Research On Deep-sea Wreck Equipment Search And Salvage System And Its Key Technologies

The deep-sea,one of the largest strategic geographical units on earth,presents its immense research value with the developing of economy and technology and the gradually increasing of space,aviation,navigation and underwater activities by human beings.As a reason of the harsh abysmal sea environment,frequent accidents which causing huge losses were happened and lots of important objects such as marine vehicles,armed devices and submarines have sunk to the ocean floor.Rapid and efficient deep-sea emergency detection,search and salvage capability can provide an important guarantee for China's deep-sea activities.For the problem of searching,salvage and recovery of the deep-sea accident objects,on the one hand,the deep-sea is far away from the mainland,with high hydrostatic pressure,low permeability and other harsh environment conditions,which makes it difficult to judge the landing point;on the other hand,the sunken equipment always carries important information which requires rapid,efficient and complete salvage and recovery.In addition,the deep-sea exploration,search and salvage technologies are high complexity and high operational cost,however a well-developed,highly completable technical system is still missing until now.This contradiction reveals the necessity and urgency of systematically studying and developing the technical system for deep-sea exploration and salvage and its related key technologies.Base on the demand of deep-sea exploration and salvage engineering,at the beginning,this thesis introduced a completable technical system for solving this problem,and then a study was carried out for some gordian techniques which were included in following three parts,calculation,detection and salvage,respectively.Parts of the key problems were solved with the presented breakthrough of the methods in this paper,and these provided strong theoretical and technical support for the detection and salvage of the accident devices located on deep-sea floor at the same time.As a conclusion,the main contributions of this paper can be summarized as setting up a well-developed system and solving the three key technical problems in calculation,detection and salvage.(1)The task process profile decomposition pattern of deep-sea explore and salvage processes in abyssal regions about space equipment is proposed.The technical system about"Simulating-Exploring-Salvaging"for deep-sea crashed equipment is established.In terms of the lack of technical system for deep-sea accident devices recovery,this paper analyzed the general process of deep-sea wreck and decomposed the mission sections of some typical deep-sea object salvage engineering,the key elements and main technologies during the detection and salvage were obviously presented with detail description.Depended on the deep-sea recovery time history and mission profiles,and combined with the engineering implementation progress,propose the technical system of "Simulating-Exploring-Salvaging"about deep-sea crashed equipment,meanwhile,established the theoretical framework of this technical system basis on the logical relationships about Simulating-Exploring-Salvaging.(2)The predict model of sinking to the bottom's position and posture is established.Inorder to accurately predict the location and posture of the subsidence crashed object,a fluid-solid coupling method for gas-sea-mud media was established.Basis on the SPH(Smoothed Particle Hydrodynamic)method to simulated water-entry loading problem.Monte-Carlo stochastic method was introduced into the no power subsidence model to simulate probability distribution of falling point.Furthermore,ALE method was applied to simulate the seabed mud entry problem.This paper separately verify analyze the theoretical method about three phases of water-entry,sink,seabed mud entry.(3)The longitudinal stability control problems of deep-sea towing platform and the deep-sea optimal search and laser detection methods are optimized.In consideration of effectively extracting center line of the near-bottom laser detection and its calibration of structural parameters,a new composite image process for center extraction of light stripe combined extreme value method with Gaussian function method was applied and then point cloud generation approach for structural parameters calibration and Euclid distance clustering target segmentation algorithm were discussed.Finally,all of these algorithms were validated through an underwater vehicle laser detection tank test.For the longitudinal stability control problem of deep-sea towing platform,a robust non-fragile H? active depth control method was introduced and validated by a towing body simulation.Comparing with the traditional PID control method,the results show that the adjusting time is shorter and the influence on the stabilization of pitch is also smaller during depth regulation.Import the theory of optimal search to the problems of deep-sea targets detect.The basis theory methods about optimal search of deep-sea are solved,discuss the structure and solution method of optimal search model.(4)The analysis model of lifting recovery coupling ship-cable-object motion in deep-sea is established,provide the operation boundary for salvage and lift task.Aiming to solving key problems,prediction of mud lift load of target object and operation safety in large depth lifting,it also makes a simulation analysis in relate to the variations of the lift load of slanting targets under different angles of mud discharge.In this paper,the coupling analysis model of the mother ship,the hoisting cable and the hoisting object for the recovery in large depth under the condition of winds and waves was established,and the estimation for the ultimate load of the hoisting cable was solved.(5)Application case.The feasibility of the technical system proposed in this thesis was further verified by an afresh simulation for the exploration and recovery of the F-1 engine debris from Apollo 11.This work not only can provide a theoretical and technical basis for the detection and salvage of deep-sea wreck equipment,but also has certain reference value for deep-sea engineering.