CN115339596A - Deep sea autonomous unmanned vehicle load rejection device - Google Patents

Abstract

The invention discloses a deep-sea autonomous unmanned vehicle load rejection device which comprises an active load rejection releaser, a passive acoustic releaser, a load rejection controller and a load rejection state detector, wherein the active load rejection releaser and the passive acoustic releaser are arranged on an unmanned vehicle, the active load rejection releaser and the passive acoustic releaser are connected with two ends of a rope, the rope passes through a roller of a pulley to drive a lifting hook, and the lifting hook lifts a load pressing iron. By connecting the active load rejection releaser and the passive load rejection releaser in parallel, the ballast iron can be released as long as any one load rejection executor generates load rejection actions, the load rejection actions are guaranteed to be executed reliably, and the safety of equipment is improved.

Description

Deep sea autonomous unmanned vehicle load rejection device

Technical Field

The invention relates to the technical field of deep-sea unmanned vehicles, in particular to a deep-sea autonomous unmanned vehicle load rejection device.

Background

When the deep-sea autonomous unmanned vehicle works for a long time, the unmanned vehicle still has the risk of floating failure after the unmanned vehicle executes the load rejection action due to the adsorption effect between the crawler and sediment sludge, the corrosion of the load rejection mechanism, the blockage of foreign matters or other reasons.

In the existing load rejection device scheme, most of the load rejection devices use a single actuator mode, and the reliability of a load rejection system is poor. In the scheme of adopting double actuators at a small part, most of the load rejection systems only have a passive or active load rejection triggering mode, and the active and passive load rejection modes are not combined.

In addition, the existing scheme mainly adopts a form of combining a hydraulic load rejection actuator or an electromagnet adsorption load rejection actuator, although the reliability is improved, the electromagnet needs to be electrified for a long time, and a hydraulic mechanism needs to be supported by complex peripheral hydraulic equipment, so that the complexity of the system is inevitably increased.

Disclosure of Invention

The invention aims to provide a combined load rejection device of a deep-sea autonomous unmanned vehicle, which improves the reliability of a load rejection system of the autonomous unmanned vehicle for long-time underwater operation, reduces the possibility of recovery failure of the unmanned vehicle during long-time operation, and improves the safety of equipment.

In order to solve the technical problems, an embodiment of the invention provides a deep-sea autonomous unmanned vehicle load rejection device, which comprises an active load rejection device, a passive acoustic rejection device, a load rejection controller and a load rejection state detector, wherein the active load rejection device and the passive acoustic rejection device are arranged on an unmanned vehicle, the active load rejection device and the passive acoustic rejection device are connected with two ends of a rope, the rope penetrates through a roller of a pulley to drive a hook, and the hook hoists a load iron.

The load rejection detection component comprises a Hall sensor arranged on the inner wall of the load rejection detection electronic cabin, a permanent magnet and a support, wherein the permanent magnet and the support are arranged on the load pressing iron, the Hall sensor judges whether the load pressing iron falls off or not by detecting whether the magnetic field of the permanent magnet generates corresponding Hall voltage or not, and the Hall voltage generated by the Hall sensor is fed back to the load rejection controller.

The automatic accumulation type throw-load controller is characterized by further comprising an automatic accumulation timer arranged in the throw-load controller and used for starting timing after the throw-load controller starts to operate, and resetting the timer after the throw-load controller receives a heartbeat signal sent by the main controller; if the throw load controller cannot continuously receive the heartbeat signal, judging that the main controller breaks down; and when the timer reaches a set threshold value but the load rejection controller does not receive the heartbeat signal, executing active load rejection immediately.

The device also comprises a first power supply for supplying power to the main controller and the throwing controller in a connecting manner and a second power supply for supplying power to the passive throwing releaser in a connecting manner.

The unmanned vehicle is connected with a depth meter which is used for detecting and sending the depth information of the unmanned vehicle to the main controller, the main controller judges the current load rejection state according to the detection result of the load rejection state detector and the depth information of the depth meter, and controls the motor driver to adopt a corresponding strategy according to the load rejection state.

The combined load rejection support comprises a frame and a front side guide roller, a left side guide roller, a rear side guide roller and a right side guide roller, and is used for guiding the lifting of the load iron.

The combined load rejection bracket is a titanium alloy combined load rejection bracket or an aluminum alloy combined load rejection bracket.

The pulley comprises a fixed pulley with a conical guide structure and a pulley support connected with a pulley pin shaft of the fixed pulley, wherein the pulley support is provided with a plurality of hoisting unthreaded holes for mounting a lifting hook.

The tension pulley is fixed on the combined load rejection support through a bolt, and a lead screw penetrates through the support of the tension pulley and is used for driving a wheel shaft of the tension pulley to move up and down through rotation so as to tension the rope on the pulley.

The lifting hook comprises a lifting hook body and a lifting hook support, wherein the lifting hook body is provided with a plurality of through holes for being installed with the pulley support through a hanging shackle arranged on the ballast iron, so that the suspension or unloading of the ballast iron is realized, and the top of the lifting hook support is provided with at least one limiting pin for limiting, so that the lifting hook body is prevented from being turned to an abnormal position; one end of the lifting hook body is rotatably connected with the bottom of the lifting hook support through a lifting hook rotating shaft.

Compared with the prior art, the deep-sea autonomous unmanned vehicle combined load rejection device provided by the embodiment of the invention has the following advantages:

the combined load rejection device for the deep-sea autonomous unmanned vehicle is characterized in that two load rejection actuators are mounted on the same ballast iron through a pull rope by adopting a load rejection method that active and passive load rejection releasers are connected in parallel, the ballast iron can be released as long as any one load rejection actuator generates a load rejection action, a load rejection signal can be automatically generated by the autonomous unmanned vehicle according to the working state, the load rejection can be forced through a passive signal obtained by the passive acoustic releaser, the reliable execution of the load rejection action is ensured, and the safety of equipment is improved. The reliability of the autonomous unmanned vehicle throwing-carrying system for long-time underwater operation is improved, the possibility of failure recovery of the unmanned vehicle during long-time operation is reduced, and the safety of equipment is improved. In addition, the load rejection state detector is used for judging whether the ballast iron falls off or not and feeding back a detection result to the load rejection controller, so that the feedback of load rejection operation is realized, and the safety and the reliability of equipment are further improved.

Drawings

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions in the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a deep-sea autonomous unmanned vehicle combined load rejection device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a combined load rejection bracket of an embodiment of the deep-sea autonomous unmanned vehicle combined load rejection device provided by the embodiment of the invention;

fig. 3 is a schematic structural view of a fixed pulley block and a bracket a of an embodiment of the deep-sea autonomous unmanned vehicle combined load rejection device provided by the embodiment of the invention;

fig. 4 is a schematic structural view of a fixed pulley block and a bracket B of an embodiment of the deep-sea autonomous unmanned vehicle combined load rejection device provided by the embodiment of the invention;

fig. 5 is a schematic structural diagram of a tensioning wheel of an embodiment of the combined load rejection device of the deep-sea autonomous unmanned vehicle provided by the embodiment of the invention;

fig. 6 is a schematic structural diagram of a lifting hook of an embodiment of the combined load rejection device for the deep-sea autonomous unmanned vehicle, provided by the embodiment of the invention;

fig. 7 is a schematic structural diagram of a load rejection electronic cabin of an embodiment of the deep-sea autonomous unmanned vehicle combined load rejection device provided in the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, fig. 1 is a schematic structural diagram of an embodiment of a deep-sea autonomous unmanned vehicle combined load rejection device according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a combined load rejection bracket of an embodiment of the deep-sea autonomous unmanned vehicle combined load rejection device provided by the embodiment of the invention; fig. 3 is a schematic structural view of a fixed pulley block and a bracket a of an embodiment of the deep-sea autonomous unmanned vehicle combined load rejection device provided by the embodiment of the invention; fig. 4 is a schematic structural view of a crown block and a bracket B of an embodiment of the combined load rejection device of the autonomous deep-sea unmanned vehicle provided by the embodiment of the invention; fig. 5 is a schematic structural diagram of a tensioning wheel of an embodiment of the combined load rejection device of the deep-sea autonomous unmanned vehicle provided by the embodiment of the invention; fig. 6 is a schematic structural diagram of a hook of an embodiment of the deep-sea autonomous unmanned vehicle combined load rejection device provided by the embodiment of the invention; fig. 7 is a schematic structural diagram of a load rejection electronic cabin of an embodiment of the deep-sea autonomous unmanned vehicle combined load rejection device provided in the embodiment of the present invention.

In a specific embodiment, the deep sea autonomous unmanned vehicle load rejection device comprises an active load rejection device 20, a passive acoustic release device 10, a load rejection controller and a load rejection state detector which are arranged on an unmanned vehicle, wherein the active load rejection device 20 and the passive acoustic release device 10 are connected with two ends of a rope 80, the rope 80 passes through a roller of a pulley 70 to drive a hook 50, the hook 50 hoists a load pressing iron 40, when the rope 80 is tensioned, the hook 50 is restrained by the rope 80 and cannot swing freely, when the load rejection controller sends a control signal to enable the active load rejection device 20 or the passive acoustic release device 10 to trigger a load rejection signal to release the rope 80, the hook 50 rotates under the action of the gravity of the load pressing iron 40 and releases the hung load pressing iron 40 to realize load rejection operation, and the load rejection state detector is used for detecting whether the load pressing iron 40 has fallen or not and feeding back a detection result to the load rejection controller.

By adopting the load rejection method that the active load rejection releaser and the passive load rejection releaser are connected in parallel, two load rejection executors are hung on the same ballast iron 40 through a pull rope, the ballast iron 40 can be released as long as any one load rejection executor generates load rejection action, load rejection signals can be automatically generated by an autonomous unmanned vehicle according to the working state, and the load rejection action can also be forcibly carried out through passive signals obtained by the passive acoustic releaser 10, so that the reliable execution of the load rejection action is ensured, and the safety of equipment is improved. The reliability of the autonomous unmanned vehicle load rejection system for long-time underwater operation is improved, the possibility of failure in recovery of the unmanned vehicle during long-time operation is reduced, and the safety of equipment is improved. In addition, the load rejection state detector is used for judging whether the load pressing iron 40 falls off or not and feeding back the detection result to the load rejection controller, so that the feedback of load rejection operation is realized, and the safety and the reliability of the equipment are further improved.

The deep sea autonomous unmanned vehicle load rejection device comprises a load rejection method adopting active and passive load rejection releasers in parallel connection, is used for judging whether the ballast iron 40 drops or not through the load rejection state detector, and feeds back a detection result to the load rejection controller, so that the feedback of load rejection operation is realized, and the safety and the reliability of equipment are further improved.

The load rejection state detector can detect load rejection operation, judge whether the load rejection is normal, judge whether other faults exist or not, such as the situation that the fault is absorbed by soil due to being trapped in the soil, and further take other measures, ensure the reliability that the unmanned vehicle can float up after the load rejection, realize the fault detection after a load rejection signal is sent out, and improve the use reliability of equipment.

The structure and the detection mode of the load rejection detection component are not limited in the application.

In one embodiment, the load rejection detection component comprises a hall sensor arranged on the inner wall of the load rejection detection electronic cabin, a permanent magnet arranged on the load iron 40, and a bracket, wherein the hall sensor judges whether the load iron 40 has fallen or not by detecting the magnetic field of the permanent magnet to generate a corresponding hall voltage, and feeds the hall voltage generated by the hall sensor back to the load rejection controller.

Whether the ballast iron 40 falls or not is judged by adopting a Hall sensor to generate corresponding Hall voltage through detecting the magnetic field of the permanent magnet, the detection mode is simple, and the detection structure is simple and reliable.

The load rejection state feedback component is used, and the principle is that whether the load iron 40 smoothly falls or not is judged by detecting the magnetic field of the permanent magnet on the load iron 40 through the Hall sensor, so that a feedback signal is provided for a load rejection system. When the load rejection is abnormal, the load rejection controller sends the abnormal state to the unmanned vehicle main controller, and the main controller drives the crawler to move properly so as to be separated from the abnormal load rejection state.

It should be noted that, the number and the specific arrangement position of the hall sensors are not limited in the present application.

The operational flow in one embodiment of the present application is as follows:

and when the preset load rejection condition is not reached, the device waits for the triggering of the load rejection condition. When the normal load rejection is achieved under the preset load rejection condition, the ballast iron 40 is released through the active load rejection device. And detecting data of the depth gauge at the moment, and finishing the load rejection process if the autonomous deep sea unmanned vehicle floats normally at the moment. If the active load rejection device does not float normally, the active load rejection device is judged to have faults.

The deep-sea unmanned vehicle operating for a long time may not have enough buoyancy to get rid of the floating in the current state after being thrown due to the adsorption effect of silt. At this point, the chassis needs to be moved appropriately to get rid of the adsorption of the silt. When the situation occurs, the throwing load state detection device detects that the ballast iron 40 falls but the unmanned vehicle depth gauge data is not reduced, and the unmanned vehicle does not float. At the moment, the main controller gives an instruction to the motor driver to control the unmanned vehicle to move properly to get rid of sediment settlement.

When the unmanned vehicle works on the seabed, the ballast irons 40 are stuck by the seabed terrain or obstacles, so that the ballast irons 40 cannot fall normally. At this time, the load rejection detection device 60 detects that the load rejection command has been currently executed but the ballast iron 40 has not dropped, the unmanned vehicle does not float, the unmanned vehicle moves appropriately so that the ballast iron 40 is out of the locked state, and the load rejection is carried out again, so that the deep sea unmanned vehicle floats normally.

Due to a series of reasons such as long-term soil adsorption, the situation that the unmanned vehicle fails in active load rejection can occur during long-term operation, and because the passive acoustic releaser 10 uses an independent power supply, a load rejection command can still be sent to the passive acoustic releaser 10 manually through an underwater acoustic communicator. The passive acoustic releaser 10 releases the rope 80 after receiving the load rejection signal sent by the far-end underwater acoustic communicator, and then the passive load rejection can be realized. At this time, the load rejection detector 60 indicates that the ballast iron 40 falls, and if the depth gauge data does not change, the unmanned vehicle may not float due to the adsorption of soil, and the crawler may be driven to move appropriately at this time, so as to realize unpowered floating by getting rid of the soil adsorption.

The ballast iron in the present application is generally a multi-piece ballast iron.

Through parallelly connected two kinds of throwing year releasers, can realize that active, passive two kinds of modes trigger the throwing year, even if the serious trouble has appeared in deep sea autonomous unmanned vehicle self and has leaded to its initiative throwing year system to fail, also can normally release ballast iron 40 through acoustics releaser, realize the throwing year come-up.

The device adopts a rope 80 to hoist the ballast iron 40, the rope 80 passes through a lifting hook 50 through a pulley 70 roller, and two ends of the rope 80 are respectively connected to the active load rejection releaser 20 and the passive acoustic releaser 10. When the rope 80 is tightened, the hook 50 is restrained by the rope 80 so that the hook 50 cannot swing freely. When one of the active and passive acoustic releases 20, 10 triggers the load signal to release the line 80, the hook 50 is no longer restrained by the line 80. At this time, the hook 50 rotates under the action of the gravity of the ballast iron 40, and releases the mounted ballast iron 40, thereby realizing the load rejection action.

In order to ensure the normal floating recovery of the autonomous unmanned aerial vehicle, in one implementation, the deep-sea autonomous unmanned vehicle combination load rejection device further comprises an automatic accumulation timer arranged in the load rejection controller, and the automatic accumulation timer is used for starting to time after the load rejection controller starts to operate and resetting the timer after the load rejection controller receives a heartbeat signal sent by the main controller; if the load throwing controller cannot continuously receive the heartbeat signal, judging that the main controller fails; and when the timer reaches a set threshold value, but the load rejection controller does not receive the heartbeat signal, executing active load rejection immediately.

By using a watchdog-based heartbeat detection mechanism. An automatic accumulation timer is arranged in the throwing load controller. And after the system runs, a timer in the throwing controller starts to time. When the load throwing controller receives the heartbeat signal sent by the main controller, the internal timer is reset. Under normal conditions, the main controller of the autonomous unmanned vehicle sends heartbeat signals to the throwing and carrying controller at intervals. If the load throwing controller cannot continuously receive the heartbeat signal, the condition that the main controller has certain faults and crashes and does not normally send out the heartbeat signal is indicated. When the timer in the throwing controller reaches a set threshold value and does not receive a heartbeat signal, active throwing is immediately executed, and the autonomous unmanned vehicle can be ensured to float upwards and be recovered normally.

In addition, the load rejection controller detects whether the main controller is abnormal or not through a heartbeat monitoring mechanism, and immediately executes load rejection action when a signal of the main controller cannot be received within a period of time

The active load rejection releaser 20 is connected with a load rejection controller, and the load rejection controller can trigger an active load rejection instruction; the passive acoustic releaser 10 is independent of the load rejection controller, and can receive load rejection instructions through an underwater acoustic communicator of the scientific mother ship to trigger load rejection actions. The active load rejection releaser 20 and the passive acoustic releaser 10 are connected in parallel on the load rejection mechanism, and any release triggering load rejection command can enable the load rejection mechanism to release the ballast iron 40 for load rejection.

Furthermore, in order to ensure the reliability of load rejection and avoid the situation that the active and passive load rejection releasers cannot accept signals and the Xenin releasing operation is caused by the fault of the power supply, in one embodiment, the combined load rejection device for the deep sea autonomous unmanned vehicle further comprises a first power supply for supplying power to the main controller and the load rejection controller, and a second power supply for supplying power to the passive load rejection releaser.

Through the independent power supply, can avoid because power failure and unable normal throwing year, adopt with main control unit throw the first power that year controller connection supplied power and be used for passive throwing carries the second power that the releaser connection supplied power to the reliability of equipment operation has been improved.

The present application does not make any limitation on the types and amounts of the first power source and the second power source.

Because the throwing action in this application takes place in the ocean, but if reach certain degree of depth in the ocean, if water pressure is too big, probably damage unmanned vehicle, consequently need reach certain degree of depth after need throw the year to guarantee the security of equipment, consequently in an embodiment, deep sea is from unmanned vehicle combination throwing device still including setting up unmanned vehicle with the depth gauge that main control unit connects for detect and to main control unit sends the depth information of unmanned vehicle, main control unit basis throw the testing result of year state detector with the current state of throwing is judged to the number depth information of depth gauge, and according to throw year state control motor driver and take corresponding tactics.

The depth gauge does not limit the structure, the measuring range and the like of the depth gauge, can be actively operated according to depth information, can also be actively generated by active operation according to the depth information after reaching a certain threshold value without active operation.

Table 1 below is a dump state determination in one embodiment.

TABLE 1 determination of load rejection status

In order to ensure the reliability of the load rejection operation, in one embodiment, the combined load rejection device for the deep-sea autonomous unmanned vehicle further includes a combined load rejection support 90 disposed outside the ballast iron 40 for carrying the ballast iron 40, and the combined load rejection support 90 includes a frame, and a front guide roller, a left guide roller, a rear guide roller, and a right guide roller disposed on the frame, for guiding the lifting of the ballast iron 40.

Through setting up the direction roller bearing, install the direction roller bearing on the corresponding hole site of frame, play the effect of direction to the decline of ballast iron 40, prevent that ballast iron 40 from rocking, improve the reliability.

This application does not do the restriction to the material of combination throwing year support 90, needs to satisfy the requirement of long-time work corrosion and high pressure, and in one embodiment, combination throwing year support 90 is titanium alloy combination throwing year support 90 or aluminum alloy combination throwing year support 90, or the combination throwing of other materials carries support 90.

Fig. 2 is a schematic structural diagram of a combined load rejection support in an embodiment, and the combined load rejection support comprises a frame 101, a front guide roller 106, left side guide rollers 104 and 105, a rear guide roller 102 and a right side guide roller 103. The guide rollers are mounted on corresponding holes of the frame 101, and play a role in guiding the descending of the ballast iron, so that the ballast iron is prevented from shaking. The titanium alloy is selected as the material, so that long-time working corrosion is prevented.

The present application is not limited to the structure of the pulley 70 for fixing the rope 80, and in one embodiment, the pulley 70 includes a fixed pulley 70 having a tapered guide structure, and a pulley 70 support pin-connected to the pulley 70 of the fixed pulley 70, and the pulley 70 support is provided with a plurality of hoisting holes for installing the hook 50.

In one embodiment of the present application, two pulleys are used for operation, such as the fixed pulley block a in the left view of fig. 3, and the fixed pulley 201 is a conical guiding structure. 202 is a pulley pin shaft, the end of which is cut with a threaded hole. 203 is a pulley bracket, and the middle of the pulley bracket is provided with 4 unthreaded holes for mounting a lifting hook. Fig. 4 is a left view of a fixed pulley block B, 301 is a pulley bracket, 302 is a fixed pulley, a conical guide structure is adopted, 303 is a pulley pin shaft, and a threaded hole is cut at the tail end.

The rope 80 is fixed to the lifting hook 50 through the hoisting unthreaded hole, and the rope 80 is prevented from being unstable in center due to the fact that the center of the rope 80 is coiled and even the rope 80 cannot rotate due to entering a winter rotating shaft through the fixed pulley 70 of the conical guide structure, so that the operation reliability of the device is improved.

Further, in order to avoid the rope 80 from accidentally extending or contracting with other components due to looseness in a normal state, in an embodiment, the deep-sea autonomous unmanned aerial vehicle combined load rejection device further comprises a tension pulley fixed on the combined load rejection bracket 90 through a bolt, and a lead screw penetrates through the bracket of the tension pulley and is used for tensioning the rope 80 on the pulley 70 by rotating an axle of the tension pulley to move up and down.

The lead screw penetrates through the support of the tensioning wheel, the wheel shaft of the tensioning wheel is driven to move up and down through rotation, the rope 80 on the pulley 70 is tensioned, and therefore the operation reliability of the pulley 70 is guaranteed.

The present application includes, but is not limited to, the above-described structure.

Fig. 5 is a schematic structural diagram of a tension wheel and its bracket assembly in an embodiment, 401 is a tension wheel bracket, the bottom of which is provided with four holes, and the four holes can be fixed on a combined load rejection bracket through bolts. A lead screw 402 penetrates through the bracket, when the lead screw 402 rotates, the tension wheel shaft 404 can be driven to move up and down, and when a pull rope is hung on the pulley 403, the pull rope can be tensioned.

Furthermore, in order to avoid the hook 50 from being unable to operate due to accidents during operation, in an embodiment, the hook 50 includes a hook body and a hook support, the hook body 50 is configured to realize the suspension or unloading of the ballast iron 40 through a suspension shackle disposed on the ballast iron 40, the top of the hook support is provided with a plurality of through holes for being mounted on the support of the pulley 70, and the side surface of the hook support is provided with at least one limiting pin for limiting, so as to prevent the hook body from turning to an abnormal position; one end of the hook body is rotatably connected with the bottom of the hook bracket through a rotating shaft of a hook 50.

Fig. 6 shows a hook assembly, 501 a hook body, from which ballast iron can be suspended by means of shackles suspended from the ballast iron. 505 is a hook bracket, the bottom of which is provided with four holes so that the hook can be arranged on a bracket of the fixed pulley block A. 502 is a pin, the bottom of which is threaded and is axially limited by a nut. A steel rope penetrates through the lower portion of the pin 502, and the steel rope can bear tension of the rope after the ballast iron is hung. 503 round pin axle is the spacer pin, prevents that the lifting hook from overturning to the abnormal position, and lifting hook focus dystopy makes the mechanism lock die. The pin 504 is a hook rotation shaft, and connects the hook 501 to the 505 hook bracket, and at the same time, enables the hook 501 to rotate freely.

The lifting hook body is prevented from being turned to an abnormal position through a limiting pin; the one end of lifting hook body with the bottom of lifting hook support is passed through the lifting hook axis of rotation and is rotated and be connected, and the round pin axle is the lifting hook axis of rotation, connects the lifting hook on the lifting hook support, can make the lifting hook free rotation simultaneously.

The present application does not limit the structure of the load rejection electronic module, and in an embodiment, as shown in fig. 7, the load rejection electronic module is a cross-sectional view, where 601 is an electronic module body, and 602 is a module cover. The load rejection electronic cabin uses a miniature 6-core watertight connector.

In order to ensure the safety of the system, a fully-isolated circuit design method is adopted for the internal circuit board of the load rejection detection. A B2405 power supply chip is used for converting an input 24V voltage into a 5V voltage to supply power to equipment in the cabin, so that circuits inside and outside the cabin are isolated. Two hall sensors 3144 are used in the cabin to output switching value signals. An LM393 voltage comparator is used for amplification, and an isolation type photoelectric coupler EL817D is used for isolating output signals, so that the reliability of the system in long-time underwater operation is guaranteed.

The embodiment of the application provides a deep sea is unmanned vehicle combination jettisoning device and prior art have following advantage:

(1) the load rejection device using the active and passive combination form comprises: the unmanned vehicle can trigger the active load rejection device through the electric control system, so that the unmanned vehicle generates load rejection action to discard the ballast iron to float upwards; and the ballast iron can be discarded by triggering the load rejection action through a passive acoustic releaser under the manual intervention, so that the unmanned vehicle floats upwards.

(2) Using a watchdog principle based heartbeat detection mechanism: the main controller needs to send heartbeat signals to the load throwing controller at regular intervals to prove that the main controller works normally. When the heartbeat signal transmitted by the main controller is not received within a period of time, the load rejection controller automatically triggers active load rejection, so that the situation that an active load rejection instruction cannot be sent out due to abnormal crash of the controller is prevented, and unmanned vehicles cannot execute load rejection actions to float and recover is avoided;

(3) the detection method of the load rejection state of the Hall sensor comprises the following steps: detecting the change of the magnetic field of the permanent magnet on the ballast iron through a Hall sensor to judge whether the ballast iron successfully falls off;

(4) the load rejection fault emergency processing method of the comprehensive depth meter data comprises the following steps: the load rejection detection state information and the depth meter data are jointly compared, different motion control strategies are adopted, the crawler is driven to move, abnormal conditions such as soil subsidence or ballast iron blocking are avoided, and the unmanned vehicle is ensured to realize normal unpowered floating.

The problem that the reliability of the load rejection system is poor when the unmanned vehicle operates underwater for a long time is solved, and the reliability of the load rejection system of the unmanned vehicle is improved by adopting a mechanism arrangement form of parallel connection of the active load rejection device and the passive load rejection device. When the load rejection is failed, the detection device is fed back through the load rejection state, the data of the depth gauge are integrated, abnormal state floating is avoided through proper movement of the crawler, the reliability of the load rejection system of the autonomous unmanned vehicle in deep sea is improved, and the success rate of normal floating after the unmanned vehicle executes load rejection action is improved.

To sum up, the device is carried in throwing that autonomous unmanned vehicle combination in deep sea provided by the embodiment of this application, through adopting the parallelly connected method of carrying out throwing of owner, passive throwing year releaser, carry two throwing executors on same ballast iron through a stay cord carry, as long as arbitrary one throws the executor and produces the action of carrying out throwing, can all release the ballast iron, throw and carry the signal and can be by autonomous unmanned vehicle self according to operating condition automatic generation, also can force the action of carrying out throwing through the passive signal that passive acoustics releaser obtained, guarantee to throw and carry the action and reliably carry out, improve equipment security. The reliability of the autonomous unmanned vehicle throwing-carrying system for long-time underwater operation is improved, the possibility of failure recovery of the unmanned vehicle during long-time operation is reduced, and the safety of equipment is improved. In addition, the load rejection state detector is used for judging whether the load iron falls off or not and feeding back a detection result to the load rejection controller, so that the feedback of load rejection operation is realized, and the safety and the reliability of equipment are further improved.

The deep-sea autonomous unmanned vehicle combined load rejection device provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

1. The deep sea autonomous unmanned vehicle load rejection device is characterized by comprising an active load rejection device, a passive acoustic rejection device, a load rejection controller and a load rejection state detector which are arranged on an unmanned vehicle, wherein the active load rejection device and the passive acoustic rejection device are connected with two ends of a rope, the rope penetrates through a roller of a pulley to drive a hook, the hook hoists a ballast iron, when the rope is tensioned, the hook is restrained by the rope and cannot swing freely, when the load rejection controller sends out a control signal to enable the active load rejection device or the passive acoustic rejection device to trigger a load rejection signal to release the rope, the hook rotates under the action of the gravity of the ballast iron and releases the loaded ballast iron to realize load rejection operation, and the load rejection state detector is used for detecting whether the ballast iron drops and feeding back a detection result to the load rejection controller.

2. The deep-sea autonomous unmanned vehicle load rejection device according to claim 1, wherein the load rejection detection means comprises a hall sensor disposed on an inner wall of the load rejection detection electronic cabin, a permanent magnet disposed on the ballast iron, and a bracket, wherein the hall sensor determines whether the ballast iron has dropped by generating a corresponding hall voltage according to whether a magnetic field of the permanent magnet is detected, and feeds the hall voltage generated by the hall sensor back to the load rejection controller.

3. The deep sea autonomous unmanned vehicle jettisoning device of claim 2, further comprising an auto-accumulating timer provided in the jettisoning controller for starting timing after starting operation, and resetting the timer when the jettisoning controller receives a heartbeat signal from the main controller; if the load throwing controller cannot continuously receive the heartbeat signal, judging that the main controller fails; and when the timer reaches a set threshold value but the load rejection controller does not receive the heartbeat signal, executing active load rejection immediately.

4. The deep sea autonomous unmanned vehicle jettisoning device of claim 3, further comprising a first power source for powering the master controller, the jettison controller connection, and a second power source for powering the passive jettison release connection.

5. The deep-sea autonomous unmanned aerial vehicle load rejection device of claim 4, further comprising a depth meter disposed on the unmanned aerial vehicle and connected to the main controller, for detecting and sending depth information of the unmanned aerial vehicle to the main controller, wherein the main controller determines a current load rejection state according to a detection result of the load rejection state detector and the depth information of the depth meter, and controls the motor driver to adopt a corresponding strategy according to the load rejection state.

6. The deep sea autonomous unmanned vehicle load rejection apparatus according to claim 5, further comprising a combined load rejection support provided outside said ballast iron for carrying said ballast iron, said combined load rejection support comprising a frame and a front guide roller, a left guide roller, a rear guide roller, a right guide roller provided on said frame for guiding the lifting of said ballast iron.

7. The deep sea autonomous unmanned vehicle load rejection device of claim 6 wherein said combined load rejection cradle is a titanium alloy combined load rejection cradle or an aluminum alloy combined load rejection cradle.

8. The deep sea autonomous unmanned vehicle load rejection apparatus according to claim 7, wherein said sheave comprises a fixed sheave having a tapered guide structure, a sheave bracket pivotally connected to a sheave pin of said fixed sheave, said sheave bracket being provided with a plurality of lifting eyelets for mounting a lifting hook.

9. The deep sea autonomous unmanned vehicle load rejection device according to claim 8 further comprising a tension pulley fixed to said combined load rejection frame by means of bolts, wherein a lead screw is threaded through a bracket of said tension pulley for rotating an axle of said tension pulley to move up and down to tension said rope on said pulley.

10. The deep sea autonomous unmanned vehicle load rejection apparatus as claimed in claim 9, wherein said hook comprises a hook body and a hook bracket, said hook body is provided with a plurality of through holes for installation with said pulley bracket at the top for suspending or unloading said ballast iron by means of a suspension shackle provided at said ballast iron, and at least one stopper pin for limiting the position is provided at the side for preventing said hook body from turning to an abnormal position; one end of the lifting hook body is rotatably connected with the bottom of the lifting hook support through a lifting hook rotating shaft.

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