is received and is thrown load instruction.
It is understood that throwing load instruction can be the instruction artificially issued, for example, logical for manned underwater vehicle
It crosses staff to trigger alarm button or throw load button, is also possible to manned underwater vehicle system and is carried out automatically according to own situation
The throwing of triggering carries instruction, and the embodiment of the present invention is not specifically limited herein.
S104 determines that described throw carries the corresponding hazard event of instruction, according to hazard event and the corresponding pass for throwing load scheme
System executes to throw and carry.
Instruction is come based on the received, can obtain corresponding hazard event, such as when for artificial trigger button,
Corresponding throwing load event is normal operation completion, then the throwing load scheme executed is to complete corresponding throwing load side with normal operation
Case.
In a kind of implementation of the invention, when the hazard event is that normal operation is completed；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
Kentledge is abandoned, and when height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency is floating
Mark.
In a kind of implementation of the invention, it can not be withdrawn when the hazard event is that manipulator is stuck in operation process
When；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with the manipulator is disconnected, and abandons the manipulator, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
In a kind of implementation of the invention, when the hazard event is to sample basket and be wound in operation process to lead to depth
When extra large manned underwater vehicle can not be detached from；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with the sampling basket is disconnected, and abandons sampling basket, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
In a kind of implementation of the invention, when the hazard event is manipulator and sampling basket is wound simultaneously；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with manipulator, sampling basket is disconnected, and abandons manipulator, sampling basket, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
In a kind of implementation of the invention, when the hazard event be manned underwater vehicle electrical malfunction and/or
When in manned underwater vehicle for hypoxgia；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
Whether within a preset range to judge the manned underwater vehicle submerged depth, is carried if it is, triggering to throw by external water pressure
Device then executes first and throws load scheme；
When height of the manned underwater vehicle apart from the water surface is less than the second preset height, release emergency buoy；
Alternatively,
The counter O reset of reset circuit,
When judging that the counting of the counter reaches preset threshold, throwing load trigger signal is issued after realizing setting time；
When height of the manned underwater vehicle apart from the water surface is less than the second preset height, release emergency buoy.
It is understood that in the case of extremely serious hazard event occurs in manned underwater vehicle, such as electrical system is complete
It is total failure, sick and wounded etc. for hypoxgia or personnel, cause aquanaut that can not manually perform instruction and throw and carry, then executes submersible and set
Determine submerged depth triggering and throws load.
It sets submerged depth triggering and throws support method, be to be passed through by dive unpowered after submersible power loss to certain depth
External water pressure triggers jettison system, successively throws and carries kentledge, battery case, manipulator, mercury etc. and can throw load equipment, floating upward quickly,
When the height apart from the water surface is less than the second preset height, release emergency buoy is waited for rescue.
Or such as it is electrical system complete failure, sick and wounded for hypoxgia, personnel, aquanaut can not manually perform instruction
It throws and carries, execution submersible setting interval time triggering, which is thrown, to be carried.
Specifically, as shown in Fig. 2, starting timer carries out timing, and starting monitoring manned underwater vehicle malfunction monitoring, work as prison
When measuring the system non-catastrophic failure of appearance, setup algorithm T=T+1, therefore, counter automatic running, reaches one under normal circumstances
After fixing time i.e. count reach specified threshold (T > T1), gate time resetting, again monitor system whether failure, under normal circumstances
Output is not triggered always throws load instruction.
Time setting method, by reset circuit, i.e., " house dog " circuit is realized, " house dog " circuit is run just in system
Chang Shi, can in system software periodically realize " house dog " circuit count device reset, guarantee " house dog " within the set time without
Method, which issues to throw, carries trigger signal." house dog " circuit carries backup battery, is not influenced by system power supply failure.Submersible system is logical
Monitoring modular is crossed, judges whether system catastrophic failure occurs.
In a kind of implementation of the invention, the method also includes:
Within a preset period of time, judge whether the calculator cannot achieve clearing；
If so, reaching targets threshold in the counter, automatic trigger output control signal, throwing, which is downloaded from, to be rescued.
As shown in Fig. 2, for example cannot achieve counter O reset at this time when there is system disaster failure, counter reaches
Maximum count value (T > Tmax), automatic trigger output control signal, throwing, which is downloaded from, to be rescued.
As described above, the multiple throwing support method of a kind of deep sea manned submersible provided in an embodiment of the present invention, compared to tradition
Single throwing carry recycling, various catastrophic failures of the manned underwater vehicle under deep-marine-environment can be directed to, formulate corresponding throwing load side
Case.Hazard event information according to monitoring judges automatically whether need to start multiple throwing load scheme.And it formulates in electrical power system
In the case that system can be played normally, is thrown according to setting prediction scheme and carry kentledge, manipulator, sampling basket, battery case, mercury etc.；In electricity
When gas power system failure or aquanaut's incompetence, executes set depth triggering and setting time triggering throws to carry and float, really
Protect manned underwater vehicle system safety.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (8)
1. a kind of multiple throwing support method of deep sea manned submersible, which is characterized in that the described method includes:
Establish the hazard event library of manned underwater vehicle, wherein include multiple hazard events in the hazard event library；
Establish each hazard event throwing load scheme corresponding with the manned underwater vehicle；
It receives to throw and carries instruction；
It determines that described throw carries the corresponding hazard event of instruction, throwing is executed according to hazard event and the corresponding relationship for throwing load scheme
It carries.
2. the multiple throwing support method of a kind of deep sea manned submersible according to claim 1, which is characterized in that the throwing load side
Case includes: the combination of one or more of kentledge, manipulator, sampling basket, battery case, mercury.
3. the multiple throwing support method of a kind of deep sea manned submersible according to claim 1 or 2, which is characterized in that when described
When hazard event is that normal operation is completed；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
Kentledge is abandoned, and when height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency is floating
Mark.
4. the multiple throwing support method of a kind of deep sea manned submersible according to claim 1 or 2, which is characterized in that when described
Hazard event is that manipulator is stuck when can not withdraw in operation process；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with the manipulator is disconnected, and abandons the manipulator, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
5. the multiple throwing support method of a kind of deep sea manned submersible according to claim 1 or 2, which is characterized in that
When the hazard event is wound in operation process for sampling basket causes deep sea manned submersible that can not be detached from；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with the sampling basket is disconnected, and abandons sampling basket, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
6. the multiple throwing support method of a kind of deep sea manned submersible according to claim 1 or 2, which is characterized in that
When the hazard event is manipulator and sampling basket is wound simultaneously；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
The physical connection with manipulator, sampling basket is disconnected, and abandons manipulator, sampling basket, kentledge；
When height of the manned underwater vehicle apart from the water surface is less than the first preset height, release emergency buoy.
7. the multiple throwing support method of a kind of deep sea manned submersible according to claim 1 or 2, which is characterized in that when described
When hazard event is in manned underwater vehicle electrical malfunction and/or manned underwater vehicle for hypoxgia；
The corresponding relationship according to hazard event and throwing load scheme, which executes, throws the step of carrying, comprising:
Whether within a preset range to judge the manned underwater vehicle submerged depth, is carried if it is, triggering to throw by external water pressure
Device then executes first and throws load scheme；
When height of the manned underwater vehicle apart from the water surface is less than the second preset height, release emergency buoy；
Alternatively,
The counter O reset of reset circuit,
When judging that the counting of the counter reaches preset threshold, throwing load trigger signal is issued after realizing setting time；
When height of the manned underwater vehicle apart from the water surface is less than the second preset height, release emergency buoy.
8. the multiple throwing support method of a kind of deep sea manned submersible according to claim 7, which is characterized in that the method is also
Include:
Within a preset period of time, judge whether the calculator cannot achieve clearing；
If so, reaching targets threshold in the counter, automatic trigger output control signal, throwing, which is downloaded from, to be rescued.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811294607.XA CN109334928A (en) | 2018-11-01 | 2018-11-01 | A kind of multiple throwing support method of deep sea manned submersible |
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|---|---|---|---|
| CN201811294607.XA CN109334928A (en) | 2018-11-01 | 2018-11-01 | A kind of multiple throwing support method of deep sea manned submersible |
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Cited By (3)
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| CN112027039A (en) * | 2020-09-21 | 2020-12-04 | 中国船舶科学研究中心 | Emergency load rejection mechanism of manned submersible |
| CN112249276A (en) * | 2020-09-28 | 2021-01-22 | 中国科学院沈阳自动化研究所 | Load rejection control method and system for underwater glider |
| CN113665772A (en) * | 2021-08-12 | 2021-11-19 | 上海理工大学 | Self-rescue system of broken body bionic load-throwing self-rescue deep sea submersible |
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