An outfield test track monitoring system and method

Abstract

The present invention belongs to the technical fields of underwater vehicle technology and test technology, and particularly relates to an outfield test track monitoring system and method. It includes a monitoring equipment host placed on a launch platform, and also includes a number of floating platform components arranged at equal intervals along the track axis of the launched object. Each adjacent two floating platform components are connected by a steel wire rope. Each floating platform component is provided with a water surface floating platform and a monitoring component. The monitoring component is fixedly installed above the water surface floating platform and is used to monitor the track of the launched object and its final landing point. The underwater interception device is fixedly installed below the water surface floating platform of the floating platform component at the end of the voyage and is used to intercept the launched object. Each monitoring component is communicatively connected to the monitoring equipment host. It realizes long-distance dynamic monitoring of the track; by setting the underwater interception device, the difficulty of salvage is reduced, the reusable rate of the vehicle is improved, the interception and recovery of the vehicle launched at high speed are realized, and at the same time, the depth of the vehicle can be measured, improving the efficiency of measuring the cavitation depth.

Description

Technical Field

[0001] The present invention belongs to the technical fields of underwater vehicles and test technologies, and particularly relates to an outfield test track monitoring system and method. Background Art

[0002] Different from ground operations, water operations are highly restricted, and the underwater working environment is relatively complex. In supercavitation tests, due to high test speeds, short test times, and difficulties in determining the landing points of launched vehicles during the test, as well as difficulties in underwater salvage operations, losses often occur during underwater vehicle tests, greatly increasing the test difficulty. To address the above problems and to corroborate the control accuracy of the vehicle and assist in locating the landing point of the vehicle, it is necessary to record the actual flight trajectory. Currently, methods for indicating the position of underwater vehicles in China include pyrotechnic indicators, signal flare indicators, radio beacons, seawater dyes, and sinking indicators. However, these devices can only be used for direction indication and cannot perform precise long-distance positioning. Due to the insufficient positioning accuracy of the position indication system and the limitations of salvage equipment, during underwater vehicle tests, the vehicle is often damaged or lost due to untimely salvage, resulting in significant losses.

[0003] Therefore, the present invention provides an outfield test track monitoring system and method to solve the above technical problems. Summary of the Invention

[0004] Technical problems to be solved by the present invention:

[0005] In view of the above deficiencies in the technology, the present invention proposes an outfield test track monitoring system for monitoring, photographing, and recovering the tracks of surface objects. The present invention obtains the track left by the supercavitation vehicle through surface monitoring equipment on the water surface, obtains the actual position of the vehicle, and facilitates the recovery of the vehicle. An interception net is provided underwater to effectively intercept it, providing double protection to prevent the loss of the vehicle. At the same time, the track monitoring system of the present invention can also measure the underwater depth of the vehicle from another aspect.

[0006] A technical solution provided by the present invention is:

[0007] An outfield test track monitoring system includes a monitoring equipment host placed on a launch platform, characterized in that: the system further includes a plurality of floating platform components arranged at equal intervals along the axis of the launch object track, and adjacent floating platform components are connected by steel wires. Each floating platform component is provided with a surface floating platform and a monitoring component; the monitoring component is fixedly installed above the surface floating platform for monitoring the launch object track and its final landing point; an underwater interception device is fixedly installed below the surface floating platform of the floating platform component at the end of the voyage for intercepting the launch object; each monitoring component is communicatively connected to the monitoring equipment host.

[0008] A further technical solution of the present invention is that the water surface floating platform includes: transverse steel pipes, longitudinal steel pipes, floating boxes, and right-angle crosses. There are four transverse steel pipes and four longitudinal steel pipes, which are arranged vertically and horizontally and cross each other. The intersections are fixedly connected by right-angle crosses to form a floating platform frame; four floating boxes are connected to the four corners of the floating platform frame by steel wire ropes to form the water surface floating platform.

[0009] A further technical solution of the present invention is that the monitoring component includes: a camera, a mounting bracket, a hoop, a reinforcing steel pipe, and a vertical steel pipe. The camera is fixed to the outer end of the mounting bracket, the inner end of the mounting bracket is fixedly installed on the vertical steel pipe through the hoop, the vertical steel pipe is fixedly connected to the floating platform frame, the bottom end of the reinforcing steel pipe is fixedly connected to the floating platform frame, and its top end is fixedly connected to the vertical steel pipe.

[0010] A further technical solution of the present invention is that adjacent cameras are connected in a wireless cascading manner, and after connection, they are all connected to the monitoring device host. The antennas of the cameras and the receiving device antennas form signal coverage or parallelism with each other to achieve long-distance transmission.

[0011] A further technical solution of the present invention is that the surfaces of all the steel pipes are galvanized; the surface of the mounting bracket is painted, and the whole is a thickened stainless steel plate; the hoop is made of stainless steel and adopts a rotary tensioning design structure.

[0012] A further technical solution of the present invention is that the underwater interception device includes: an interception net and an anchor block. The upper end of the interception net is fixed below the floating platform frame, and its lower end is fixed by the anchor block; the interception net is a semi-free flexible interception net.

[0013] A further technical solution of the present invention is that the number of the floating platform components is 8 groups.

[0014] A further technical solution of the present invention is that the camera is equipped with an all-aluminum alloy shell, IP66-level protection, and a 100-meter zoom lens.

[0015] Another technical solution provided by the present invention is:

[0016] An outfield test track monitoring method includes the following method steps:

[0017] S1: Floating platform component construction step: Assemble the water surface floating platform according to the structure, install the camera on the water surface floating platform and strengthen the fixation; then fix the upper end of the interception net under the water surface floating platform of the floating platform component at the end of the voyage, and the lower end is fixed by the anchor block; connect every two adjacent floating platform components with steel wire ropes, fix the water surface floating platform with anchor blocks, and connect the front end to the shore to complete the construction of the floating platform components;

[0018] S2: Connection and debugging steps: Adjust the angles and heights of each camera, and connect the adjacent cameras to the host of the onshore monitoring device in a wireless cascading manner to achieve the communication connection between the monitoring camera component and the monitoring device host.

[0019] S3: Track monitoring steps: Start the monitoring system to achieve long-distance high-definition track monitoring, segmentally record the water surface track video, and achieve dynamic track monitoring.

[0020] A further technical solution of the present invention is: Quickly replay and view the track and landing position of the vehicle after the event, insert a memory device to obtain the required video, encrypt the required video at the same time, and splice multiple videos to obtain a visual track.

[0021] A further technical solution of the present invention is: The track monitoring method further includes the underwater depth measurement step of the vehicle: Start the monitoring system to achieve long-distance high-definition track monitoring. When the vehicle passes through the interception net at high speed, the semi-free flexible interception net forces the object to decelerate or directly hangs the vehicle on the interception net to achieve effective interception of the vehicle; at the same time, when the vehicle moving at high speed passes through, it will leave the position of the interception hole on the interception net. Measure the distances h1, h2, h3, h4... from the positions of the holes in different interception sections to the upper end of the interception net, take the average value of them, estimate the depth of the vehicle in the water, and use this depth information to verify the simulation value.

[0022] Beneficial effects

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] (1) The present invention proposes an outfield test track monitoring system, which takes into account both the water surface and underwater parts. For the water surface part, by setting up monitoring components and arranging them at equal intervals along the track axis of the launched object, and controlling each interval within the maximum monitoring range of the cameras used in the monitoring components, it realizes long-distance dynamic monitoring and the recording of the ballistic trajectory of the vehicle from launch to end. Moreover, by splicing multiple videos in the later stage, a complete visual track can be obtained.

[0025] (2) The present invention proposes an outfield test track monitoring system. The adjacent cameras in the monitoring components adopt a wireless cascading method, which realizes long-distance dynamic monitoring and real-time playback on the water surface, quickly locks the landing point of the vehicle, shortens the salvage time, and the interception device is fixedly installed under the water surface floating platform to intercept the launched object, increasing the success rate of salvage and greatly improving the reusable rate of the vehicle.

[0026] (3) The present invention proposes an outfield test track monitoring method. By measuring the underwater depth of the vehicle based on a flexible interception net, while achieving the depth measurement of the vehicle, it also corroborates the actual depth measurement method, improving the efficiency of measuring the cavitation depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall surface solution of the present invention;

[0028] Figure 2 It is a schematic diagram of the floating platform of the present invention;

[0029] Figure 3 It is a schematic diagram of the installation of the monitoring component of the present invention;

[0030] Figure 4 It is a schematic diagram of the composition of the monitoring component of the present invention;

[0031] Figure 5 It is a schematic diagram of the underwater interception device of the present invention.

[0032] Wherein: 1, transverse steel pipe; 2, floating box; 3, longitudinal steel pipe; 4, reinforcing steel pipe; 5, right-angle cross; 6, monitoring component; 6-1, hoop; 6-2, mounting bracket; 6-3, camera; 6-4, vertical steel pipe; 7, interception net; 8, steel wire rope; 9, anchor block; 10, interception hole position; 11, monitoring equipment host; A, launch platform; S, track; P, salvage position DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0034] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0035] Such as Figures 1-5As shown in the figure, an outfield test track monitoring system includes a monitoring device host 11 placed at the launch platform A. The system also includes a number of floating platform components arranged at equal intervals along the axis of the launch object's track, and the interval is determined according to the maximum monitoring range of the used camera; each adjacent two floating platform components are connected by a steel wire rope. Each floating platform component is provided with a water surface floating platform and a monitoring component 6. The monitoring component 6 is fixedly installed above the water surface floating platform, and the underwater interception device is fixedly installed below the water surface floating platform; the monitoring component 6 is communicatively connected to the monitoring device host 11.

[0036] The water surface floating platform is composed of a transverse galvanized steel pipe 1, a longitudinal galvanized steel pipe 3, a floating box 2, and a right-angle cross 5. Among them, four galvanized steel pipes in the transverse and longitudinal directions are used to connect with the four floating boxes 2, and the connection and fixation between each steel pipe are realized by the right-angle cross 5. The four floating boxes 2 are used to provide sufficient buoyancy for the entire water surface floating platform.

[0037] As Figure 5 shown in the figure, the underwater interception device is composed of an interception net 7 and an anchor block 9. The upper end of the interception net 7 is fixed below the floating platform component, and the lower end is fixed by the anchor block 9 to reduce the impact of water flow on the interception net 7. During the test, the underwater interception device can be set on the water surface floating platform of one or more floating platform components at the end of the voyage.

[0038] It should be noted that the underwater interception device adopts a semi-free flexible interception net 7. There are existing relevant studies on the dynamic performance and interception performance of the semi-free flexible interception net 7, and the results can prove the interceptability of the interception net 7, and when it is paired with other countermeasures, it can effectively intercept underwater vehicles.

[0039] As Figure 4 shown in the figure, the monitoring component 6 includes: a camera 6-3, a mounting bracket 6-2, a hoop 6-1, a reinforcing steel pipe 4, and a vertical steel pipe 6-4. The camera 6-3 is fixed at the outer end of the mounting bracket 6-2. The inner end of the mounting bracket 6-2 is fixedly installed with the vertical steel pipe 6-4 through the hoop 6-1. The vertical steel pipe 6-4 is fixedly connected to the floating platform frame. The bottom end of the reinforcing steel pipe 4 is fixedly connected to the floating platform frame, and its top end is fixedly connected to the vertical steel pipe 6-4. The monitoring component 6 is installed on the floating platform, and the reinforcing steel pipe 4 is used to strengthen the fixation of the vertical steel pipe 6-4.

[0040] The surface of the mounting bracket 6-2 is painted with a thickened stainless steel plate, which is strong, durable, dirt-resistant, smooth, and corrosion-resistant, and can meet the use in different environments. The stainless steel hoop 6-1 is designed for rotary tensioning, does not corrode or rust, and can ensure that the camera 6-3 does not fall and there is no relative displacement after adjusting the angle and height.

[0041] The host 11 of the monitoring device is placed at the launch platform A. By reasonably arranging the cameras 6-3, the antennas of the cameras 6-3 should be made to cover or be parallel to the antennas of the receiving devices as much as possible to achieve the effect of long-distance transmission. The adjacent cameras 6-3 are connected to the host of the onshore monitoring device in a wireless cascading manner. This device uses a 10x zoom dome camera, which is upgraded to a 100-meter zoom lens, and can achieve long-distance high-definition track monitoring and water surface dynamics monitoring. Moreover, the camera 6-3 has an all-aluminum alloy shell, which can achieve IP66-level rain and lightning protection and meet various harsh outdoor experimental environments.

[0042] The working steps of the outdoor test track monitoring system of the present invention are as follows:

[0043] S1: Floating platform assembly construction steps: Connect four galvanized steel pipes horizontally and vertically to four floating boxes 2 respectively to jointly form a floating platform assembly. The galvanized steel pipes and the floating platform are connected by steel wires, and the right-angle cross brackets 5 are used to connect and fix the steel pipes. The four floating boxes 2 are used to provide sufficient buoyancy for the entire floating platform assembly; the camera 6-3 is installed on the steel pipe perpendicular to the floating platform, and the reinforcement steel pipe 4 is used to strengthen and fix the vertical steel pipe 6-4 for installing the monitoring assembly 6; the upper end of the interception net 7 is fixedly installed under the floating platform of the floating platform assembly at the end of the voyage, and the lower end is fixed by the anchor block; every two adjacent floating platform assemblies are connected by steel wires, and the floating platform is finally fixed by 2 anchor blocks 9, and the front end is connected to the shore to complete the construction of the floating platform assembly;

[0044] S2: Connection and debugging steps: Adjust the angles and heights of the cameras 6-3, and connect the adjacent cameras 6-3 to the host 11 of the onshore monitoring device in a wireless cascading manner to realize the connection between the monitoring assembly 6 and the host 11 of the monitoring device;

[0045] S3: Track monitoring steps: Start the monitoring system to achieve long-distance high-definition track monitoring, segmentally record the water surface track video, and realize the water surface dynamics monitoring; quickly play back and view the track and landing position of the vehicle afterwards, insert the memory device to obtain the required video, and at the same time encrypt the required video and splice multiple videos through the editing software to obtain a complete visual track of the vehicle.

[0046] As can be seen from the overall water surface scheme diagram of the present invention, the water surface monitoring assembly 6 is arranged along the moving direction of the vehicle body. By adjusting the angles, directions, etc. of the monitoring equipment in advance, it is ensured that the required track S for the test can be completely monitored and recorded. After the vehicle moves at high speed, a white trace will be left on the water surface. The vehicle body can also be painted with brightly colored paint. When the vehicle body is relatively close to the water surface, the shape of the vehicle body can be photographed.

[0047] A further technical solution of the present invention is that the track monitoring method further includes the step of measuring the underwater depth of the vehicle: start the monitoring system to achieve long-distance high-definition track monitoring. When the vehicle passes through the interception net 7 at high speed, the semi-free flexible interception net 7 forces the object to decelerate or directly hang the vehicle on the interception net 7 to achieve effective interception of the vehicle. At the same time, when the vehicle moving at high speed passes through, it will leave the position of the interception hole on the interception net 7. Measure the distances h1, h2, h3, h4... from the positions of the holes on different interception cross-sections to the upper end of the interception net 7, take the average value of them, estimate the depth of the vehicle in the water, and use this depth information to verify the simulation value.

[0048] For the depth measurement of underwater vehicles, there are currently two main solutions. One is to obtain it through the measurement of the linear acceleration by the strapdown inertial unit and then through navigation calculation. The other is to use the depth measurement method of calculating "static pressure + dynamic pressure + cavitation number in the cavity". However, in the state of long-term navigation or long-distance delivery of supercavitating vehicles, whether it is the method of calculating depth through bubble pressure or the method of calculating through the strapdown inertial unit, the calculated depth information is greatly affected by the cumulative errors of inertial devices, etc. Therefore, this paper proposes a depth measurement method based on a flexible interception net. For a stable vehicle, the cavitation number σ is a basically constant value. Therefore, in daily numerical simulation, the depth information can be obtained through formula (1).

[0049]

[0050] In the formula:

[0051] p ∞ —— The oncoming flow pressure, P ∞ = P0 + ρgh;

[0052] p0 —— The free liquid surface pressure. If gravity is not considered, P ∞ = P0;

[0053] T f —— The liquid temperature at the point under study;

[0054] P v —— The saturated vapor pressure of the liquid at temperature T f under;

[0055] ρ —— The density of the liquid;

[0056] v ∞ —— The oncoming flow velocity of the liquid.

[0057] The measurement method proposed in this paper is verified with the simulation values. During simulation, the curve of the vehicle depth changing with time or along the X-axis can be obtained. By using the distance in the X-axis direction arranged by the known flexible net, the corresponding depth information is extracted and compared with the method of this application. At the same time, the method of this application also serves as evidence for the actual measurement method.

[0058] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. An outfield test track monitoring system, including a monitoring device host placed on a launch platform, characterized in that: The system further includes a number of buoy assemblies arranged at equal intervals along the axis of the trajectory of the launched object. Each adjacent pair of buoy assemblies is connected by a steel wire rope. Each buoy assembly is provided with a surface buoy and a monitoring assembly; the monitoring assembly is fixedly installed above the surface buoy and is used to monitor the trajectory of the launched object and its final landing point; The underwater interception device is fixedly installed below the surface buoy of the buoy assembly at the end of the voyage and is used to intercept the launched object; each of the monitoring assemblies is communicatively connected to the host of the monitoring device; The monitoring assembly includes: a camera, a mounting bracket, a hoop, a reinforcing steel pipe, and a vertical steel pipe. The camera is fixed at the outer end of the mounting bracket. The inner end of the mounting bracket is fixedly installed with the vertical steel pipe through the hoop. The vertical steel pipe is fixedly connected to the buoy frame. The bottom end of the reinforcing steel pipe is fixedly connected to the buoy frame, and its top end is fixedly connected to the vertical steel pipe; The underwater interception device includes: an interception net and an anchor block. The upper end of the interception net is fixed below the buoy frame, and its lower end is fixed by the anchor block; the interception net is a semi-free flexible interception net.

2. The outfield test track monitoring system according to claim 1, characterized in that: The surface buoy includes: transverse steel pipes, longitudinal steel pipes, floating boxes, and right-angled crosses. There are four transverse steel pipes and four longitudinal steel pipes, which are arranged vertically and horizontally and are fixedly connected at the intersections through right-angled crosses to form a buoy frame; four floating boxes are connected to the four corners of the buoy frame by steel wire ropes to form the surface buoy.

3. The outfield test track monitoring system according to claim 1, characterized in that: Adjacent cameras are connected in a wireless cascading manner. After connection, they are all connected to the host of the monitoring device. The antennas of the cameras and the antennas of the receiving devices form signal coverage or parallelism with each other to achieve long-distance transmission.

4. The outfield test track monitoring system according to claim 2, characterized in that: The surfaces of all the steel pipes are galvanized for aftercare; the surface of the mounting bracket is painted, and it is an overall thickened stainless steel plate; the hoop is made of stainless steel and adopts a rotary tensioning design structure.

5. The outfield test track monitoring system according to claim 1, characterized in that: The number of the buoy assemblies is 8 groups. The camera is equipped with an all-aluminum alloy shell and IP66-level protection, and uses a 100-meter zoom lens.

6. A method of using the outfield test track monitoring system according to any one of claims 1-5, characterized in that: It includes the following method steps: S1: Buoy assembly construction step: Assemble the surface buoy according to the structure, install the camera on the surface buoy and strengthen the fixation; then fixedly install the upper end of the interception net below the surface buoy of the buoy assembly at the end of the voyage, and the lower end is fixed by the anchor block; each adjacent pair of buoy assemblies is connected by a steel wire rope, and the surface buoy is fixed by the anchor block and is connected to the shore at the front end to complete the construction of the buoy assembly; S2: Connection and debugging step: Adjust the angles and heights of each camera, connect adjacent cameras in a wireless cascading manner to the host of the onshore monitoring device, and realize the communication connection between the monitoring camera assembly and the host of the monitoring device; S3: Trajectory monitoring step: Start the monitoring system to realize long-distance high-definition trajectory monitoring, segmentally record the video of the water surface trajectory, and realize dynamic trajectory monitoring.

7. The method according to claim 6, characterized in that: In the step S3, it further includes: quickly replay and view the trajectory and landing point position of the vehicle afterwards, insert the memory device to obtain the required video, encrypt the required video at the same time, and splice multiple videos to obtain a visual trajectory.

8. The method according to claim 6, characterized in that: The described trajectory monitoring method further includes measuring the underwater depth of the vehicle: starting the monitoring system to achieve long-distance high-definition trajectory monitoring. When the vehicle passes through the interception net at high speed, the semi-free flexible interception net forces the object to decelerate or directly hangs the vehicle on the interception net to achieve effective interception of the vehicle. At the same time, when the vehicle moving at high speed passes through, it will leave the positions of the interception holes on the interception net. Measure the distances h1, h2, h3, h4... from the positions of the holes on different interception cross-sections to the upper end of the interception net, take the average value of them, estimate the depth of the vehicle in the water, and use this depth information to verify the depth simulation value.

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