An underwater towing test method and device for a submersible vehicle

Abstract

An underwater towing test method and device for a submersible vehicle, including a first shore-based anchor pile (1), a first underwater anchor pile (2), a first fixed pulley (3), a first floating ball (4), a first depth-setting rope (5), a second shore-based anchor pile (6), a second underwater anchor pile (7), a second fixed pulley (8), a second floating ball (9), a second depth-setting rope (10), a first steering fixed pulley (11), a second steering fixed pulley (12), a guiding rope (13), a trolley pulley (14), a traction rope directional fixed pulley (15), and a traction rope (17). During the test, it includes arranging the anchor system, rope system, and traction system. The submersible vehicle (22) is towed by the towing ship (16) through the traction rope (17) to move underwater to complete the corresponding test. The technical solution provided by the present invention consists of a rope system, an anchor system, and a traction system. The test site is easy to find, it is convenient to use, the cost is relatively low, and it is convenient to adjust the test water depth.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater test of submersibles, and particularly to a method for underwater towing test of a submersible; the present invention also relates to an underwater towing test device for a submersible. Background Art

[0002] For ocean hydrological observation, deep-sea exploration, undersea mineral resource development, and marine safety protection, etc., various types and uses of underwater vehicles need to be developed. The motion characteristics, sonar detection performance, etc. of underwater submersibles need to be verified through relevant model tests. During the test process of towing a submersible underwater, usually, test conditions of adjustable depth and adjustable speed of the towed submersible are required to test the navigation attitude of the towed submersible.

[0003] Currently, the test method is to conduct a towing test by an underwater vehicle in a large test water area. For example, CN111220354A discloses an underwater towing test device, which is composed of a trailer, a sinking platform, a towing belt, and a towed body to be tested, and can simulate towing test conditions of different water depth positioning, different moving speeds, and different combination modes in a towing tank to conduct various performance test experiments on an underwater deep submersible.

[0004] The existing test methods have limited test conditions, long test cycles, and high costs.

[0005] Therefore, it is of great significance and necessary to develop a method and device for underwater towing test of a submersible that are convenient to operate and have relatively low preparation and test costs. Summary of the Invention

[0006] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a method and device for underwater towing test of a submersible that are convenient to use and have relatively low costs.

[0007] To solve the above technical problems, on the one hand, the present invention provides a method for underwater towing test of a submersible, which is characterized by including the following steps:

[0008] 1) Arrange the first shore-based anchor pile and the second shore-based anchor pile; connect the first fixed pulley with the first underwater anchor pile, and connect the second fixed pulley with the second underwater anchor pile;

[0009] 2) Pass the first depth-fixed rope around the first fixed pulley, and then connect the two ends to the first shore-based anchor pile and the first floating ball respectively; pass the second depth-fixed rope around the second fixed pulley, and then connect the two ends to the second shore-based anchor pile and the second floating ball respectively; connect the first steering fixed pulley to the first depth-fixed rope, and connect the second steering fixed pulley and the traction rope orientation fixed pulley to the second depth-fixed rope; pass the guiding rope around the first steering fixed pulley, the carriage pulley, and the second steering fixed pulley in sequence, and then connect the two ends to the first shore-based anchor pile and the second shore-based anchor pile respectively. After connecting the traction rope to the carriage pulley, pass one end around the traction rope orientation fixed pulley and then connect it to the towing vessel. Connect the submersible to the carriage pulley with a submersible connection rope, or connect the submersible to the traction rope;

[0010] 3) Load anchor stones into the first underwater anchor pile and the second underwater anchor pile, and place the first underwater anchor pile and the second underwater anchor pile in the predetermined water area; adjust the depth position of the first steering fixed pulley to meet the water depth position of the test, tie the corresponding water depth of the first depth-fixed rope to the first floating ball, tighten the first depth-fixed rope, and fix the first depth-fixed rope to the first shore-based anchor pile; adjust the depth position of the second steering fixed pulley to meet the water depth position of the test, tie the corresponding water depth of the second depth-fixed rope to the second floating ball, tighten the second depth-fixed rope, and fix the second depth-fixed rope to the second shore-based anchor pile; fix one end of the guiding rope to the first shore-based anchor pile or the second shore-based anchor pile, tighten the guiding rope and fix the other end of the guiding rope to the second shore-based anchor pile or the first shore-based anchor pile;

[0011] 4) Adjust the positions of the carriage pulley and the submersible to make them close to the first steering fixed pulley. The towing vessel pulls the submersible to move underwater through the traction rope to complete the corresponding test; during the test, the submersible includes an acceleration running section, a test speed running section, and a deceleration running section. The running intervals are set so that the submersible will not collide with the first depth-fixed rope and the second depth-fixed rope.

[0012] As a further improved technical solution, on the basis of the foregoing basic solution, the submersible underwater towing test method provided by the present invention further includes connecting a dynamometer and a winch to the guiding rope; the winch is used to tighten the guiding rope, and the dynamometer is used to measure the tension of the guiding rope.

[0013] As a further improved technical solution, on the basis of the foregoing basic solution, the submersible underwater towing test method provided by the present invention further includes the following debugging process:

[0014] Adjust the guiding rope to the water surface position and tighten the guiding rope; connect the traction rope to the towing vessel, and the towing vessel towes the simulated submersible to sail at low speed, medium speed, and high speed respectively. Check whether the rope system operates normally and whether the anchor system and the fixing system are reliable at different speeds;

[0015] Adjust the guiding rope to the depth of medium test water depth and tension the guiding rope; connect the towing rope to the towing vessel, and the towing vessel tow the simulated submersible at low speed, medium speed and high speed respectively. Check whether the rope system operates normally and whether the anchor system and the fixing system are reliable at different speeds.

[0016] Adjust the guiding rope to the depth of the deepest test water depth and tension the guiding rope; connect the towing rope to the towing vessel, and the towing vessel tow the simulated submersible at low speed, medium speed and high speed respectively. Check whether the rope system operates normally and whether the anchor system and the fixing system are reliable at different speeds.

[0017] To solve the above technical problems, on the other hand, the present invention provides an underwater towing test device for a submersible, including a first shore-based anchor pile, a first underwater anchor pile, a first fixed pulley connected to the first underwater anchor pile, a first floating ball, a first depth-fixed rope with one end connected to the first shore-based anchor pile and the other end bypassing the first fixed pulley and then connected to the first floating ball, a second shore-based anchor pile, a second underwater anchor pile, a second fixed pulley connected to the second underwater anchor pile, a second floating ball, a second depth-fixed rope with one end connected to the second shore-based anchor pile and the other end bypassing the second fixed pulley and then connected to the second floating ball, a first steering fixed pulley connected to the first depth-fixed rope, a second steering fixed pulley connected to the second depth-fixed rope, a guiding rope with one end connected to the first shore-based anchor pile and the other end sequentially bypassing the first steering fixed pulley and the second steering fixed pulley and then connected to the second shore-based anchor pile, at least one running pulley located between the first steering fixed pulley and the second steering fixed pulley and connected to the guiding rope, a towing rope directional fixed pulley connected to the second depth-fixed rope, a towing rope connected to the running pulley, bypassing the towing rope directional fixed pulley and then connected to the towing vessel; the submersible is connected to the running pulley through a submersible connecting rope, or the submersible is connected to the towing rope.

[0018] As a further improved technical solution, on the basis of the foregoing basic solution, the underwater towing test device for a submersible provided by the present invention further has a dynamometer and a winch connected to the guiding rope.

[0019] The technical solution provided by the present invention is composed of a rope system, an anchor system and a towing system. The test site is easy to find, easy to use, relatively low in cost, and convenient to adjust the test water depth. Description of the Drawings

[0020] The drawings are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0021] Figure 1 It is a schematic structural principle diagram of the underwater towing test device for a submersible in the embodiment;

[0022] Figure 2 Schematic working diagram of the waterway system for the embodiment. Specific implementation manners

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] As Figure 1 shown, the underwater towing test device for the submersible includes a first shore-based anchor pile 1, a first underwater anchor pile 2, a first fixed pulley 3 connected to the first underwater anchor pile 2, a first floating ball 4, a first depth-setting rope 5 with one end connected to the first shore-based anchor pile 1 and the other end bypassing the first fixed pulley 3 and then connected to the first floating ball 4, a second shore-based anchor pile 6, a second underwater anchor pile 7, a second fixed pulley 8 connected to the second underwater anchor pile 7, a second floating ball 9, a second depth-setting rope 10 with one end connected to the second shore-based anchor pile 6 and the other end bypassing the second fixed pulley 8 and then connected to the second floating ball 9, a first steering fixed pulley 11 connected to the first depth-setting rope 5, a second steering fixed pulley 12 connected to the second depth-setting rope 10, a guiding rope 13 with one end connected to the first shore-based anchor pile 1 and the other end sequentially bypassing the first steering fixed pulley 11 and the second steering fixed pulley 12 and then connected to the second shore-based anchor pile 6, at least one running pulley 14 located between the first steering fixed pulley 11 and the second steering fixed pulley 12 and connected to the guiding rope 13, a traction rope directional fixed pulley 15 connected to the second depth-setting rope 10, a traction rope 17 connected to the running pulley 14, bypassing the traction rope directional fixed pulley 15 and then connected to a towing ship 16; the submersible 18 is connected to the running pulley 14 through a submersible connecting rope 19, or the submersible 18 is connected to the traction rope 17. It also has a dynamometer 20 and a winch 21 connected to the guiding rope 13.

[0025] The depth-setting rope system composed of the shore-based anchor pile, the underwater anchor pile, the floating ball and the fixed pulley can adjust the water entry depth of the guiding rope 13. Taking the first steering fixed pulley 11 and the second steering fixed pulley 12 as the water depth 0 position points, calibrating the size of the depth-setting adjustment rope towards the water surface direction can conveniently determine and adjust the water entry depth of the guiding rope 13. During adjustment, according to the set working depth, the corresponding water depth position of the first depth-setting rope 5 is tied to the first floating ball 4, and the corresponding water depth position of the second depth-setting rope 10 is tied to the second floating ball 9. When necessary, the connection between the first depth-setting rope 5 and the first shore-based anchor pile 1 and the connection between the second depth-setting rope 10 and the second shore-based anchor pile 6 can be temporarily loosened; then tighten the first depth-setting rope 5 and fix it to the first shore-based anchor pile 1, tighten the second depth-setting rope 10 and fix it to the second shore-based anchor pile 6 to complete the depth-setting adjustment.

[0026] The guiding ropes 13 respectively pass through the first turning fixed pulley 11 and the second turning fixed pulley 12. One end is tied to the shore-based anchor pile, and the other end is tied to the shore-based anchor pile on the other shore through the dynamometer 20 and the winch 21, forming a tensioned rope system, which plays a guiding and depth-setting role during the test of the submersible 18. The winch 21 is used to tension the guiding rope 13, and the dynamometer 20 is used to measure the tension of the guiding rope 13.

[0027] The submersible 18 is connected to the trolley pulley 14 through the submersible connecting rope 19, or the submersible 18 is connected to the towing rope 17. The towing rope is connected to the guiding rope 13 via the trolley pulley 14. The towing direction of the towing rope 17 is determined by the towing rope directional fixed pulley 15, and the towing boat 16 towes the towing rope 17 to drive the submersible 18 to sail.

[0028] As one of the embodiments, the test process includes the following steps:

[0029] 1) Install the first shore-based anchor pile 1 and the second shore-based anchor pile 6; connect the first fixed pulley 3 to the first underwater anchor pile 2, and connect the second fixed pulley 8 to the second underwater anchor pile 6.

[0030] 2) Pass the first depth-setting rope 5 around the first fixed pulley 3, and then connect the two ends to the first shore-based anchor pile 1 and the first floating ball 4 respectively; pass the second depth-setting rope 10 around the second fixed pulley 8, and then connect the two ends to the second shore-based anchor pile 6 and the second floating ball 9 respectively; connect the first turning fixed pulley 11 to the first depth-setting rope 5, and connect the second turning fixed pulley 12 and the towing rope directional fixed pulley 15 to the second depth-setting rope 10; pass the guiding rope 13 around the first turning fixed pulley 11, the trolley pulley 14, and the second turning fixed pulley 12 in sequence, and then connect the two ends to the first shore-based anchor pile 1 and the second shore-based anchor pile 6 respectively. After connecting the towing rope 17 to the trolley pulley 14, one end passes around the towing rope directional fixed pulley 15 and then connects to the towing boat 16. Connect the submersible 22 to the trolley pulley 14 through the submersible connecting rope 19, or connect the submersible 22 to the towing rope 17.

[0031] 3) Load anchor stones into the first underwater anchor pile 2 and the second underwater anchor pile 6, and place the first underwater anchor pile 2 and the second underwater anchor pile 6 into the predetermined water area; adjust the depth position of the first steering fixed pulley 11 to meet the water depth position of the test, tie the corresponding water depth of the first depth fixing rope 5 to the first floating ball 4, tighten the first depth fixing rope 5, and fix the first depth fixing rope 5 to the first shore-based anchor pile 1; adjust the depth position of the second steering fixed pulley 12 to meet the water depth position of the test, tie the corresponding water depth of the second depth fixing rope 10 to the second floating ball 9, tighten the second depth fixing rope 10, and fix the second depth fixing rope 10 to the second shore-based anchor pile 6; fix one end of the guiding rope 13 to the first shore-based anchor pile 1 or the second shore-based anchor pile 6, and connect the dynamometer 20 and the winch 21 to the other end of the guiding rope 13; the winch 21 is used to tighten the guiding rope 13, the dynamometer 20 is used to measure the tension of the guiding rope 13, observe the tension of the dynamometer 20, tighten the guiding rope 13 and fix the other end of the guiding rope 13 to the second shore-based anchor pile 6 or the first shore-based anchor pile 1 respectively.

[0032] 4) Adjust the positions of the trolley pulley 14 and the submersible 22 to make them close to the first steering fixed pulley 11. The towing ship 16 towes the submersible 22 to move underwater through the towing rope 17 to complete the corresponding test; during the test, the submersible 22 includes an accelerating running section, a testing speed running section and a decelerating running section. The running intervals are set so that the submersible 22 will not collide with the first depth fixing rope 5 and the second depth fixing rope 10. As Figure 2 shown, taking the distance of 400 m between the first underwater anchor pile 2 and the second underwater anchor pile 6 as an example, the channel distance between the first underwater anchor pile 2 and the second underwater anchor pile 6 is 400 m. The towing rope 17 can be provided with a 30 m tail rope section A, a 70 m accelerating section B, a 200 m testing speed section C, a 100 m decelerating section D and E. To ensure the navigation safety of the towing ship 16 and the submersible 22 and prevent the submersible from colliding with the first steering fixed pulley 11 or the second steering fixed pulley 12 during navigation, the testing distance B + C is set to 270 m, a 50 m inertial decelerating section D of the towing ship and a 50 m safety section D are set. The towing ship 16 sails from the position 30 m corresponding to the submersible 22, sails for 270 m and then stops sailing, coasts for 50 m and then stops, and there is still a 50 m safety distance D left.

[0033] The sequence of connection and fixation of the rope system can be appropriately adjusted within the knowledge scope of those skilled in the art to achieve the same test objective. Therefore, it should not be regarded as a limitation to the present invention.

[0034] The test may also include the following debugging processes:

[0035] Adjust the guiding rope 13 to the water surface position and tension the guiding rope 13; connect the towing rope 17 to the towing ship 16, and the towing ship 16 tow the simulated submersible at low speed, medium speed, and high speed respectively, and check whether the rope system operates normally and whether the anchor system and fixing system are reliable at different speeds;

[0036] Adjust the guiding rope 13 to the depth of the medium test water depth and tension the guiding rope 13; connect the towing rope 17 to the towing ship 16, and the towing ship 16 tow the simulated submersible at low speed, medium speed, and high speed respectively, and check whether the rope system operates normally and whether the anchor system and fixing system are reliable at different speeds;

[0037] Adjust the guiding rope 13 to the depth of the deepest test water depth and tension the guiding rope 13; connect the towing rope 17 to the towing ship 16, and the towing ship 16 tow the simulated submersible at low speed, medium speed, and high speed respectively, and check whether the rope system operates normally and whether the anchor system and fixing system are reliable at different speeds.

[0038] The technical solution provided by the present invention is composed of a rope system, an anchor system, and a towing system. The test site is easy to find, easy to use, relatively low in cost, and convenient to adjust the test water depth.

[0039] For those skilled in the art, various changes and modifications can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the present invention.

Claims

1. An underwater towing test method for a submersible, characterized in that, It includes the following steps: 1) Install the first shore-based anchor pile (1) and the second shore-based anchor pile (6); connect the first fixed pulley (3) with the first underwater anchor pile (2), and connect the second fixed pulley (8) with the second underwater anchor pile (6); 2) Pass the first depth-fixed rope (5) around the first fixed pulley (3) and then connect its two ends to the first shore-based anchor pile (1) and the first floating ball (4) respectively; pass the second depth-fixed rope (10) around the second fixed pulley (8) and then connect its two ends to the second shore-based anchor pile (6) and the second floating ball (9) respectively; connect the first steering fixed pulley (11) with the first depth-fixed rope (5), and connect the second steering fixed pulley (12) and the traction rope orientation fixed pulley (15) with the second depth-fixed rope (10); pass the guiding rope (13) around the first steering fixed pulley (11), the trolley pulley (14), and the second steering fixed pulley (12) in sequence and then connect its two ends to the first shore-based anchor pile (1) and the second shore-based anchor pile (6) respectively. After connecting the traction rope (17) with the trolley pulley (14), pass one end around the traction rope orientation fixed pulley (15) and then connect it to the towing vessel (16). Connect the submersible (22) with the submersible connecting rope (19) to the trolley pulley (14), or connect the submersible (22) with the traction rope (17); 3) Load anchor stones into the first underwater anchor pile (2) and the second underwater anchor pile (6), and place the first underwater anchor pile (2) and the second underwater anchor pile (6) into the predetermined water area; adjust the depth position of the first steering fixed pulley (11) to meet the water depth position of the test, tie the corresponding water depth of the first depth-fixed rope (5) to the first floating ball (4), tighten the first depth-fixed rope (5), and fix the first depth-fixed rope (5) to the first shore-based anchor pile (1); adjust the depth position of the second steering fixed pulley (12) to meet the water depth position of the test, tie the corresponding water depth of the second depth-fixed rope (10) to the second floating ball (9), tighten the second depth-fixed rope (10), and fix the second depth-fixed rope (10) to the second shore-based anchor pile (6); fix one end of the guiding rope (13) to the first shore-based anchor pile (1) or the second shore-based anchor pile (6), tighten the guiding rope (13) and fix the other end of the guiding rope (13) to the second shore-based anchor pile (6) or the first shore-based anchor pile (1); 4) Adjust the positions of the trolley pulley (14) and the submersible (22) to make them close to the first steering fixed pulley (11). The towing vessel (16) pulls the submersible (22) to move underwater through the traction rope (17) to complete the corresponding test; during the test, the submersible (22) includes an accelerating section, a test speed section, and a decelerating section. The running interval is set so that the submersible (22) will not collide with the first depth-fixed rope (5) and the second depth-fixed rope (10).

2. The method for underwater towing test of a submersible according to claim 1, characterized in that It also includes connecting a dynamometer (20) and a winch (21) with the guiding rope (13); the winch (21) is used to tighten the guiding rope (13), and the dynamometer (20) is used to measure the tension of the guiding rope (13).

3. The method for underwater towing test of a submersible according to claim 2, wherein It also includes the following debugging process: Adjust the guiding rope (13) to the water surface position and tension the guiding rope (13); connect the towing rope (17) to the towing vessel (16), and the towing vessel (16) tows the simulated submersible at different speeds to check whether the rope system operates normally and whether the anchor and fixing systems are reliable; Adjust the guiding rope (13) to the depth of the medium test water depth and tension the guiding rope (13); connect the towing rope (17) to the towing vessel (16), and the towing vessel (16) tows the simulated submersible at different speeds to check whether the rope system operates normally and whether the anchor and fixing systems are reliable; Adjust the guiding rope (13) to the depth of the deepest test water depth and tension the guiding rope (13); connect the towing rope (17) to the towing vessel (16), and the towing vessel (16) tows the simulated submersible at different speeds to check whether the rope system operates normally and whether the anchor and fixing systems are reliable.

4. An underwater towing test device for a submersible, characterized in that, It includes a first shore-based anchor pile (1), a first underwater anchor pile (2), a first fixed pulley (3) connected to the first underwater anchor pile (2), a first floating ball (4), a first depth-fixed rope (5) with one end connected to the first shore-based anchor pile (1) and the other end bypassing the first fixed pulley (3) and then connected to the first floating ball (4), a second shore-based anchor pile (6), a second underwater anchor pile (7), a second fixed pulley (8) connected to the second underwater anchor pile (7), a second floating ball (9), a second depth-fixed rope (10) with one end connected to the second shore-based anchor pile (6) and the other end bypassing the second fixed pulley (8) and then connected to the second floating ball (9), a first steering fixed pulley (11) connected to the first depth-fixed rope (5), a second steering fixed pulley (12) connected to the second depth-fixed rope (10), a guiding rope (13) with one end connected to the first shore-based anchor pile (1) and the other end successively bypassing the first steering fixed pulley (11) and the second steering fixed pulley (12) and then connected to the second shore-based anchor pile (6), at least one trolley pulley (14) located between the first steering fixed pulley (11) and the second steering fixed pulley (12) and connected to the guiding rope (13), a towing rope directional fixed pulley (15) connected to the second depth-fixed rope (10), a towing rope (17) connected to the trolley pulley (14), bypassing the towing rope directional fixed pulley (15) and then connected to the towing vessel (16); the submersible (18) is connected to the trolley pulley (14) through a submersible connecting rope (19) or the submersible (18) is connected to the towing rope (17).

5. The underwater towing test device for a submersible according to claim 4, characterized in that, It also has a dynamometer (20) and a winch (21) connected to the guiding rope (13).

Images