Submersible rescue vehicle

FIELD: shipbuilding; submersible rescue vehicles for conducting jobs on submarines.

SUBSTANCE: proposed submersible rescue vehicle has hull with suction chamber mounted on it, motion control system, auxiliary maneuvering and dynamic positioning system, external lighting system optically connected with optical TV external observation system and TV information display. Suction chamber is provided with lighting fixtures and light markers mounted on bearing ring. TV cameras of observation system are mounted on ship's hull around suction chamber, thus making it possible to perform observation of bearing ring and forming multi-aspect stereoscopic pairs. TV information display is automated and is connected via motion control system with auxiliary maneuvering and dynamic positioning system.

EFFECT: enhanced accuracy of dynamic positioning and maneuvering in automatic mode.

6 cl, 3 dwg

The invention relates to an underwater shipbuilding, namely to rescue underwater vehicle (SPA), provided with means for positioning and electronic monitoring equipment with the means of underwater lighting, and can be used when conducting underwater rescue operations with the use of cameras planting and sucker.

Known use of underwater outdoor lighting for underwater vehicles (PA) in order to provide visual observation of the underwater environment through the Windows of the vehicles, as well as other optical optic systems for television observing, photographing and filming, alarm. Underwater video surveillance involves the use of sources of light, powerful enough to create the desired light cathodes television transmitting tubes. When the submarine rescue operations TV controls seems to be the most effective, as the television image in real time (or memory) and with high resolution, which allows for observations in the immediate vicinity of the PA, where inefficient-scan sonar, and the distances at which there is a visibility under strong scattering and fluctuations of intensives and light due to the presence in the environment of structural heterogeneities of different origin. Physical conditions in the real marine environment, such as water temperature, vibration machine, outboard pressure, can significantly limit the possibility of any optical or electron-optical observations at small largest signal-to-noise ratio. Experiments show that the range of visibility when using TV installation under water depends on the reflection coefficient, the size of the observed object and conditions of the Atlantic ocean (the tropics) is 18-24 m (Nastupcu, Magnuszew. Tools of the underwater lighting. L., Shipbuilding, p.18-26). However, the signal-to-noise ratio when using underwater television observations can be increased not only through the improvement of optical characteristics of the sources of underwater lighting, such as the type of light source, the maximum axial force of light, scattering of light and the direction of the light beam, the type of reflector, but also due to the special construction scheme of observations for correlated signals and recording the interference.

You know the TV observation system for research submarine PX-15 (Jacques Piccard, France), to ensure the work is installed in the lighting system 20 spotlights capacity of 500-1000 watts each, which are placed at certain points on the outside of a solid body. When sufficient light is known television-optical system provides visual inspection of the outboard environment related actions of the operator to adjust the control signals underwater apparatus, and also allows some underwater work, for example, using a pointing device. A disadvantage of the known underwater lighting systems, and apparatus in General, is the limited functionality, namely the lack of automatic influence of a system of underwater lighting control system PA, which does not allow for programmed actions, for example, for a given positioning of the PA.

Know the use of the television-optical surveillance systems for manned and remotely operated PA, for example in PA SHINKAI-2000, "JTV-1", "Dolphin-3K (JAMSTEC) (M.Saeki, in "Ocean-84", v.2, p.917-920, IEEE, 1984). These submersibles are equipped with television-optical system of the outboard control environment, which is composed of colored and black-and-white television cameras, the system broadband stereoselective fixedly mounted camera and the sources of light used for visual inspection of the environment and the registration of the investigated characteristics, as well as working bodies and an automatic system for maintaining the depth and direction of turn. However, when is Alicia acoustic navigation system which provides the movement of the underwater vehicle in space, the television-optical system is used only for visual learning environment, gathering information, choosing the direction of movement of the control arm or other devices, etc. that limits the accuracy of dynamic positioning PA.

Known search PA, including housing in the form of an ellipsoid of rotation with vertical and horizontal propulsion stroke and the camera, the optical axis of which is situated in the median plane of the apparatus and makes with the major axis of the ellipsoid angle equal to half the angle of the camera, and the line metacentric height apparatus forms the greater axis of the ellipsoid of rotation angle equal to the angle of the camera (patent RF №2039678, the IPC 63 In 21/66, publ. 20.07.95). Camera, the installation of which is fixed, allows underwater observations in a wide solid angle, however, the PA has limited functionality, since the information coming from the cameras cannot be directly used to automate the management of PAS in order to improve the accuracy of its dynamic positioning.

Famous rescue PA LR5 developed by Slingsby (UK, 1978) to perform search and rescue operations at depths of up to 460 m, the cat is who currently used by the Royal Navy to assist and rescue crews emergency submarines (PL), lying on the ground, "dry method" using removable camera sucker intended for docking hull underwater rescue apparatus and emergency submarine (Ergashev, Maarulav, Bul. Design features of the rescue submersible LR5. Shipbuilding, 1998, No. 3, p.20-22). Famous SPA includes a durable case has a cylindrical shape, in the aggregate compartment which is placed the control system propulsion system, including the autopilot, hydraulic systems and power distribution, auxiliary control system the motion of the vehicle when maneuvering near emergency PL, dynamic positioning over it and landing on it, consisting of four outboard rotary speakers with propellers in nozzles and removable camera suction with support ring. Dynamic positioning PA and preparation for emergency landing on the SQUARE, lying on the ground with a roll and pitch, the camera sucker oriented relative to the coaming-site by PL tilt support ring camera suction at an angle of 30 degrees (and if you have special wedge - to 60 degrees), with trim SPA at landing accident SQUARE within +/-6,5 deg. To observe the underwater environment in the upper part of the body of the device installed clear cutting of acrylic glass, and in igna part - in the area of manipulators - color camera type UMEL with 1334 lines, 70-mm focus, mounted on swivel-tilt device. Underwater lighting is used five lamps of 1000 watts. In the famous SPA of the television-optical system comprising cameras and lighting (lighting elements) are used only for visual assessment overboard situation and performance of the maneuver (dynamic positioning) SPA using a display device of a television information, but it does not affect the system manoeuvring and dynamic positioning, which does not allow the positioning of the SPA and dock it with the SQUARE in the automatic mode and to achieve high precision dynamic positioning to improve operational characteristics of the SPA.

SPA, including housing, placed in it the motion control system, installed on the housing of the auxiliary system manoeuvring and dynamic positioning, camera suction with support ring, the lighting system with lighting elements optically coupled with her television-optical system of surveillance and the display device is a television information selected as the closest analogue of the claimed invention.

The task of the Britania is to improve the operational characteristics of the SPA by providing high-precision dynamic positioning and execution maneuvering in automatic mode using optical-television system surveillance.

The problem is solved by the fact that in the famous SPA that includes a body placed in it the motion control system, installed on the body SPA chamber of the suction support ring, and an auxiliary system manoeuvring and dynamic positioning, the lighting system with lighting elements optically coupled with her television-optical system of surveillance and the display device is a television information in accordance with the invention, as camera suction selected camera body which includes a movable ball belt, television-optical system of surveillance is made in the form of a set of television cameras, which are installed to provide early warning of emergency object and placed on the body SPA around camera suction with observations support ring with the formation of multi-view stereo pairs, and the lighting system is equipped with svetomaskirovki that are installed on the supporting ring camera suction, while the display device is a television information performed automated and connected through a traffic management system with an auxiliary system manoeuvring and dynamic positioning.

In addition, the movable ball segmented belt with software Rel the relative movement of the segments.

In addition, as the lighting elements selected halogen lamps or LEDs.

In addition, as svetomarket selected LEDs with Autonomous power supply.

In addition, as svetomarket selected passive reflectors or photoluminescent devices.

In addition, at least part of svetomarket installed on the supporting ring camera suction along its perimeter equidistant.

The technical result of the invention is to obtain images of the emergency site, mainly emergency PL and its coaming-site, under different angles in stereo pairs, formed by television cameras to provide early warning, which is installed as specified in the given cavity design of the suction SPA, the body of which includes a movable element is movable ball zone, which is segmented with the possibility of relative movement of the segments, also geometrically representing the ball zone. While the mapping of the received television images allows you to monitor the progress of the docking support ring camera suction SPA with coaming area of the emergency object (emergency PL). During positioning and docking are reversals segments of the rolling ball zone of the camera housing of the suction and installation reference number which the CA in the desired position in space (patent RF №2157776) with the variance provisions of the SPA with respect to the object automated display device of the television information and formation using the calculated data of the control commands to the motion control system. By submitting commands to the motion control system to the auxiliary system manoeuvring and dynamic positioning is possible to carry out automatic control of dynamic positioning SPA.

The invention is illustrated figure 1-3. Figure 1 presents a schematic diagram of a docking double SPA with emergency object emergency PL) by attaching the support ring camera suction SPA, having a movable link of the chassis (ball belt), coaming-site emergency SQ. Figure 2 presents the scheme of installation to a SPA with camera suction optical-television system comprising a television camera for long-range detection of the emergency site, which form a stereo pair and optical interact with svetomaskirovki (side view in the initial position; points selected field of view of the television cameras), figure 3 - the same, with figure 2, bottom view.

SPA 1 contains a robust housing 2, light 3, propulsion and steering complex 4, housed in a lightweight body 3 of the device manoeuvring and dynamic positioning 5, made in the form of a system of vertical and horizontal rudders. In a solid body 2 placed the motion control system 6, a strong case 2 attached camera suction 7, made with moveable the m link building - segmented ball belt 8 and the support ring 9, which is configured to contact and suction to the coaming-the platform 10 of the emergency object (PL) 11 (figure 1).

Television-optical system of surveillance, conventionally represented in figure 1 by two television cameras, generally made in the form of a set of television cameras 12 (2-3) and optically connected with the light elements 13 and svetomaskirovki 14 outdoor lighting system. The television camera 12 (2-3) are designed to provide early warning of the emergency object (PL) 11 and for securing the dock with him camera suction 7. The television camera 12 is installed in a certain way - ensuring the intersection of the optical axes, which provides monitoring of the emergency object under different angles, i.e. with the formation of stereo pairs. Stereo pairs can combine two flat partial image of the object obtained from two different points of view (different angles) by the two TV cameras, to obtain three-dimensional images of the object. Property stereo images obtained by examination of the object in different pairs of angles, is the constancy of the position of the object in space to any provisions of the observer. Thus, to obtain reliable volumetric image of the object is necessary and sufficient observed the Sabbath. ü it at least three angles obtained from three television cameras, which pairs can be combined and by correlation processing of the received signals to separate the information about the spatial position or change of position of the object or its parts.

The layout of the television camera 12 is selected based on the design used camera suction 7 SPA 1. When using the camera of the sucker 7 with a movable ball belt 8 is technically difficult to accommodate in this case the television receiver 12 because of the possibility of damage to the flexible cable television. Therefore, the television camera 12 to provide early warning of emergency facility installed on the body SPA 1, namely, lightweight body 3 around the camera sucker 7 symmetrically with respect to its axis (figure 2, 3). While the television camera 12 is chosen with the same field of view and are placed so that the surface of the camera sucker 7 and the support ring 9 got into the field of view of each camera 12 simultaneously with the coaming area 10 of the emergency object (PL) 11.

The necessary set of three television cameras 12 to provide early warning, mounted on lightweight body 3 SPA 1 provides the image coaming platform 10 of the emergency object (PL) 11 in stereo pairs. The corresponding switching the television camera 12 in baraut scheme of connection for the implementation of tasks of the automated processing of television information about positioning SPA 1 and position correction SPA 1 in dynamic mode, as well as for possible duplication used stereo pairs and improve the reliability of connections.

The lighting system is optically associated with the television camera 12 and includes lighting elements 13 a - lamps, necessary to ensure the work of the television camera 12, which is placed above the support ring 9, in the particular case of uniformly along its perimeter, which allows you to create the necessary illumination of all television cameras 12 and to provide local uniform illumination and visibility in the field of docking camera suction 7.

Lighting elements 13 (fixtures) installed by any known method, for example, on the rod, each television camera 12 for long-range detection of the emergency object 11 can be provided with an individual lamp (figure 2-3 not marked). Depending on the magnitude of the solid angle of illumination of the television camera 12 such a lamp can be isolated, such as a halogen lamp or an led, or a compound, such as, for example, a matrix of LEDs.

When this suction chamber 7 along the perimeter of the support ring 9 installing optional optical devices (elements) - sitemaker 14 so that the light from them is their optical radiation, or passive excited luminescence (due to photoluminescence (PL), or reflected the vet got into the field of view of the corresponding television camera 12, what determines the smallest total number of svetomarket - three.

As the lighting elements (lamps) 13 can be used in optical devices that emit light at wavelengths of about 5000 nm, with encapsulated light source designed for stationary installation on the PA. In particular, these lamps can serve as a halogen lamp and led lighting devices that provide little attenuation of the light beam in the water.

As svetomarket 14 can be selected as the light-emitting optical devices, in particular light-emitting diodes with self-powered and passive sources of optical radiation, in particular the elements on the effect of photoluminescence (tag, glow when exposed to light lamps or reflective elements (reflectors).

Placing at least part of svetomarket 14 at equal distances from each other and from the axis of the support ring 9 (equidistant) ensures the comparability of the observations of the emergency object 11 in stereo pairs, which significantly when turning, rolling ball belt 8 camera suction 7.

The television camera 12 monitoring with providing early warning, connected with is connected to the motion control system 6 automated display device televisiondesperate 15.

The device 15 corresponds to the applied method of processing television information and includes, in particular, mini-computers (microcomputers, personal computer), a video processor connected to the TV cameras, analog-to-digital Converter other than television, the received signals (e.g. from sensors of the velocity vector of flow of water), also connected to mini-computers, storage devices, displays, interface. The device 15 should ensure the conduct of arithmetic and logical operations on data arrays television signals and physical parameters, the accumulation and storage of large volumes of data, their statistical (correlation) analysis, geometric image transformations (scaling, transformation in map projection), the elaboration of the information signal in the traffic management system. In particular, if the dynamic positioning is performed using a known method of measuring the displacement of the coordinates of the center of gravity of the object image, which is coaming-the site of the emergency object (DPS), the processing of television signals will include the digitization of the television image, the control point images of svetomarket - to determine the coordinates of the center of gravity of izobrazheniya, the calculation of desired coordinates of the center of gravity of the image, comparing the signals of television stereo when positioning SPA, the summation of signals from a given algorithm to determine the time variation of the desired size and elaboration of the information signals of the error for linear and angular movements SPA given concurrently measured environmental parameters near the emergency site (PL) 11, which come in a motion control system 6. The signals of the error used in the system 6 for generating control commands for thrusters and rudders assistive devices manoeuvring and dynamic positioning 5. To implement the above described method of positioning by measuring the displacement of the center of gravity of the image coaming platform 10 of the emergency object (PL) 11 can be used, for example, the known device (patent RF №2040120), its relationship with the movement control system 6 and through it with the auxiliary system manoeuvring and dynamic positioning 5 provides automated control of the motion in real time. In General, the display device is a television information 15 can be performed by any known way to perform the comparison processing images from stereo pairs.

SPA 1, the movement of which is provided with propulsion and steering complex 4, extends in the area of the emergency object (PL) 11, is possible or convenient for landing him a position, for example a course against the current, and hangs over the coaming area 10 when the lighting elements 13 outdoor lighting system, followed by the positioning of the camera sucker 7 using reversal segments of the rolling ball belt 8, which achieve coaxiality and parallelism of the support ring 9 to the coaming of the platform 10. While the television camera 12 television-optical system of surveillance was transferred to the operating mode of automatic aiming and landing SPA 1, which is determined by the setup of the television camera 12, and a processing circuit television image.

The television camera 12, the angle under which the water is about 45 degrees, oriented in the direction of the coaming platform 10. To expose each of the television camera 12 using the lamp that provides the required intensity of the light beam to provide early warning of the emergency object (PL) 11, for example a composite of two halogen or four led light source (the underwater version)that is placed on the Sam is anii not less than 2 m from the camera. The image obtained from the television camera 12, determine the spatial position of the coaming platform 10 of the emergency object 11, which fit, hanging at a height of 1-1 .5 m

At this distance the television camera 12 can capture in the field of view and the hatch coaming-the platform 10 and to provide a measurement of the angle of the coaming platform 10 to the plane of installation of each stereo pair. On television the image of svetomarket 14 determine the angles of the support ring 9 to the plane of installation of each stereo pair.

The processing unit of the television image 15, which compares the signals of the stereo pairs, allows the calculation of program parameters relative position of the supporting ring 9 and coaming platform 10, such as their parallelism and tilt angles. When negotiating measured parameters it is possible to dock. When this control system 6 generates the appropriate control signal applied to the vertical and horizontal rudders auxiliary systems manoeuvring and dynamic positioning 5. In the SPA 1 performs the docking of the flange of the support ring 9 camera suction 7 coaming area 10 of the emergency object 11.

In the case of use as svetomarket 14 passive retroreflective elements - reflectors, the brightness of which C is acetelyne less than LEDs require installing them in the amount of at least twice the number of LEDs to provide the required measurement accuracy.

When used as svetomarket 14 photoluminescent devices (tags) provide protection from water environment by using coating, and the size, number and pattern setup chosen, taking into account the possibility of registering their glow.

Experimental verification of the operation of the television-optical system in underwater conditions when modeling docking SPA 1 emergency object (PL) 10 showed that when the sampling frequency of the TV channel 5 Hz measurement accuracy linear characteristics is not less than 1 cm at a distance of 2 m, and the angular - not less than 2 degrees. In addition, it is possible to register and be considered as interference angular and linear velocity of the foreign objects that fall within the field of view of a television receiver, when they contrast 5%, and the accuracy of the measurement of these velocities are respectively 5 mm/s and 0.1 ang/sec, which increases the noise immunity of automated control maneuvering PA.

The processing of television signals can be produced by any known method can be used to solve problems. The specific choice of the ignition circuit television cameras to obtain thereaper far detection, as well as lamps can be made based on specific conditions and duration of work, energy PA and hardware-software signal processing.

1. Rescue underwater vehicle comprising a body, placed in it a motion control system that is installed on the housing rescue submersible camera suction with support ring, and an auxiliary system manoeuvring and dynamic positioning, the lighting system with lighting elements optically coupled with her television-optical system of surveillance and the display device is a television information, characterized in that the camera quality of suction selected camera body which includes a movable ball belt, television-optical system of surveillance is made in the form of a set of television cameras, which are installed to provide early warning of the emergency object and placed on the housing rescue submersible around camera suction with observations support ring with the formation of multi-view stereo pairs, and the lighting system is equipped with svetomaskirovki that are installed on the supporting ring camera suction, while the display device is a television information made AVT is automated and is connected through a traffic management system with an auxiliary system manoeuvring and dynamic positioning.

2. Underwater apparatus according to claim 1, characterized in that the movable ball segmented belt with providing relative movement of the segments.

3. Underwater apparatus according to claim 1, characterized in that the lighting elements selected halogen lamps or LEDs.

4. Underwater apparatus according to claim 1, characterized in that as svetomarket selected LEDs with Autonomous power supply.

5. Underwater apparatus according to claim 1, characterized in that as svetomarket selected passive reflectors or photoluminescent devices.

6. Underwater apparatus according to claim 1, characterized in that at least part of svetomarket installed on the supporting ring camera suction along its perimeter equidistant.