CN113859491A

CN113859491A - Intelligent emergency self-rescue system for medium and small UUV

Info

Publication number: CN113859491A
Application number: CN202111306167.7A
Authority: CN
Inventors: 何畅; 陈路; 鲁敏; 杨波浪; 张金; 罗伟
Original assignee: Hunan Guotian Electronic Technology Co ltd
Current assignee: Hunan Guotian Electronic Technology Co ltd
Priority date: 2021-11-05
Filing date: 2021-11-05
Publication date: 2021-12-31

Abstract

The invention relates to the technical field of unmanned autonomous underwater vehicles, and discloses a small and medium UUV intelligent emergency self-rescue system, which comprises: a fault identification and trigger system detects fault information and abnormal signals in the UUV; if the fault information and the abnormal signal are detected, the fault identification and triggering system automatically judges whether to trigger an emergency safety control self-rescue flow; if the fault identification and trigger system triggers the emergency safety control self-rescue flow, the fault identification and trigger system sends a load rejection instruction; emergency safety device receives the load rejection instruction, weakens the electric suction of electro-magnet among the emergency safety device, and the load rejection wing and the fixed baseplate of UUV break away from completely to utilize emergent communication equipment of saving oneself to send communication information of saving oneself to land base station, make UUV come-up to the surface of water and wait for the recovery. The medium and small UUV intelligent emergency self-rescue system provided by the invention comprises a fault identification and triggering system, an emergency safety device and an emergency power supply.

Description

Intelligent emergency self-rescue system for medium and small UUV

Technical Field

The invention relates to the technical field of unmanned autonomous underwater vehicles, in particular to a small and medium UUV intelligent emergency self-rescue system.

Background

Unmanned autonomous Underwater vehicles (UUV) are widely used in the fields of scientific investigation, deep sea operation, salvage and lifesaving and the like as important substitutes and executors of human beings in marine activities, particularly deep sea activities, and have extremely wide application prospects.

When the unmanned autonomous underwater vehicle sails underwater, the unmanned autonomous underwater vehicle faces the influence and examination of complex environments, such as shock impact of wave environment on internal instruments and equipment, falling depth exceeding caused by thermocline, marine microorganism attachment and the like; meanwhile, the UUV also faces the reliability problem of the self-equipment or technical state, such as depth sensor failure, control system failure, battery energy exhaustion and the like, which all bring great safety risk to the underwater operation of the UUV, even lead to the loss and damage of the UUV. Therefore, in order to ensure the safety of the UUV in the case of the fault or emergency, the development of corresponding intelligent emergency safety control self-rescue technical research is of great significance. The invention develops a set of high-reliability intelligent emergency self-rescue system for medium and small UUV aiming at complex marine environment.

The system provided by the invention adopts an electromagnetic coupling working mode, and the basic principle of the emergency safety device is that a reverse magnetic field with the same strength as a permanent magnet is generated through a direct current coil so as to eliminate the magnetic force of an electromagnet, and a load is thrown away by utilizing spring force. The method for designing the electromagnet is provided by analyzing the corresponding relation of the electromagnetic force of the coil and the number of turns of the coil and other parameters, and the low power consumption and the high reliability of the system are realized by arranging a one-way slope disturbance structure in a slide way and adopting fault priority interlocking and the like in a control mechanism during system design. The marine test proves that the emergency self-rescue system provided by the invention has practical value for improving the safety of the medium and small UUV in the complex marine environment.

Disclosure of Invention

The invention provides a medium and small UUV intelligent emergency self-rescue system, which comprises a fault identification and trigger system, an emergency safety device and an emergency power supply, wherein the working mode of the emergency safety self-rescue system comprises 3 technical states of a dormant standby state, an interlocking state and a load rejection self-rescue state, the dormant standby state is a fault-free information state, output interface signals are all low levels, the system is similar to a dormant state at the moment, the basic work of a detection circuit is maintained, 5V voltage is used for supplying power, the work is maintained at an extremely low current, and the current is maintained at 0.3-0.5 mA; the interlocking state means that when the depth is ultra deep or the signal of the buoyancy regulating system is abnormal, the navigation controller does not allow triggering the emergency safety self-rescue process, and is in an awakening mode at the moment, but is interlocked by the navigation control system, the emergency safety self-rescue process is not executed, and at the moment, the power is still supplied by 5V voltage; the load throwing self-rescue state means that the system triggers an emergency safe self-rescue flow and enters an emergency floating self-rescue state.

In order to achieve the purpose, the invention provides a medium and small UUV intelligent emergency self-rescue system, and the system flow comprises:

s1: a fault identification and trigger system detects fault information and abnormal signals in the UUV;

s2: if the fault information and the abnormal signal are detected, the fault identification and triggering system automatically judges whether to trigger an emergency safety control self-rescue flow;

s3: if the fault identification and trigger system triggers the emergency safety control self-rescue flow, the fault identification and trigger system sends a load rejection instruction;

s4: emergency safety device receives the load rejection instruction, weakens the electric suction of electro-magnet among the emergency safety device, and the load rejection wing and the fixed baseplate of UUV break away from completely to utilize emergent communication equipment of saving oneself to send communication information of saving oneself to land base station, make UUV come-up to the surface of water and wait for the recovery.

As a further improvement of the method of the invention:

the step S1, where the intelligent depth identification part in the fault identification and trigger system receives the input signal of the depth sensor and determines whether the received depth signal exceeds a threshold, includes:

the depth sensor is connected to a depth intelligent identification part in the fault identification and triggering system, and a depth signal is input to the depth intelligent identification part, the depth intelligent identification part comprises an operational amplifier IC2 and a comparator IC3-1, and the depth identification part is connected to the fault identification and triggering system through a fault priority identification circuit;

the depth signal is sent to a comparator IC3-1 for amplitude comparison after being subjected to impedance conversion and amplitude conditioning by an operational amplifier IC2, when the depth signal is normal, the level of a pin 3 of the comparator IC3-1 is lower than the level of a pin 2, the pin 1 of an output end is low level, and a post-stage circuit maintains normal state; when the depth signal exceeds the set value, the pin 3 level of the IC3-1 is higher than the pin 2 level, the pin 1 of the output terminal will output a high level, and the depth signal is sent to the fault priority identification circuit formed by the priority identification circuit IC5 and the delay comparison circuit IC 4.

The step S1, where the fault identification and intelligent fault priority identification part in the trigger system detects fault information of the UUV, includes:

the fault information in the UUV comprises a controller fault, a depth sensor fault, a core equipment fault, a main power failure fault, a buoyancy regulating system fault and a UUV submergence depth ultra-deep fault;

the navigation controller detects fault information, wherein the fault information comprises serious fault information, a power failure fault of a main power supply, a buoyancy regulating system fault and a UUV submergence depth ultra-deep fault.

The fault information required to trigger the emergency safety control self-rescue process in the step S2 includes:

the serious fault information comprises controller faults, depth sensor faults and core equipment faults, the operation of the UUV system is influenced by the serious fault information, and if the navigation controller detects the serious fault information, an emergency safety control self-rescue flow is triggered;

when the navigation controller loses power after the main power supply loses power, the output port has high resistance, the intelligent fault priority identification part is represented as high level, and the emergency safety control self-rescue flow is triggered;

when the buoyancy regulating system is in fault, the buoyancy regulating system applies for load rejection self-rescue to the navigation controller, and if the navigation controller agrees to the load rejection self-rescue or does not respond, an emergency safety control self-rescue flow is triggered after the delay time of 5 s;

when the submergence depth of the UUV exceeds the set load rejection depth by 20%, the UUV system applies for load rejection to the navigation controller, and if the navigation controller agrees to load rejection or does not respond, an emergency safety control self-rescue flow is triggered after the delay time of 5 s;

the intelligent fault priority identification part in the fault identification and triggering system in the step S2 judges whether to trigger an emergency safety control self-rescue process, and the process comprises the following steps:

the intelligent fault priority identification part is provided with three interfaces comprising a navigation controller-load rejection interlocking interface, a navigation controller-emergency load rejection interface and a buoyancy adjusting device abnormal interface, wherein the navigation controller-load rejection interlocking interface receives power failure information of a main power supply, the navigation controller-emergency load rejection interface receives serious fault information, and the buoyancy adjusting device abnormal interface receives buoyancy adjusting system fault information;

the interlocking signal of the navigation controller is input to the intelligent fault priority identification part, when the interlocking signal of the navigation controller is at a high level or a high resistance, the interlocking signal of the navigation controller represents that the emergency safety control self-rescue flow is allowed to be triggered, when the interlocking signal of the navigation controller is at a low level, the interlocking signal of the navigation controller represents that the emergency safety control self-rescue flow is not allowed to be triggered, and when the interlocking signal of the navigation controller is at a high level, the interlocking signal of the navigation controller represents that the emergency safety control self-rescue flow is allowed to be triggered;

a fault signal of the navigation controller is input through a navigation controller-emergency load rejection interface, and a fault of the buoyancy regulating device is input through an abnormal interface of the buoyancy regulating device; the navigation controller-emergency load rejection interface and the buoyancy regulating device abnormal interface have 2 states: a transistor logic gate (TTL) level and a collector open-circuit signal, wherein the high resistance states of the TTL level and the collector open-circuit signal both represent fault states needing triggering emergency safety control self-rescue;

when the navigation controller or the buoyancy regulating device breaks down, the abnormal interface of the navigation controller, the emergency load rejection interface or the buoyancy regulating device is at a high level, and the abnormal interface is sent to a fault priority identification circuit for fault priority identification and judgment after being subjected to resistance-capacitance filtering formed by R34, C34, R35 and C35; when the power failure occurs to the navigation controller or the buoyancy regulating device, the abnormal interface of the navigation controller, the emergency load rejection interface or the buoyancy regulating device is high in resistance, and the fault priority identification circuit formed by the IC4 and the IC5 also judges that the fault state is the fault state.

The intelligent fault priority identification part in the step S2 sets an emergency control priority, including:

in a specific embodiment of the present invention, the fault identification and triggering system only works when a serious fault occurs, and in order to prevent unnecessary self-rescue process triggering caused by a phenomenon such as a trip point in the depth signal output of the depth sensor, the fault identification and triggering system sets a fault priority interlocking mechanism in the fault priority intelligent identification part, that is, emergency control is divided into 2 priorities, that is: primary faults and secondary faults. Once the first-level fault occurs, the system can immediately execute an emergency safety control self-rescue process unconditionally. After the secondary fault occurs, the system firstly sends a load rejection request signal to the navigation controller, if the navigation controller works normally and the emergency load rejection is judged not to be needed, the load rejection interlocking signal needs to be set to be a low level from a high level within 5s, and the system does not execute an emergency safety control self-rescue process; and if the navigation controller does not respond within 5s, the system defaults to allow load rejection, and an emergency safety control self-rescue flow is executed.

And setting the fault information of the navigation controller as primary fault information, and setting the fault information of the depth ultra-deep signal and the buoyancy regulating device as secondary fault information.

In a specific embodiment of the invention, when fault information such as depth is continuously ultra-deep,

pins

1, 2 and 3 of an IC5 are at high level, after being identified by a priority identification circuit, high-level signals are simultaneously output from pins 6 and 9 of an IC5, the pin 6 signal is a load rejection request signal and is sent to a navigation controller, if no response exists in the navigation controller 10s, an emergency safety control self-rescue process is executed, the pin 9 signal of the IC5 is sent to the IC4 through R31, R32, C31 and C32 for time delay comparison, the pin 9 signal of the IC5 is interlocked by an interlocking signal of the navigation controller, when the interlocking signal of the navigation controller is at high level or high resistance, the pin 6 of the IC4 outputs high level and is sent to a pin 11 of the IC5 for logic judgment and self-locking, and simultaneously, the pin 12 of the IC5 outputs a load rejection signal and is sent to a driving module for emergency power supply, load rejection is dropped, and finally, self-rescue and degaussing is completed.

If trigger emergent safety control flow of saving oneself in the S3 step, the drive module among the fault identification and the trigger system provides independent emergency power supply for emergent safety device and communication equipment of saving oneself, include:

once the emergency safety self-rescue flow is triggered, the driving module in the fault identification and triggering system starts to work to provide an independent emergency power supply for the emergency safety device and the self-rescue communication equipment, and when the emergency safety self-rescue flow is not triggered, the part does not work and is in an unattended state;

the emergency power supply comprises 2 specifications of 12V and 5V power supplies, wherein the 5V power supply is provided after the voltage of the battery pack is stabilized to provide long-term working current for the fault identification and triggering system, the 12V power supply is provided without voltage stabilization through the battery pack and starts to work after an emergency safety self-rescue process is executed to provide instantaneous electric energy for the electromagnet and provide long-term emergency electric energy for a global positioning system and iridium satellite communication; when the emergency safety self-rescue process is not triggered, the 12V power supply has no current output.

In the step S3, the fault identification and trigger system issues a load rejection command, which includes:

the fault identification and trigger system adopts a dual-redundancy self-locking mechanism of testing loop self-locking and emergency power supply loop self-locking, so that the emergency safety self-rescue flow is not interfered by external signals any more, and the execution reliability of load rejection self-rescue measures is improved; and the fault identification and trigger system sends a load rejection instruction to the emergency safety device.

In the step S3, an underwater wireless network link optimization strategy is used, and a fastest network link is selected to send a load rejection instruction to an emergency safety device, including:

calculating each chain in the underwater wireless network by taking the fault identification and trigger system as a source node and the emergency safety device as a destination nodeValue of a way, node n at both ends of a link₁And n₂Connected and end node n of link₂Not the destination node, the value of the link is R (n)₁,n₂) When node n at both ends of the link is 0₁And n₂Not connected, R (n)₁,n₂) The link value calculation formula in the rest cases is-1:

wherein:

(n₁,n₂) Is represented by n₁Is an initial node, n₂A communication link that is a tail node;

dist(n₁,n₂) Represents the length of the communication link;

epsilon represents a threshold value of the communication link length;

recording the score of each communication link in the underwater wireless network by using a Q matrix, wherein the Q matrix is initialized to be an NxN zero matrix, N represents the number of nodes in the underwater wireless network, a value is randomly selected from the Q matrix to serve as an initial node N, and the updating strategy of the Q matrix is as follows:

wherein:

q (n, a) represents a transfer score transferred from a current initial node n to a node a through a communication link, and the Q (n, a) is used as a score between two nodes in a Q matrix, wherein the transfer score is the communication link score taking n as the initial node and a as the tail node;

r (n, a) represents the communication link value taking n as an initial node and a as a tail node;

α represents an update rate, which is set to 0.8;

β represents a decay coefficient, which is set to 0.7;

q (n ', a') represents a transfer score transferred to node a 'by a node n' next to node n through a communication link;

iteratively updating the Q matrix until the score of each communication link in the Q matrix is unchanged;

and starting the load rejection instruction from a source node, selecting a node where the current load rejection instruction is located as a communication link initial node, taking a communication link with the largest communication link transfer score in the Q matrix as a sending link of the load rejection instruction, and repeatedly updating the communication link initial node until the load rejection instruction is successfully sent to a target node.

In S4 step, the emergency safety device receives the load rejection command, weakens the electric attraction of the electromagnet in the emergency safety device, and includes:

when the UUV works normally, the electromagnet of the emergency safety device is in a power-off state, the attraction force of the electromagnet is large, and the throwing-carrying wing can be firmly attracted by overcoming the elasticity of the compression spring; when the fault identification and trigger system is triggered by an emergency signal, the electromagnet is electrified by the electrifying trigger circuit, under the action of a coil reverse magnetic field, the attraction force of the electromagnet is weakened, the load throwing wing is separated from the fixed base under the action of the elastic force and the gravity of the spring, the load throwing wing moves backwards along the guide groove on the fixed base, and under the action of a single-side slope disturbance structure arranged on the slide way, the load throwing wing is completely separated from the fixed base; at the moment, the UUV forms positive buoyancy and floats to the water surface, the emergency power supply supplies power to the emergency self-rescue communication equipment, and the emergency self-rescue communication equipment continuously sends alarm information and self coordinate position to the remote shore-based command system to wait for salvage and recovery;

the emergency safety device comprises a load-rejection wing, a compression spring, an electromagnet and a fixed base, wherein the load-rejection wing is arranged on the fixed base and is made of cast iron materials, the outer surface of the load-rejection wing is sprayed with anti-rust paint, and the compression spring and the electromagnet are embedded in the fixed base and are in surface contact with the load-rejection wing; a guide groove and a clamping groove are arranged above the fixed base, when the load rejection wing is popped backwards, on one hand, the load rejection wing can play a backward guide role, on the other hand, the load rejection wing can bear lateral force and certain lateral bending moment, when the aircraft is subjected to lateral disturbance or impact in the navigation process, the reliability can still be ensured, and the error load rejection is avoided; meanwhile, a slope disturbance structure is arranged on one side of the guide groove, so that the load rejection wing can tilt when being popped up, on one hand, the load rejection wing is separated from the fixed base, on the other hand, the load rejection wing generates 1 lateral bending moment, the reliable rejection is ensured, and the reliability of the device is enhanced; the electromagnet is a power-off sucker type electromagnet, has magnetic attraction in a power-off state, can overcome the elasticity of the compression spring to firmly attract the load-throwing wing, loses the magnetic force when the electromagnet is powered on, and then the compression spring bounces the load-throwing wing, so that the load-throwing wing is separated from the UUV under the action of self gravity;

the emergency self-rescue communication equipment is composed of communication equipment GPS and iridium satellite communication of a UUV, a UUV main power supply supplies power when the part of equipment normally works, the equipment is forced to be put into operation after the emergency safety self-rescue mode is started, and the main power supply and the emergency power supply are simultaneously used for supplying power, so that emergency electric energy can still be obtained even if the main power supply fails, communication connection with a land base station is established, and the condition that the midway failure of any one power supply does not influence the transmission of self-rescue communication information is ensured.

In addition, in order to achieve the above object, the invention also provides a medium and small UUV intelligent emergency self-rescue system, which comprises:

the fault identification and trigger system mainly detects fault information and determines whether to start and execute an emergency safety control self-rescue process;

the emergency safety device is used for executing load rejection action and abandoning the load after obtaining an emergency trigger control instruction;

the emergency power supply can independently provide electric energy for the system;

signals of the depth sensor and the navigation controller are used as input signals for the fault identification and triggering system to judge whether to allow triggering of the emergency safety self-rescue process, and power supplies of the equipment are provided by a main power supply of the aircraft.

Compared with the prior art, the invention provides a small and medium UUV intelligent emergency self-rescue system, which has the following advantages:

firstly, the scheme provides an emergency safety device, which adopts an electromagnetic coupling working mode and has the basic principle that a reverse magnetic field with the same strength as a permanent magnet is generated through a direct current coil so as to eliminate the magnetic force of an electromagnet, and a load is thrown off by utilizing spring force; when the UUV works normally, the electromagnet of the emergency safety device is in a power-off state, the attraction force of the electromagnet is large, and the throwing-carrying wing can be firmly attracted by overcoming the elasticity of the compression spring; when the fault identification and trigger system is triggered by an emergency signal, the electromagnet is electrified by the electrifying trigger circuit, under the action of a coil reverse magnetic field, the attraction force of the electromagnet is weakened, the load throwing wing is separated from the fixed base under the action of the elastic force and the gravity of the spring, the load throwing wing moves backwards along the guide groove on the fixed base, and under the action of a single-side slope disturbance structure arranged on the slide way, the load throwing wing is completely separated from the fixed base; the UUV forms positive buoyancy and floats to the surface of water this moment, emergent communication equipment of saving oneself continues to send alarm information and self coordinate position to long-range bank base command system, wait for to salvage and retrieve, thereby realize that the intelligence of UUV is emergent to save oneself, emergent safety device circuit simple structure in this kind of mode, can adopt the modularization encapsulation, have the characteristics that the low power dissipation, the reliability is high, in addition, the electro-magnet can direct and water environmental contact, need not withstand voltage encapsulation, do not receive the restriction of withstand voltage degree of depth, can make streamlined structure, thereby guaranteed that emergent safety device has small, the quality is light, advantage such as the resistance is little, the special suitability is installed and is used on middle-size and small-size UUV.

Simultaneously, the emergent system of saving oneself that this scheme provided regards as the steady wing of UUV etc. as throwing year load, throws it off when emergent come-up is saved oneself, need not increase extra load and regards as throwing year module, utilizes the adsorption affinity of electromagnet and spring force acting simultaneously, and both all can be direct and water environment contact, need not withstand voltage encapsulation, are applicable to and install and use on middle-size and small-size UUV.

Finally, the scheme utilizes three interfaces in a fault identification and trigger system to receive different fault information, a navigation controller-load rejection interlocking interface receives main power supply power failure fault information, wherein the navigation controller-emergency load rejection interface receives serious fault information, and an abnormal interface of a buoyancy regulating device receives the buoyancy regulating system fault information; the interlocking signal of the navigation controller is input to the intelligent fault priority identification part, when the interlocking signal of the navigation controller is at a high level or a high resistance, the interlocking signal of the navigation controller represents that the emergency safety control self-rescue flow is allowed to be triggered, when the interlocking signal of the navigation controller is at a low level, the interlocking signal of the navigation controller represents that the emergency safety control self-rescue flow is not allowed to be triggered, and when the interlocking signal of the navigation controller is at a high level, the interlocking signal of the navigation controller represents that the emergency safety control self-rescue flow is allowed to be triggered; a fault signal of the navigation controller is input through a navigation controller-emergency load rejection interface, and a fault of the buoyancy regulating device is input through an abnormal interface of the buoyancy regulating device; the navigation controller-emergency load rejection interface and the buoyancy regulating device abnormal interface have 2 states: transistor logic gate (TTL) level and collector open circuit signal, TTL high level and collector open circuit's high resistance state all indicate the fault state that needs trigger emergency safety control and save oneself to level, resistance state that leads to according to different fault information confirms whether need trigger emergency safety control and save oneself the flow, realizes that UUV intelligence is emergent to save oneself.

Drawings

Fig. 1 is a schematic system flow diagram of a small and medium-sized UUV intelligent emergency self-rescue system according to an embodiment of the present invention;

fig. 2 is a schematic view of a system configuration of a medium-small UUV intelligent emergency self-rescue system according to an embodiment of the present invention;

fig. 3 is a schematic view illustrating an installation of a medium-small UUV intelligent emergency self-rescue system on a UUV according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an emergency safety device according to an embodiment of the present invention;

fig. 5 is a flow chart of emergency safety protection provided in an embodiment of the present invention;

FIG. 6 is a circuit diagram of signal conditioning and detection in a fault identification and triggering system according to an embodiment of the present invention;

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The small and medium-sized UUV intelligent emergency self-rescue system comprises a fault identification and trigger system, an emergency safety device and an emergency power supply, wherein the working modes of the emergency safety self-rescue system are divided into 3 technical states of a dormant standby state, an interlocking state and a load rejection self-rescue state, the dormant standby state is a no-fault information state, output interface signals are all low level, the system is similar to dormancy at the moment, the basic work of a detection circuit is maintained, the detection circuit is powered by 5V voltage, the work is maintained at extremely low current, and the maintaining current is 0.3-0.5 mA; the interlocking state means that when the depth is ultra deep or the signal of the buoyancy regulating system is abnormal, the navigation controller does not allow triggering the emergency safety self-rescue process, and is in an awakening mode at the moment, but is interlocked by the navigation control system, the emergency safety self-rescue process is not executed, and at the moment, the power is still supplied by 5V voltage; the load throwing self-rescue state means that the system triggers an emergency safe self-rescue flow and enters an emergency floating self-rescue state. Referring to fig. 1, a system flow diagram of a small and medium-sized UUV intelligent emergency self-rescue system provided in an embodiment of the present invention is shown.

Example 1:

s1: the fault identification and triggering system detects fault information and abnormal signals in the UUV.

S2: if the fault information and the abnormal signal are detected, the fault identification and triggering system automatically judges whether to trigger the emergency safety control self-rescue flow.

and in the step S2, the fault priority intelligent identification part in the fault identification and trigger system judges whether to trigger an emergency safety control self-rescue process:

S3: and if the fault identification and trigger system triggers the emergency safety control self-rescue flow, the fault identification and trigger system sends a load rejection instruction.

Example 2:

this example is substantially the same as example 1, except that:

In a specific embodiment of the invention, when fault information such as depth is continuously ultra-deep, pins 1, 2 and 3 of an IC5 are at high level, after being identified by a priority identification circuit, high-level signals are simultaneously output from pins 6 and 9 of an IC5, the pin 6 signal is a load rejection request signal and is sent to a navigation controller, if no response exists in the navigation controller 10s, an emergency safety control self-rescue process is executed, the pin 9 signal of the IC5 is sent to the IC4 through R31, R32, C31 and C32 for time delay comparison, the pin 9 signal of the IC5 is interlocked by an interlocking signal of the navigation controller, when the interlocking signal of the navigation controller is at high level or high resistance, the pin 6 of the IC4 outputs high level and is sent to a pin 11 of the IC5 for logic judgment and self-locking, and simultaneously, the pin 12 of the IC5 outputs a load rejection signal and is sent to a driving module for emergency power supply, load rejection is dropped, and finally, self-rescue and degaussing is completed.

taking a fault identification and trigger system as a source node and an emergency safety device as a destination node, calculating the value of each link in the underwater wireless network, and when nodes n at two ends of each link are connected₁And n₂Connected and end node n of link₂Not the destination node, the value of the link is R (n)₁,n₂) When node n at both ends of the link is 0₁And n₂Not connected, R (n)₁,n₂) The link value calculation formula in the rest cases is-1:

wherein:

dist(n₁,n₂) Represents the length of the communication link;

epsilon represents a threshold value of the communication link length;

wherein:

α represents an update rate, which is set to 0.8;

β represents a decay coefficient, which is set to 0.7;

Referring to fig. 2, a schematic diagram of a system configuration of a small and medium UUV intelligent emergency self-rescue system according to an embodiment of the present invention is shown. In the system structure, the system mainly comprises a fault identification and triggering system, an emergency safety device and an emergency power supply 3, and simultaneously, a UUV depth sensor, a navigation controller and a communication system are fused for matching use.

Referring to fig. 3, a schematic view of an installation of a small and medium UUV intelligent emergency self-rescue system on a UUV according to an embodiment of the present invention is shown. The emergency safety device is installed outside the watertight pressure-resistant cabin, and the fault identification and triggering system and the emergency power supply are arranged in the watertight pressure-resistant cabin. Wherein: the fault identification and trigger system mainly detects fault information and determines whether to start and execute an emergency safety control self-rescue process; the emergency safety device is used for executing load rejection action and abandoning the load after obtaining an emergency trigger control instruction; the emergency power supply can independently provide electric energy for the system. Signals of the depth sensor and the navigation controller are used as input signals for the fault identification and triggering system to judge whether to allow triggering of the emergency safety self-rescue process, and power supplies of the equipment are provided by a main power supply of the aircraft.

Fig. 4 is a schematic structural diagram of an emergency safety device according to an embodiment of the present invention. The emergency safety device comprises a load-rejection wing, a compression spring, an electromagnet and a fixed base, wherein the load-rejection wing is arranged on the fixed base and is made of cast iron materials, the outer surface of the load-rejection wing is sprayed with anti-rust paint, and the compression spring and the electromagnet are embedded in the fixed base and are in surface contact with the load-rejection wing; a guide groove and a clamping groove are arranged above the fixed base, when the load rejection wing is popped backwards, on one hand, the load rejection wing can play a backward guide role, on the other hand, the load rejection wing can bear lateral force and certain lateral bending moment, when the aircraft is subjected to lateral disturbance or impact in the navigation process, the reliability can still be ensured, and the error load rejection is avoided; meanwhile, a slope disturbance structure is arranged on one side of the guide groove, so that the load rejection wing can tilt when being popped up, on one hand, the load rejection wing is separated from the fixed base, on the other hand, the load rejection wing generates 1 lateral bending moment, the reliable rejection is ensured, and the reliability of the device is enhanced; the electromagnet is a power-off sucker type electromagnet, has magnetic attraction in a power-off state, can overcome the elastic force of the compression spring to firmly attract the load-throwing wing, loses the magnetic force when the electromagnet is powered on, and then the compression spring bounces the load-throwing wing, so that the load-throwing wing is separated from the UUV under the action of self gravity.

Referring to fig. 5, a flowchart of emergency safety protection according to an embodiment of the present invention is shown. When the UUV works normally, the electromagnet of the emergency safety device is in a power-off state, the attraction force of the electromagnet is large, and the throwing-carrying wing can be firmly attracted by overcoming the elasticity of the compression spring; when the fault identification and trigger system is triggered by an emergency signal, the electromagnet is electrified by the electrifying trigger circuit, under the action of a coil reverse magnetic field, the attraction force of the electromagnet is weakened, the load throwing wing is separated from the fixed base under the action of the elastic force and the gravity of the spring, the load throwing wing moves backwards along the guide groove on the fixed base, and under the action of a single-side slope disturbance structure arranged on the slide way, the load throwing wing is completely separated from the fixed base. At the moment, the UUV forms positive buoyancy and floats to the water surface, the emergency power supply supplies power to the communication system, and the communication system continuously sends alarm information and self coordinate position to the remote shore-based command system to wait for salvage and recovery. Meanwhile, after the emergency self-rescue process is started, a dual-redundancy self-locking mechanism of self-locking of a test loop and self-locking of an emergency power supply loop (a driving module) is adopted, so that the emergency self-rescue process is not interfered by external signals.

Referring to fig. 6, in order to provide a circuit diagram for conditioning and detecting signals in the fault recognition and triggering system according to an embodiment of the present invention, the depth sensor is connected through V0 in fig. 6, and after impedance conversion and amplitude conditioning by the operational amplifier IC2, the depth sensor is sent to the comparator IC3-1 for amplitude comparison, when the depth signal V0 is normal, the level of pin 3 of the comparator IC3-1 is lower than the level of pin 2, the pin 1 of the output terminal is low level, and the subsequent circuit maintains normal state; when the depth signal V0 exceeds a set value, the level of a pin 3 of the IC3-1 is higher than the level of a pin 2, the pin 1 of the output end outputs high level, and the signal is sent to a fault priority identification circuit consisting of a priority identification circuit IC5 and a delay comparison circuit IC 4; the interlocking signal of the navigation controller is input through a T1 interface in fig. 6, when the signal T1 is at a high level or a high resistance, the load rejection self-rescue process is allowed to be executed, and when the signal T1 is at a low level, the load rejection self-rescue process is not allowed to be executed. The fault signal of the navigation controller is input through a T2 interface, and the fault of the buoyancy regulating device is input through a T3 interface. T2 and T3 have 2 states: and the logic gate level of the transistor and the open-circuit signal of the collector both represent fault states needing to start emergency load rejection protection in the high resistance states of the TTL high level and the open-circuit signal of the collector. When the navigation controller or the buoyancy regulating device has a fault, the port T2 or the port T3 is at a high level, and the fault is sent to a fault priority identification circuit for fault priority identification and judgment after resistance-capacitance filtering formed by R34, C34, R35 and C35; when the power failure occurs in the navigation controller or the buoyancy regulating device, the port T2 or the port T3 has high resistance, and the fault priority identification circuit formed by the IC4 and the IC5 also judges that the fault priority identification circuit is in a fault state.

It should be noted that the above-mentioned numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a middle-size and small-size UUV intelligence emergency self-rescue system which characterized in that, the system flow includes:

2. The intelligent emergency self-rescue system for medium and small UUVs as claimed in claim 1, wherein the intelligent depth recognition part in the fault recognition and triggering system in step S1 receives the input signal of the depth sensor and determines whether the received depth signal exceeds the limit, including:

3. The intelligent emergency self-rescue system for medium and small UUVs as claimed in claim 1, wherein the fault information of the UUV is detected by the fault priority intelligent identification part in the fault identification and triggering system in step S1, which includes:

4. The intelligent small and medium UUV emergency self-rescue system according to claim 3, wherein the fault information required to trigger the emergency safety control self-rescue process in the step S2 includes:

when the submergence depth of the UUV exceeds the set load rejection depth by 20%, the UUV system applies load rejection to the navigation controller, and if the navigation controller agrees to load rejection or does not respond, the emergency safety control self-rescue flow is triggered after the delay time of 5 s.

5. The intelligent small and medium UUV emergency self-rescue system according to claims 2-4, wherein the intelligent fault priority identification part in the fault identification and triggering system in step S2 determines whether to trigger the emergency safety control self-rescue process, including:

a fault signal of the navigation controller is input through a navigation controller-emergency load rejection interface, and a fault of the buoyancy regulating device is input through an abnormal interface of the buoyancy regulating device; the navigation controller-emergency load rejection interface and the buoyancy regulating device abnormal interface have 2 states: the transistor logic gate level and the collector open circuit signal, and the high resistance states of the TTL high level and the collector open circuit both represent fault states needing triggering emergency safety control self rescue;

6. The intelligent, emergency and self-rescue system for medium and small UUVs as claimed in claim 5, wherein in step S3, if the emergency safety control self-rescue process is triggered, the driving module in the fault identification and triggering system provides an independent emergency power supply for the emergency safety device and the self-rescue communication device, and the system comprises:

7. The intelligent, emergency and self-rescue system for medium and small UUVs as claimed in claim 6, wherein the fault identification and triggering system in step S3 issues a load rejection command, comprising:

the fault identification and trigger system adopts a dual-redundancy self-locking mechanism of self-locking of a test loop and self-locking of an emergency power supply loop; and the fault identification and trigger system sends a load rejection instruction to the emergency safety device.

8. The intelligent, emergency and self-rescue system for medium and small UUVs as claimed in claim 7, wherein the step S3 is performed by using an underwater wireless network link optimization strategy to select the fastest network link to send the load rejection command to the emergency safety device, and the method comprises the following steps:

taking a fault identification and trigger system as a source node and an emergency safety device as a destination node, calculating the value of each link in the underwater wireless network, and when nodes n at two ends of each link are connected₁And n₂Connected and end node n of link₂Not the destination node, the value of the link is R (n)₁,n₂) When node n at both ends of the link is 0₁And n₂Not connected, R (n)₁,n₂) Is 1, itThe remaining link value calculation formula is:

wherein:

dist(n₁,n₂) Represents the length of the communication link;

epsilon represents a threshold value of the communication link length;

wherein:

α represents an update rate, which is set to 0.8;

β represents a decay coefficient, which is set to 0.7;

9. The intelligent, emergency and self-rescue system for medium and small UUVs as claimed in claim 8, wherein the emergency safety device in step S4 receives a load rejection command to weaken the electric attraction of the electromagnet in the emergency safety device, comprising:

the emergency self-rescue communication equipment is composed of communication equipment GPS and iridium satellite communication of the UUV, the UUV main power supply supplies power when the part of equipment works normally, the part of equipment is forced to be put into work after the emergency safety self-rescue mode is started, and the main power supply and the emergency power supply are adopted to supply power simultaneously.