A three-way moving high-pressure water jet test device, a slot-shaped form measuring system and a test method

Abstract

This application discloses a three-dimensional moving high-pressure water jet testing device, a trench morphology measurement system, and a testing method. The system includes: a three-axis sliding system for driving a high-pressure spray gun to perform precise three-dimensional movement above the test water tank; a high-pressure jet execution unit with a water pump frequency converter and an electromagnetic flowmeter for generating and closed-loop controlling the high-pressure jet; a data detection and collection unit including a multi-beam sonar and a high-speed camera for acquiring terrain and process image data; and a central control unit for integrating and controlling the aforementioned units. The testing method includes: S1, test preparation and initialization; S2, pre-scanning; S3, initial position positioning; S4, water pump power adjustment; S5, jet execution; S6, real-time monitoring; and S7, post-scanning and data analysis. This invention achieves adaptive matching of jet parameters and terrain, solving the problems of low automation and lack of terrain feedback in traditional testing methods, significantly improving the accuracy, efficiency, and reliability of the test.

Description

Technical Field

[0001] This invention relates to the field of fluid dynamics testing equipment technology, specifically to a three-dimensional moving high-pressure water jet testing device, a trench morphology measurement system, and a testing method. Background Technology

[0002] As the marine new energy industry expands into deep-sea areas, the laying and protection of submarine cables face technical challenges related to long distances and deep burial depths. Jet trenchers, due to their high efficiency, environmental friendliness, and low cost, have become the mainstream cable laying equipment. However, the development of supporting indoor testing technologies lags behind, severely restricting the optimization of equipment parameters and the development of new operating processes. Existing high-pressure water jet testing methods generally have significant drawbacks: First, they lack real-time terrain perception capabilities; the relative position (target distance) between the spray gun and the soil surface cannot be adaptively adjusted according to the dynamic changes in erosion terrain during the test. Second, motion control is coarse; nozzles are mostly fixed or rely on manual adjustment, making it difficult to achieve complex and precise three-dimensional motion trajectories. Third, jet parameter control is open-loop; water pressure and flow rate are usually coarsely adjusted through valves, making precise setting and stable maintenance impossible. These shortcomings result in poor repeatability of test results, low efficiency, high energy consumption, and difficulty in simulating the dynamic and adaptive process of real seabed trenching. Therefore, there is an urgent need for an intelligent testing device and method that integrates high-precision motion, closed-loop parameter control, and real-time terrain feedback. Summary of the Invention

[0003] The technical problem this invention aims to solve is to overcome the above-mentioned technical defects and provide a three-dimensional moving high-pressure water jet testing device, a trench morphology measurement system, and a testing method. The three-dimensional moving high-pressure water jet testing device and trench morphology measurement system proposed in this invention achieve adaptive matching of jet parameters with terrain through real-time terrain perception, precise three-axis motion, and variable frequency closed-loop control. This significantly improves testing accuracy, automation level, energy efficiency, and safety, providing an efficient and reliable platform for water jet research and application.

[0004] To solve the above-mentioned technical problems, the technical solution provided by the present invention is: a three-dimensional moving high-pressure water jet test device and a trench morphology measurement system, comprising:

[0005] A three-axis sliding system, installed on a test water tank, includes an X-axis sliding slide assembly, a Y-axis sliding slide assembly, and a Z-axis sliding slide assembly arranged perpendicularly to each other in three-dimensional space; the X-axis sliding slide assembly is located in the test water tank; the Y-axis sliding slide assembly is connected to the X-axis sliding slide assembly and is capable of X-axis movement; the Z-axis sliding slide assembly is connected to the Y-axis sliding slide assembly and is capable of Y-axis movement.

[0006] The high-pressure jet execution unit includes a high-pressure spray gun, a water storage mechanism, a high-pressure water pump, and a flow monitoring instrument. The high-pressure spray gun is mounted on the Z-axis moving slide assembly and can move along the Z-axis. The inlet of the high-pressure water pump is connected to the water storage mechanism through a pipe, and the outlet is connected to the high-pressure spray gun through an outlet pipe and the flow monitoring instrument.

[0007] The data detection and collection unit includes a multibeam sonar probe and a high-speed camera installed at the bottom of the Y-axis moving slide assembly, used to collect terrain data and image data before, during and after the jet operation.

[0008] The main control unit is connected to the three-axis sliding system, the high-pressure jet execution unit, and the data detection and collection unit, and is used to integrate and control the motion trajectory of the three-axis sliding system, the jet parameters of the high-pressure jet execution unit, and the data acquisition of the data detection and collection unit.

[0009] As a preferred embodiment of this application, the X-axis moving slide assembly includes:

[0010] Two X-axis aluminum profiles are positioned opposite each other on both sides above the test water tank; each X-axis aluminum profile is fixed at both ends by a front rigid connecting plate and a rear rigid connecting plate, respectively;

[0011] An X-axis cylindrical track is mounted on the X-axis aluminum profile by X-axis track fasteners, and an X-axis guide slider slides on the X-axis cylindrical track.

[0012] The X-axis lead screw is arranged parallel to the X-axis cylindrical track and is rotatably connected between the front rigid connecting plate and the rear rigid connecting plate.

[0013] The X-axis servo motor is located on the outside of the rear rigid connecting plate and is connected to one end of the X-axis lead screw for transmission.

[0014] The X-axis drive slider is threaded onto the X-axis lead screw;

[0015] A first rigid connecting plate is connected to the outside of the X-axis guide slider and the X-axis drive slider.

[0016] As a preferred embodiment of this application, the Y-axis moving slide assembly specifically includes:

[0017] The Y-axis aluminum profile is connected at both ends to the inner sides of the two first rigid connecting plates respectively;

[0018] The upper Y-axis cylindrical track and the lower Y-axis cylindrical track are arranged in parallel and are respectively installed above and below the Y-axis aluminum profile by Y-axis track fasteners;

[0019] The Y-axis lead screw is arranged parallel to the upper Y-axis cylindrical track and the lower Y-axis cylindrical track, and its two ends are rotatably connected between the first rigid connecting plates on both sides.

[0020] The Y-axis servo motor is mounted on the first rigid connecting plate on one side and is connected to one end of the Y-axis lead screw for transmission.

[0021] The Y-axis rigid sliding platform has an upper rigid connecting plate fixed above it and a lower rigid connecting plate fixed below it for mounting a multi-beam sonar probe and a high-speed camera.

[0022] The upper Y-axis slider and the lower Y-axis slider are respectively located on the back of the upper rigid connecting plate and above the lower rigid connecting plate, and are slidably mounted on the upper Y-axis cylindrical track and the lower Y-axis cylindrical track, respectively.

[0023] The Y-axis drive slider is located above the lower rigid connecting plate and is threaded onto the Y-axis lead screw.

[0024] As a preferred embodiment of this application, the Z-axis moving slide assembly specifically includes:

[0025] The Z-axis cylindrical track connects the upper rigid connecting plate and the lower rigid connecting plate;

[0026] The Z-axis lead screw is arranged parallel to the Z-axis cylindrical track and is rotatably connected between the upper rigid connecting plate and the lower rigid connecting plate;

[0027] The Z-axis servo motor is mounted on the upper rigid connecting plate and is connected to one end of the Z-axis lead screw for transmission.

[0028] The Z-axis rigid sliding platform has a Z-axis slider and a Z-axis drive slider on its back. The Z-axis slider is slidably mounted on the Z-axis cylindrical track, and the Z-axis drive slider is threaded onto the Z-axis lead screw. The front of the Z-axis rigid sliding platform is provided with pipe fasteners for fixing the high-pressure spray gun.

[0029] As a preferred embodiment of this application, the high-pressure jet execution unit further includes a water pump frequency converter and an electromagnetic valve; the water storage mechanism is a water storage tank, which is connected to the inlet of the high-pressure water pump via a pipeline and the electromagnetic valve; the flow monitoring instrument is an electromagnetic flow meter, connected between the outlet of the high-pressure water pump and the high-pressure spray gun; the water pump frequency converter is connected to the motor of the high-pressure water pump and is used to adjust the power of the high-pressure water pump to achieve precise control of water pressure and flow.

[0030] As a preferred embodiment of this application, the main control unit includes a main control panel, a data integrator, and a data processing computer;

[0031] The data integrator is electrically connected to the X-axis servo motor, Y-axis servo motor and Z-axis servo motor in the three-axis sliding system, the water pump frequency converter, electromagnetic valve and electromagnetic flow meter in the high-pressure jet execution unit, and the high-speed camera and multi-beam sonar probe in the data detection and collection unit, respectively, to receive status signals and data from each execution and sensing component, and to send control commands to them;

[0032] The main control panel is connected to the data integrator and serves as a human-machine interface. It is used to send integration control commands to the data integrator and to receive and display the status information of each component, test parameters, and collected data fed back from the data integrator.

[0033] The data processing computer is connected to the main control panel and is used to receive, process, store and analyze image data and terrain data collected from high-speed cameras and multi-beam sonar probes, and generate test reports.

[0034] As a preferred embodiment of this application, the main control panel is provided with a four-zone interconnected display screen, which is divided into four functional windows:

[0035] The upper left area is used to display the real-time pressure-flow curve monitoring window;

[0036] The upper right area is used to display the recording window of the real-time high-speed camera;

[0037] The lower left area is used to display side-by-side comparison windows of the three-dimensional terrain models before and after the experiment.

[0038] The lower right area is used to display the erosion model distribution cloud map and the quantitative analysis results window.

[0039] As a preferred embodiment of this application, the main control panel is further provided with a parameter input and manual control area, as well as a process control area;

[0040] The parameter input and manual control area includes:

[0041] The mode selection button and digital dial are used to select the system operating mode and input test parameters including target pressure, target flow rate, triaxial motion path and speed curve.

[0042] The water pump power adjustment knob is used to manually adjust the motor power of the high-pressure water pump;

[0043] The X-axis displacement control knob, Y-axis displacement control knob, and Z-axis displacement control knob are used to manually control the X-axis servo motor, Y-axis servo motor, and Z-axis servo motor, respectively, to perform point-to-point fine-tuning or positioning of the three-axis sliding system.

[0044] The process control area is equipped with:

[0045] The control panel switch is used to control the power supply to the main control panel.

[0046] The test start switch is used to initiate the automated jet testing process with a single button press.

[0047] This application also provides a test method using the aforementioned three-dimensional moving high-pressure water jet test device and trench morphology measurement system, including the following steps:

[0048] S1. Test Preparation and Initialization: Place the test sample in the test tank and input the test parameters through the main control panel. The test parameters include the test date, number of test groups, jet erosion target type, and target pressure P. set Target traffic Q set And the motion paths and speed curves of the X-axis moving slide assembly, Y-axis moving slide assembly, and Z-axis moving slide assembly;

[0049] S2, Pre-scan: Control the Z-axis moving slide assembly to raise the high-pressure spray gun to a safe height, and control the multi-beam sonar probe to scan the test sample area to obtain initial terrain data T0;

[0050] S3. Initial Position Positioning: The main control unit drives each servo motor of the three-axis sliding system to position the high-pressure spray gun to the preset test starting space coordinate point;

[0051] S4. Pump power adjustment: The main control unit adjusts the power according to the target pressure P. set and the target flow Q set The power of the high-pressure water pump motor is adjusted by the water pump frequency converter;

[0052] S5. Jet Execution: Start the high-pressure water pump via the main control panel. When the pipeline pressure reaches P... set When the preset threshold is reached, the main control unit automatically opens the electromagnetic valve and synchronously drives the three-axis sliding system to move along the preset path to perform jet operation;

[0053] S6. Real-time monitoring: The high-speed camera records the morphological changes of the test sample under the action of the jet in real time;

[0054] S7. Post-scanning and data analysis: After the jetting operation is completed, the system automatically closes the solenoid valve and raises the high-pressure spray gun, and drives the multi-beam sonar probe to scan and acquire the terrain data T1 after the jetting. The terrain change ΔT = T1- T0 is calculated by the data processing module, and a quantitative erosion analysis report is generated.

[0055] The advantages of this invention compared to the prior art are:

[0056] 1. Achieved a high degree of automation and intelligence in the testing process: By integrating the central control unit, the entire process from terrain scanning, spray gun positioning, parameter setting, jet execution to data post-processing can be completed with one click, which greatly improves the efficiency and consistency of the test and reduces the error caused by human intervention.

[0057] 2. A complete feedback loop of "perception-decision-execution" was constructed: The system collects terrain and process image data in real time through multi-beam sonar and high-speed cameras, and uses this data to control the three-axis motion and jet parameters. For the first time, adaptive matching between jet parameters and dynamic terrain was achieved, which significantly improved the realism and accuracy of the experiment.

[0058] 3. Possesses high-precision motion and parameter control capabilities: The three-axis sliding system driven by a servo motor and driven by a ball screw achieves programmable trajectory motion of the spray gun with nanometer-level precision in three-dimensional space; combined with a water pump frequency converter and an electromagnetic flow meter, it achieves precise and stable closed-loop control of jet pressure and flow rate.

[0059] 4. It provides an integrated and visualized data acquisition and analysis platform: the four-zone linkage display screen can simultaneously monitor pressure and flow curves, operational status, three-dimensional terrain comparison and quantitative analysis results, and the data processing computer can automatically generate test reports containing key parameters such as erosion volume and depth, which greatly facilitates the acquisition and analysis of scientific research data. Attached Figure Description

[0060] Figure 1 This is an overall schematic diagram of an embodiment of the present invention.

[0061] Figure 2 This is a front view of the three-axis moving slide system according to an embodiment of the present invention.

[0062] Figure 3 This is a right view of the three-axis moving slide system according to an embodiment of the present invention.

[0063] Figure 4 This is a cross-sectional view of a three-axis moving slide system according to an embodiment of the present invention.

[0064] Figure 5 This is a structural diagram of the X-axis moving slide assembly of the three-axis moving slide system according to an embodiment of the present invention.

[0065] Figure 6 This is a structural diagram of the Y-axis moving slide assembly of the three-axis moving slide system according to an embodiment of the present invention.

[0066] Figure 7 This is a structural diagram of the Z-axis moving slide assembly of the three-axis moving slide system according to an embodiment of the present invention.

[0067] Figure 8This is a side view of the Z-axis moving slide assembly of the three-axis moving slide system according to an embodiment of the present invention.

[0068] Figure 9 This is a schematic diagram of a high-pressure water pump device according to an embodiment of the present invention.

[0069] Figure 10 This is a schematic diagram of the data collection and control structure according to an embodiment of the present invention.

[0070] Figure 11 This is a schematic diagram of the overall control panel of an embodiment of the present invention.

[0071] As shown in the figure: 1. Three-axis sliding system; 11. X-axis moving slide assembly; 1101. Front rigid connecting plate; 1102. X-axis lead screw; 1103. X-axis cylindrical track; 1104. X-axis aluminum profile; 1105. X-axis guide slider; 1106. X-axis track fastener; 1107. X-axis servo motor; 1108. First rigid connecting plate; 1109. Rear rigid connecting plate; 1110. X-axis drive slider; 12. Y-axis moving slide assembly; 1201. 1202. Upper Y-axis cylindrical track; 1203. Y-axis aluminum profile; 1204. Y-axis track fastener; 1205. Lower Y-axis cylindrical track; 1206. Y-axis servo motor; 1207. Y-axis lead screw; 13. Z-axis moving slide assembly; 1301. Z-axis servo motor; 1302. High-pressure spray gun; 1303. Upper rigid connecting plate; 1304. Z-axis cylindrical track; 1305. Z-axis slider; 1306. Z-axis rigid sliding platform; 1307. Pipe fastener; 13. 08. Nozzle; 1309. Lower rigid connecting plate; 1310. Y-axis rigid sliding platform; 1311. Upper Y-axis slider; 1312. Lower Y-axis slider; 1313. Y-axis drive slider; 1314. Z-axis drive slider; 1315. High-speed camera; 1316. Multibeam sonar probe; 1317. Z-axis lead screw; 14. Test water tank; 2. High-pressure jet actuator; 21. Outlet pipe; 22. Electromagnetic flowmeter; 23. Electromagnetic valve; 24. High-pressure water pump; 25. Water pump frequency converter; 26. Water storage tank; 4. Main control unit; 47. Data integrator; 48. Data processing computer; 49. Main control panel; 4901. Water pump power adjustment knob; 4902. Control panel switch; 4903. Digital panel; 4904. X-axis displacement control knob; 4905. Y-axis displacement control knob; 4906. Z-axis displacement control knob; 4907. Mode selection button; 4909. Test start switch; 4910. Four-zone linkage display screen. Detailed Implementation

[0072] The present invention will now be described in further detail with reference to the accompanying drawings.

[0073] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals.

[0074] It should be noted that the terms “front,” “back,” “left,” “right,” “up,” and “down” used in the following description refer to the directions shown in the attached diagram, while the terms “inside” and “outside” refer to the directions toward or away from the geometric center of a specific component, respectively.

[0075] To make the content of this invention easier to understand, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings.

[0076] Okay, I have received your patent specification and optimization requirements. As your document processing assistant, I will strictly follow your requirements and, without exceeding the scope of the original description, optimize, expand, and reorganize the "Detailed Description" section to make it more in line with the writing habits of a senior patent attorney in terms of format, level of detail, and professionalism, and to expand it to approximately 4,000 words.

[0077] Please see Figures 1 to 11 This invention provides a three-dimensional moving high-pressure water jet test device and a trenching morphology measurement system. This system is a highly integrated and automated test platform designed specifically for simulating and studying jet trenching operations for submarine cables. Compared with the traditional methods mentioned in the background art, the core improvement of this system lies in constructing a complete closed loop of "perception-decision-execution-feedback". The system perceives the terrain in real time through a data detection and collection unit, and the central control unit performs integrated calculations and decisions, thereby precisely controlling the three-axis sliding system 1 and the high-pressure jet execution unit 2 to work together. Ultimately, it achieves adaptive matching between jet parameters and dynamic terrain, fundamentally overcoming the drawbacks of fixed nozzle positions, coarse control, and lack of terrain feedback in traditional tests.

[0078] Specifically, this system mainly comprises four functional modules: a three-axis sliding system 1, a high-pressure jet execution unit 2, a data detection and collection unit, and a central control unit 4. All modules are arranged around the test water tank 14 and are integrated into intelligent control through the central control unit 4. The specific composition, connection relationship, and collaborative working mechanism of each module will be described in detail below.

[0079] As attached Figure 1 and attached Figure 2As shown, the three-axis sliding system 1 is the mechanical motion skeleton of the entire device. Its core function is to support and drive the high-pressure spray gun 1302, enabling the nozzle 1308 of the high-pressure spray gun 1302 to perform high-precision, programmable trajectory movement in three-dimensional space above the test water tank 14. The system adopts a modular design and consists of three mutually perpendicular linear motion modules, namely the X-axis moving slide assembly 11, the Y-axis moving slide assembly 12, and the Z-axis moving slide assembly 13.

[0080] like Figure 5 As shown, the X-axis moving slide assembly 11 spans and is fixed to both sides of the test water tank 14 along its length. Its specific structure includes two parallel X-axis aluminum profiles 1104, which are fixed above the test water tank 14 via a front rigid connecting plate 1101 and a rear rigid connecting plate 1109, forming a stable basic frame. On this frame, an X-axis cylindrical track 1103 (fixed by X-axis track fasteners 1106) and a parallel X-axis lead screw 1102 are mounted. An X-axis servo motor 1107 is mounted on the outside of the rear rigid connecting plate 1109, and its output end is connected to the X-axis lead screw 1102, providing it with rotational power. An X-axis guide slider 1105 slides on the X-axis cylindrical track 1103, and an X-axis drive slider 1110 is threaded onto the X-axis lead screw 1102. The two sliders are rigidly connected by a first rigid connecting plate 1108, thereby converting the rotational motion of the servo motor into high-precision, high-rigidity linear motion of the sliders along the X-axis. This design ensures the smoothness and load-bearing capacity of the Y-axis and Z-axis assemblies when moving in the X direction.

[0081] like Figure 6 As shown, the Y-axis moving slide assembly 12 is suspended and connected to the X-axis assembly via first rigid connecting plates 1108 at both ends, and can move along the X-axis together with the X-axis driven slider 1110. Its main body is a Y-axis aluminum profile 1202. On the upper and lower sides of the Y-axis aluminum profile 1202, an upper Y-axis cylindrical track 1201 and a lower Y-axis cylindrical track 1204 are installed in parallel via Y-axis track fasteners 1203. A parallel Y-axis lead screw 1206 is installed between the two first rigid connecting plates 1108 and is driven by a Y-axis servo motor 1205.

[0082] The core moving component of the Y-axis assembly is a Y-axis rigid sliding platform 1310. An upper rigid connecting plate 1303 is fixed above this platform, and a lower rigid connecting plate 1309 is fixed below it. Upper Y-axis sliders 1311 and 1312 are fixed to the back of the upper and lower rigid connecting plates, respectively, and engage with upper Y-axis cylindrical tracks 1201 and 1204, providing motion guidance. The Y-axis drive slider 1313 is fixed to the upper surface of the lower rigid connecting plate 1309 and sleeved on the Y-axis lead screw 1206. When the Y-axis servo motor 1205 rotates, it drives the Y-axis rigid sliding platform 1310 to move precisely along the Y-axis (lateral direction). Crucially, the area below the lower rigid connecting plate 1309 is specifically designed for mounting a data detection and collection unit. This integrated design allows the detection equipment to move completely synchronously with the spray gun in the Y direction, ensuring consistency between the detection reference and the operational reference.

[0083] like Figure 7 As shown, the Z-axis moving slide assembly 13 is mounted on the Y-axis rigid sliding platform 1310 and moves together with it in the XY plane. Its structure includes a Z-axis cylindrical track 1304 and a Z-axis lead screw 1317 connecting the upper rigid connecting plate 1303 and the lower rigid connecting plate 1309. A Z-axis servo motor 1301 is mounted above the upper rigid connecting plate 1303, driving the Z-axis lead screw 1317 to rotate. A Z-axis rigid sliding platform 1306 achieves vertical lifting and lowering via a Z-axis slider 1305 (which engages with the track) on its back and a Z-axis drive slider 1314 (which engages with the lead screw). A pipe fastener 1307 is provided at the front end of the Z-axis rigid sliding platform 1306 for rigidly clamping the high-pressure spray gun 1302. The Z-axis movement directly determines the distance between the jet nozzle and the surface of the test sample (i.e., the target distance), which is the most critical parameter for controlling the jet impact energy and the groove depth. The coordinated operation of the three-axis servo motors enables the high-pressure spray gun 1302 to reach any preset coordinate point above the water tank and move along a preset three-dimensional path.

[0084] like Figure 1 , Figure 9 , Figure 10 As shown, the high-pressure jet actuator 2 is responsible for generating, regulating, and delivering the high-pressure water required for the jet. Its core feature is the realization of variable frequency closed-loop control of water pressure and flow rate, which changes the "extensive control" mode in traditional experiments.

[0085] This unit uses water storage tank 26 as its water source. After passing through solenoid valve 23, the water is pressurized by high-pressure water pump 24. The motor of high-pressure water pump 24 is connected to water pump frequency converter 25. By changing the motor speed, the output pressure and flow rate of the water pump can be steplessly and precisely adjusted. The high-pressure water is transported through outlet pipe 21, and the flow rate is monitored in real time by electromagnetic flow meter 22 along the way. Finally, it is delivered to high-pressure spray gun 1302 and sprayed out. The real-time flow signal fed back by electromagnetic flow meter 22 and water pump frequency converter 25 form a closed-loop control loop, combined with the preset target pressure P. set and the target flow Q set The main control unit 4 can dynamically adjust the water pump power to ensure the stability of the jet parameters during the test, which is crucial for obtaining repeatable and comparable test data.

[0086] The system's "sensing" capability is achieved through the data detection and collection unit, which serves as the "eyes" for adaptive control and quantitative analysis. For example... Figure 1 , Figure 7 As shown, this unit mainly includes two key sensors, both of which are integrated and mounted on the lower rigid connecting plate 1309 of the Y-axis assembly:

[0087] Multibeam sonar probe 1316: Used to scan the test sample area before and after jet spraying. Pre-scan acquires initial topographic data T0, and post-scan acquires post-erosion topographic data T1. By comparing (ΔT = T1 - T0), all geometric parameters such as the three-dimensional morphology, volume, depth, and width of the erosion groove can be accurately and quantitatively obtained, overcoming the shortcomings of low efficiency and inaccuracy of traditional visual observation or contact measurement.

[0088] High-speed camera 1315: During jet spraying operations, it records in real time the transient flow field, soil failure development process, and dynamic images of trench formation as the high-pressure water jet impacts the sample surface. This provides intuitive process data for studying the jet trenching mechanism and soil failure modes.

[0089] like Figure 10 , Figure 11 As shown, the main control unit 4 is the control core that integrates all information and issues all commands, merging the aforementioned three physical units into a single intelligent whole. It includes a data integrator 47, a main control panel 49, and a data processing computer 48.

[0090] The data integrator 47 acts as a hardware interface hub, connecting to signals from all actuators and sensors. It receives encoder feedback from the X / Y / Z axis servo motors, flow signals from the electromagnetic flowmeter 22, status signals from the water pump inverter 25, and data streams from the high-speed camera 1315 and the multi-beam sonar probe 1316. Simultaneously, it also sends motion control commands and switching commands to the servo motor driver, water pump inverter 25, solenoid valve 23, and other components. It serves as the physical bridge for achieving a closed-loop "sensing-execution" process.

[0091] The main control panel 49 serves as the interface for operators to interact with the system. Its design fully embodies the concepts of integration and visualization. At the core of the panel is a four-zone interconnected display screen 4910, divided into four functional windows:

[0092] Top left area (real-time pressure-flow curve monitoring window): dynamically displays the jet parameter curves fed back by the electromagnetic flow meter and water pump pressure sensor, used to monitor the system's operating status.

[0093] Top right area (real-time high-speed camera recording window): Live broadcast of the operation process captured by the high-speed camera, facilitating real-time observation.

[0094] The lower left area (3D terrain comparison model window) displays 3D terrain models generated by multibeam sonar scanning before and after the operation, making the differences immediately apparent.

[0095] The lower right area (erosion model distribution cloud map and quantitative analysis window) automatically presents the terrain data difference ΔT in the form of a color cloud map, along with quantitative analysis results such as depth, width, volume, and cross-sectional area.

[0096] The main control panel 49 also includes a parameter input and manual control area and a process control area. The parameter input and manual control area features a mode selection button 4907 (e.g., automatic, manual, scan mode) and a digital panel 4903 for inputting target pressure, flow rate, complex motion path equations, and velocity curves. A pump power adjustment knob 4901 and X-axis displacement control knobs 4904, Y-axis displacement control knobs 4905, and Z-axis displacement control knobs 4906 allow for manual fine-tuning. The process control area includes a control panel switch 4902 and a test start switch 4909, enabling one-button start of the automated test process.

[0097] The data processing computer 48 receives and stores all sensor data. It runs specialized software to process sonar point cloud data to generate 3D models, analyze image sequences, and ultimately automatically generate a quantitative erosion analysis report containing all key parameters, curves, and graphs.

[0098] The following section, combining the aforementioned hardware and control system, describes a complete automated testing process to demonstrate how this invention works:

[0099] S1 Test Preparation and Initialization: The operator prepares the soil sample in the test tank 14. On the main control panel 49, the operator inputs the test parameters via the digital disk 4903, such as the test identifier and target pressure P. set Target traffic Q set And the planned three-dimensional movement path of the spray gun (e.g., simulating the straight line, curve or obstacle avoidance path of the trencher on the seabed).

[0100] S2 Pre-scanning and Terrain Modeling: The operator selects "Scanning Mode" via mode selection button 4907. The main control unit 4 controls the Z-axis to raise the high-pressure spray gun to a safe height, and then drives the Y-axis to move the slide assembly 12, so that the multi-beam sonar probe 1316 performs a full-coverage scan of the target area, obtains high-precision initial terrain data T0, and displays the 3D model in real time in the lower left area of ​​the display screen.

[0101] S3 Automatic Positioning and Parameter Presetting: Based on the preset test starting point coordinates, the system automatically drives the three-axis sliding system 1 to precisely position the tip of the high-pressure spray gun 1302 to the starting position. Simultaneously, the main control unit 4, based on P... set and Q set The required pump frequency is calculated, and the motor of the high-pressure pump 24 is pre-adjusted to the corresponding power state through the pump frequency converter 25.

[0102] S4 One-button start and closed-loop jet operation: The operator presses the test start switch 4909. The system first starts the high-pressure water pump 24 to build up pressure. When the electromagnetic flowmeter 22 detects that the pipeline pressure reaches the preset threshold of P_set (e.g., 90%), the main control unit 4 automatically issues a synchronization command: opening the solenoid valve 23 to eject high-pressure water, and simultaneously driving the three-axis sliding system 1 to start moving according to the path and speed set in S1. During this period, the water pump frequency converter 25 makes fine adjustments based on the flow feedback to maintain P_set. set and Q set The high-speed camera 1315 started recording simultaneously, and the image was displayed in the upper right area.

[0103] S5 Process Monitoring and Data Synchronization Recording: During operation, the operator can monitor the pressure and flow curves (top left) and operation images (top right) in real time through the four-zone linkage display screen 4910. All motion trajectory data, jet parameter data, and video data are synchronously recorded and stored in the data processing computer 48.

[0104] S6 Post-scan and quantitative analysis: After the spray gun completes the predetermined path movement, the system automatically executes the termination procedure: closes the solenoid valve 23 to stop the jet; raises the spray gun; and drives the multibeam sonar to perform a "post-scan" on the same area again to obtain terrain data T1.

[0105] S7 Report Automatic Generation: The background software on the data processing computer 48 automatically calculates ΔT = T1 - T0, generating an erosion distribution cloud map and quantitative analysis results (such as maximum erosion depth, trench volume, erosion rate, etc.) in the lower right area of ​​the display screen. Finally, a complete test report containing all input parameters, process data, and result analysis is automatically generated and saved.

[0106] In summary, the embodiments of the present invention, through the mechanical structure, control system, and experimental methods detailed above, construct a highly automated, precise, and real-time sensing and feedback-capable high-pressure water jet testing platform. It effectively overcomes the shortcomings of traditional testing methods, providing a powerful tool for in-depth research into the water jet trenching mechanism and optimization of trenching machine operating parameters. The embodiments described are specific presentations of the technical solution of the present invention, not limitations. Under the concept of the present invention, any equivalent structural transformation that can be obtained without creative effort should fall within the protection scope of the present invention.

Claims

1. A three-dimensional moving high-pressure water jet testing device and a trench morphology measurement system, characterized in that, include: A three-axis sliding system (1) is installed on a test water tank (14), including an X-axis sliding slide assembly (11), a Y-axis sliding slide assembly (12), and a Z-axis sliding slide assembly (13) arranged perpendicularly to each other in three-dimensional space; the X-axis sliding slide assembly (11) is located on the test water tank (14); the Y-axis sliding slide assembly (12) is connected to the X-axis sliding slide assembly (11) and can move along the X-axis; the Z-axis sliding slide assembly (13) is connected to the Y-axis sliding slide assembly (12) and can move along the Y-axis. The high-pressure jet execution unit (2) includes a high-pressure spray gun (1302), a water storage mechanism, a high-pressure water pump (24), and a flow monitoring instrument. The high-pressure spray gun (1302) is mounted on the Z-axis moving slide assembly (13) and can move along the Z-axis. The inlet of the high-pressure water pump (24) is connected to the water storage mechanism through a pipe, and the outlet is connected to the high-pressure spray gun (1302) through an outlet pipe (21) and the flow monitoring instrument. The data detection and collection unit includes a multibeam sonar probe (1316) and a high-speed camera (1315) installed at the bottom of the Y-axis moving slide assembly (12) for collecting terrain data and image data before, during and after the jet operation; The main control unit (4) is connected to the three-axis sliding system (1), the high-pressure jet execution unit (2) and the data detection and collection unit for integrated control of the motion trajectory of the three-axis sliding system (1), the jet parameters of the high-pressure jet execution unit (2) and the data acquisition of the data detection and collection unit.

2. The three-dimensional moving high-pressure water jet test device and trench morphology measurement system according to claim 1, characterized in that, The X-axis moving slide assembly (11) includes: Two X-axis aluminum profiles (1104) are arranged opposite each other on both sides above the test water tank (14); each X-axis aluminum profile (1104) is fixed at both ends by a front rigid connecting plate (1101) and a rear rigid connecting plate (1109); An X-axis cylindrical track (1103) is mounted on the X-axis aluminum profile (1104) by an X-axis track fastener (1106), and an X-axis guide slider (1105) slides on the X-axis cylindrical track (1103). The X-axis lead screw (1102) is arranged parallel to the X-axis cylindrical track (1103) and is rotatably connected between the front rigid connecting plate (1101) and the rear rigid connecting plate (1109); The X-axis servo motor (1107) is located on the outside of the rear rigid connecting plate (1109) and is connected to one end of the X-axis lead screw (1102) for transmission. The X-axis drive slider (1110) is threaded onto the X-axis lead screw (1102); A first rigid connecting plate (1108) is connected to the outside of the X-axis guide slider (1105) and the X-axis drive slider (1110).

3. The three-dimensional moving high-pressure water jet test device and trench morphology measurement system according to claim 2, characterized in that, The Y-axis moving slide assembly (12) specifically includes: The Y-axis aluminum profile (1202) is connected at both ends to the inner sides of the two first rigid connecting plates (1108); The upper Y-axis cylindrical track (1201) and the lower Y-axis cylindrical track (1204) are arranged in parallel and are respectively installed above and below the Y-axis aluminum profile (1202) by Y-axis track fasteners (1203); The Y-axis lead screw (1206) is arranged parallel to the upper Y-axis cylindrical track (1201) and the lower Y-axis cylindrical track (1204), and its two ends are rotatably connected between the first rigid connecting plates (1108) on both sides. The Y-axis servo motor (1205) is mounted on the first rigid connecting plate (1108) on one side and is connected to one end of the Y-axis lead screw (1206) for transmission. The Y-axis rigid sliding platform (1310) has an upper rigid connecting plate (1303) fixed above it and a lower rigid connecting plate (1309) fixed below it for mounting a multi-beam sonar probe (1316) and a high-speed camera (1315). The upper Y-axis slider (1311) and the lower Y-axis slider (1312) are respectively disposed on the back of the upper rigid connecting plate (1303) and above the lower rigid connecting plate (1309), and are respectively slidably disposed on the upper Y-axis cylindrical track (1201) and the lower Y-axis cylindrical track (1204); The Y-axis drive slider (1313) is located above the lower rigid connecting plate (1309) and threaded onto the Y-axis lead screw (1206).

4. The three-dimensional moving high-pressure water jet test device and trench morphology measurement system according to claim 3, characterized in that, The Z-axis moving slide assembly (13) specifically includes: The Z-axis cylindrical track (1304) is connected between the upper rigid connecting plate (1303) and the lower rigid connecting plate (1309); The Z-axis lead screw (1317) is set parallel to the Z-axis cylindrical track (1304) and is rotatably connected between the upper rigid connecting plate (1303) and the lower rigid connecting plate (1309); The Z-axis servo motor (1301) is mounted above the upper rigid connecting plate (1303) and is connected to one end of the Z-axis lead screw (1317) for transmission. The Z-axis rigid sliding platform (1306) has a Z-axis slider (1305) and a Z-axis drive slider (1314) on its back. The Z-axis slider (1305) is slidably mounted on the Z-axis cylindrical track (1304). The Z-axis drive slider (1314) is threaded onto the Z-axis lead screw (1317). The front of the Z-axis rigid sliding platform (1306) is provided with a pipe fastener (1307) for fixing the high-pressure spray gun (1302).

5. The three-dimensional moving high-pressure water jet test device and trench morphology measurement system according to claim 1, characterized in that, The high-pressure jet execution unit (2) also includes a water pump frequency converter (25) and an electromagnetic valve (23); the water storage mechanism is a water storage tank (26), which is connected to the inlet of the high-pressure water pump (24) through the electromagnetic valve (23) via a pipeline; the flow monitoring instrument is an electromagnetic flow meter (22), which is connected between the outlet of the high-pressure water pump (24) and the high-pressure spray gun (1302); the water pump frequency converter (25) is connected to the motor of the high-pressure water pump (24) and is used to adjust the power of the high-pressure water pump (24) to achieve precise control of water pressure and flow.

6. The three-dimensional moving high-pressure water jet test device and trench morphology measurement system according to claim 1, characterized in that, The main control unit (4) includes a main control panel (49), a data integrator (47), and a data processing computer (48). The data integrator (47) is electrically connected to the X-axis servo motor (1107), Y-axis servo motor (1205) and Z-axis servo motor (1301) in the three-axis sliding system (1), the water pump frequency converter (25), electromagnetic valve (23) and electromagnetic flow meter (22) in the high-pressure jet execution unit (2), and the high-speed camera (1315) and multi-beam sonar probe (1316) in the data detection and collection unit, respectively, for receiving status signals and data from each execution and sensing component, and sending control commands to them; The main control panel (49) is connected to the data integrator (47) and serves as a human-machine interface. It is used to send integrated control commands to the data integrator (47) and to receive and display the status information of each component, test parameters and collected data fed back from the data integrator (47). The data processing computer (48) is connected to the main control panel (49) for receiving, processing, storing and analyzing image data and terrain data collected from the high-speed camera (1315) and the multi-beam sonar probe (1316), and generating test reports.

7. The three-dimensional moving high-pressure water jet test device and trench morphology measurement system according to claim 6, characterized in that, The main control panel (49) is equipped with a four-zone linkage display screen (4910), which is divided into four functional windows: The upper left area is used to display the real-time pressure-flow curve monitoring window; The upper right area is used to display the recording window of the real-time high-speed camera (1315); The lower left area is used to display side-by-side comparison windows of the three-dimensional terrain models before and after the experiment. The lower right area is used to display the erosion model distribution cloud map and the quantitative analysis results window.

8. The three-dimensional moving high-pressure water jet test device and trench morphology measurement system according to claim 7, characterized in that, The main control panel (49) is also equipped with a parameter input and manual control area, as well as a process control area; The parameter input and manual control area includes: The mode selection button (4907) and the digital dial (4903) are used to select the system working mode and input test parameters including target pressure, target flow rate, triaxial motion path and speed curve; The water pump power adjustment knob (4901) is used to manually adjust the motor power of the high-pressure water pump (24); The X-axis displacement control knob (4904), Y-axis displacement control knob (4905), and Z-axis displacement control knob (4906) are used to manually control the X-axis servo motor (1107), Y-axis servo motor (1205), and Z-axis servo motor (1301) respectively, so as to perform point-to-point fine adjustment or positioning of the three-axis sliding system (1). The process control area is equipped with: A control panel switch (4902) is used to control the power supply of the main control panel (49); Test start switch (4909) is used to start the automated jet test process with one click.

9. A test method using the three-dimensional moving high-pressure water jet test apparatus and trench morphology measurement system as described in any one of claims 5-8, characterized in that, Includes the following steps: S1. Test preparation and initialization: Place the test sample in the test water tank (14), and input the test parameters through the main control panel (49). The test parameters include the test date, the number of test groups, the type of jet erosion target, and the target pressure P. set Target traffic Q set And the motion paths and speed curves of the X-axis moving slide assembly, Y-axis moving slide assembly, and Z-axis moving slide assembly; S2, Pre-scan: Control the Z-axis moving slide assembly (13) to raise the high-pressure spray gun (1302) to a safe height, and control the multi-beam sonar probe (1316) to scan the test sample area to obtain initial terrain data T0; S3, Initial Position Positioning: The main control unit (4) drives each servo motor of the three-axis sliding system (1) to position the high-pressure spray gun (1302) to the preset test starting space coordinate point; S4, Pump power adjustment: The main control unit (4) adjusts the power according to the target pressure P. set and the target flow Q set The motor power of the high-pressure water pump (24) is adjusted by the water pump frequency converter (25); S5, Jet Execution: Start the high-pressure water pump (24) through the main control panel (49), when the pipeline pressure reaches P set When the preset threshold is reached, the main control unit (4) automatically opens the electromagnetic valve (23) and synchronously drives the three-axis sliding system (1) to move along the preset path to perform jet operation; S6. Real-time monitoring: The morphological changes of the test sample under the action of the jet are recorded in real time by the high-speed camera (1315); S7. Post-scanning and data analysis: After the jet operation is completed, the system automatically closes the solenoid valve (23) and raises the high-pressure spray gun (1302), and drives the multi-beam sonar probe (1316) again to scan and obtain the terrain data T1 after the jet. The terrain change ΔT = T1- T0 is calculated by the data processing module, and a quantitative erosion analysis report is generated.

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