The invention discloses an emergency self-rescue method and system for an unmanned underwater vehicle (UUV). The emergency state of the UUV is divided into at least three grades; when the UUV enters a first-level emergency state, the rotating speed of a propeller is set to be zero, a horizontal rudder plate is adjusted to be at the maximum floating rudder angle, and the UUV is waited to automatically emerge from the water surface and is connected with a water surface operation system; when the UUV enters a second-level emergency state, the rotating speed of a propeller is set to be zero, the emergency load rejection system is controlled to be powered on to throw away ballast, the horizontal rudder plate is adjusted to be at the maximum floating rudder angle, and the UUV is waited to automatically emerge from the water surface to establish a relation with a water surface operation system; when the UUV enters a third-level emergency state, the rotating speed of a propeller is set to be zero, the emergency load rejection system is controlled to be powered on to throw away ballast, a horizontal rudder plate is adjusted to be at the maximum floating rudder angle, the UUV is waited to automatically emerge from the water surface and is in contact with a water surface operation system, and meanwhile the Beidou system initiatively initiates a communication request; and the longitude and latitude information of the UUV is sent to a water surface operation system at a set frequency through a satellite.
本发明公开了一种水下无人航行器应急自救方法和系统,将UUV的应急状态分为至少三个等级;当UUV进入第一等级的应急状态时,将螺旋桨转速置零,调整水平舵板为最大上浮舵角,等待UUV自动浮出水面,与水面操作系统建立联系;当UUV进入第二等级的应急状态时,将螺旋桨转速置零,控制应急抛载系统上电抛掉压载,调整水平舵板为最大上浮舵角,等待UUV自动浮出水面,与水面操作系统建立联系;当UUV进入第三等级的应急状态时,将螺旋桨转速置零,控制应急抛载系统上电抛掉压载,调整水平舵板为最大上浮舵角,等待UUV自动浮出水面,与水面操作系统建立联系,同时北斗系统主动发起通讯请求,并通过卫星将UUV的经纬度信息以设定的频率发送给水面操作系统。
Underwater unmanned vehicle emergency self-rescue method and system
一种水下无人航行器应急自救方法及系统
23.06.2023
Patent
Elektronische Ressource
Chinesisch
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