A floating body blowing and floating experimental device and measurement and control method

Abstract

The invention discloses a floating body blowing and floating experimental device and a measurement and control method, which relate to the technical field of ship and marine engineering, wherein a deployment bracket is arranged in a water pool; a floating body clamping device is arranged on the deployment bracket and is used for clamping and releasing the floating body; a floating body floating device is arranged inside the floating body and is used for controlling the exhaust of a high-pressure gas tank; a floating measurement and control system is located inside the floating body and is used for recording floating variables and calculation results; a high-speed camera is used for photographing the floating body floating posture; the invention is suitable for floating body blowing and floating experimental research, wherein the floating body clamping device is used for releasing the floating body, and after the release, the floating body is blown off by controlling the electromagnetic valve switch to open, so as to observe the posture, speed and acceleration of the floating body blowing and floating process, and a single-chip computer program storage device and a data storage device provide the possibility for floating body floating control and measurement, thereby realizing the integration of floating body blowing and floating maneuvering control and data acquisition.

Description

Technical Field

[0001] The invention relates to a floating body blowing and floating experimental device and a measurement and control method, belonging to the field of ship and ocean engineering. Background Art

[0002] "Multi-state" craft have powerful functions. They can not only adjust the speed and state according to needs, but also control the sinking and buoyancy of the hull by adjusting the displacement. The special functions of multi-state craft can maintain the rapid movement of surface ships and the safety of submarines. They also have strong moisture resistance, shock resistance, heat resistance and other characteristics, and are equipped with a large number of sensor equipment, making them an ideal choice for various fields such as military, commerce, and entertainment, and have huge development space. The buoyancy of multi-state boats is the same as that of submarines, which means that the floating body takes blowing measures to discharge the water in the main ballast tank so that the floating body can quickly float to the surface.

[0003] The existing research on blowing and floating has great deficiencies: (1) Blowing and floating near the water surface, that is, part of the float is exposed on the water surface (within 1m), and there is no floating process from underwater; (2) The air tank or air pump is outside the float, and a pipeline is required to connect to the float to inflate and float. Therefore, many measuring devices arranged on the pipeline are also outside the float, and some devices are connected by wires, which greatly interfere with the floating movement of the float.

[0004] The floating process of blowing off the floating body has great uncertainty and faces the test of rapidity and stability. Therefore, it is particularly important to develop the floating experiment technology of blowing off the floating body. At present, the hydrodynamic analysis of the floating body blowing off is basically in the stage of mathematical research and numerical simulation. However, due to the complex boundary conditions of underwater blowing off, the existing numerical methods are still difficult to apply to actual production applications in dealing with nonlinear problems, transient problems, and hydrodynamic calculations of complex structural objects; adding experimental comparison verification can make up for the practicality of mathematical research on blowing off and floating research. Since it involves high-pressure air, it is very dangerous to carry out real boat research. If the operation is improper, serious safety accidents will occur. The experimental cost is high and the risk factor is high. Therefore, the correctness of the numerical mechanism of blowing off and floating can be studied through principle experiments; the floating process is a complex gas-liquid coupling problem, which involves high-pressure factors and has certain dangers, and wireless data collection is difficult. Therefore, it is urgent to design a reasonable data acquisition scheme and underwater control system to realize the integration of underwater maneuvering control and data acquisition. Summary of the invention

[0005] In view of the technical problems existing in the background technology, the present invention provides a complete, comprehensive, stable and safe floating body blowing and floating experimental device and measurement and control method. To achieve the above purpose, the present invention provides the following technical solutions:

[0006] The present invention is realized by the following technical scheme: a floating body blowing and floating experimental device, comprising a water pool, a deployment bracket, a floating body clamping device, a floating body, a floating body floating device, a floating measurement and control system, a high-speed camera and a camera frame; the deployment bracket is arranged in the water pool to provide a platform for the floating body clamping device, and the deployment bracket has a ring at the upper end, which is used for the lifting equipment to lower the deployment bracket to the target position; the floating body clamping device is arranged at the bottom of the deployment bracket, and is equipped with an electromagnet for clamping and releasing the floating body; the initial position of the floating body is located on the clamping device, and after release, it is controlled to float by the floating body floating device; the floating body floating device is located inside the floating body, and is used to control the exhaust of the high-pressure gas tank; the floating measurement and control system is located inside the floating body, and is used to record the pipeline flow and pressure as well as the floating body floating posture and movement speed; the high-speed camera is located in the underwater sliding mechanism, and is used to shoot the floating body floating posture and gas-liquid coupling picture; the camera frame is located at the side of the deployment bracket, and is used to fix the high-speed camera and move the high-speed camera.

[0007] Furthermore, a deployment bracket fixing device is arranged vertically relative to the pool wall in the water pool, and a camera bracket fixing device is arranged parallel to the pool wall in the water pool; the deployment bracket includes a horizontal beam I, a vertical pole I, a toggle plate, and a diagonal beam; the horizontal beam I is located at the bottom and acts as a support platform; the vertical pole I is perpendicular to the horizontal beam I; the toggle plate is located at the connection between the horizontal beam I and the vertical pole I to play a fixing role; the diagonal beam connects one end of the horizontal beam I to the midpoint of the vertical pole I to play a supporting role. The floating body clamping device includes a support end plate, a support side beam, a support middle beam, and an electromagnet; the support end plate is fixed to the horizontal beam I through a support connecting shaft plate; the support side beam and the support middle beam constitute a platform for supporting the floating body; the electromagnet is arranged near the support end plates on both sides.

[0008] Furthermore, the floating body includes an intermediate ballast water compartment, a device arrangement compartment and a fixed ballast; three drainage holes are provided at the bottom of the intermediate ballast water compartment along the transverse center line; an exhaust hole is provided in the center of the top of the intermediate ballast water compartment, two blowing holes are provided on the bulkheads on both sides of the upper center line of the intermediate ballast water compartment, and two first and second divided holes are provided on the bulkheads on both sides of the non-center line of the intermediate ballast water compartment at the upper and lower parts respectively; the device arrangement compartment is a dry layer, the inner side is open and connected to the two side walls of the intermediate ballast water compartment, the outer bulkhead of the device arrangement compartment is provided with air guide holes, the outer circular bulkheads of the device arrangement compartments on both sides are provided with two second and second divided holes along the transverse direction, a horizontal glass end plate is provided at the bottom end of the interior of the device arrangement compartment, and two right-angle iron plates are provided on both sides of the bottom of the device arrangement compartment; the fixed ballast is externally arranged on the circular wall of the device arrangement compartment in the form of a circular tube.

[0009] Furthermore, the floating body floating device includes a pipeline, a high-pressure gas tank, a solenoid valve and a pressure reducing valve; the floating measurement and control system includes a gas flow meter, a pressure sensor and a liquid flow meter;

[0010] The pipeline includes a high-pressure gas tank inflation pipeline, a high-pressure gas tank and solenoid valve connecting pipeline, a solenoid valve and pressure reducing valve connecting pipeline, a pressure reducing valve and gas flow meter connecting pipeline, and a gas flow meter and air blowing holes on both sides of the upper bulkhead of the intermediate ballast water tank; the high-pressure gas tank inflation pipeline connects the outer vent hole of the high-pressure gas tank and the inflation pipe, the outer vent hole is connected to the two-way ball valve, the two-way ball valve is connected to the quick plug connector, the quick plug connector is connected to the inflation pipe, the inflation pipe is connected to the inflation pump, and the outer vent hole above the high-pressure gas tank is connected to the inner vent hole. The hole is closed with a two-way plugging cap, and the bottom of the high-pressure gas tank is fixed to the horizontal glass end plate by bolts; the high-pressure gas tank and the solenoid valve connecting pipeline connect the inner vent hole above the high-pressure gas tank and the solenoid valve air inlet hole, the upper inner vent hole is connected to a two-way external thread pipeline I, the two-way external thread pipeline I is connected to the two-way elbow I, the two-way elbow I is connected to the two-way transfer pipeline I, and the two-way transfer pipeline I is connected to the solenoid valve air inlet hole; the solenoid valve and the pressure reducing valve connecting pipeline connect the solenoid valve outlet hole and the pressure reducing valve air inlet hole, the solenoid valve outlet hole is connected to the two-way elbow I The transfer pipeline II is connected, the two-way transfer pipeline II is connected to the two-way elbow II, the two-way elbow II is connected to the two-way external thread pipeline II, the two-way external thread pipeline II is connected to the air inlet of the pressure reducing valve; the pressure reducing valve and the gas flow meter connecting pipeline connect the pressure reducing valve outlet and the gas flow meter inlet, the pressure reducing valve outlet is connected to the lower two-way ferrule, the lower two-way ferrule is connected to the upper two-way ferrule through a straight pipe with an outer diameter of 10mm, the upper two-way ferrule is connected to the two-way elbow III, the two-way elbow III is connected to the two-way transfer pipeline III, the The two-way transfer pipe III is connected to the three-way transfer pipe I, and the three-way transfer pipe I is connected to the air inlet of the gas flow meter; the gas flow meter is connected to the air blowing holes on the bulkheads on both sides of the upper part of the intermediate ballast water tank by a connecting pipe, and the air outlet of the gas flow meter is connected to the air blowing holes on the bulkheads on both sides of the upper part of the intermediate ballast water tank, and the air outlet of the gas flow meter is connected to the three-way transfer pipe II, the three-way transfer pipe II is connected to the two-way three-way pipe, the two-way three-way pipe is connected to the two-way transfer pipe IV, and the two-way transfer pipe IV is connected to the air blowing holes on the bulkheads on both sides of the upper part of the intermediate ballast water tank.

[0011] Furthermore, the pressure sensor includes a pipeline pressure sensor, a cabin pressure sensor and a water depth pressure sensor; the pipeline pressure sensor is connected to the bottom of the two-way three-way pipeline; the cabin pressure sensor includes an upper cabin pressure sensor and a lower cabin pressure sensor, the upper cabin pressure sensor is connected to the first two-way hole on the upper part of the bulkhead on both sides of the non-center line of the middle ballast water compartment, and the lower cabin pressure sensor is connected to the first two-way hole on the lower part of the bulkhead on both sides of the non-center line of the middle ballast water compartment; the water depth pressure sensor is connected to the second two-way hole on the outer side of the circular bulkhead of the cabin where the devices are arranged on both sides; the three drainage holes along the transverse center line at the bottom of the middle ballast water compartment are connected to the corresponding liquid flow meter.

[0012] Furthermore, the floating measurement and control system also includes a power supply, a control circuit board, a relay, a single-chip microcomputer and an inertial sensor; the power supply includes a 24V power supply, a 5V power supply, and a PBS-11 switch; the control circuit board includes a five-way pressure sensor circuit interface, a two-way gas flow meter circuit interface, a three-way liquid flow meter circuit interface and a power supply circuit interface; the five-way pressure sensor circuit interface is connected to the pressure sensor; the two-way gas flow meter circuit interface is connected to the gas flow meter; the three-way liquid flow meter circuit interface is connected to the liquid flow meter; the power supply circuit interface is connected to the external The 24V power supply is connected, and the 24V power supply is powered on by a PBS-11 switch; the relay is fixed on the control circuit board, the common terminal of the relay is connected to the positive electrode of the 24V power supply, and the normally closed contact of the relay is connected to the negative electrode of the 24V power supply; the single-chip microcomputer is fixed on the control circuit board, the power pin of the single-chip microcomputer is powered by a 5V power supply alone, and the programming control pin of the single-chip microcomputer is externally connected to a DAP simulation processor; the inertial sensor is fixed on the bottom end plate of the cabin on either side, the inertial sensor has an independent power supply, and an SD card is embedded on the upper end of the inertial sensor.

[0013] Furthermore, the high-speed camera includes a first water depth high-speed camera, a second water depth high-speed camera and a third water depth high-speed camera; the camera frame includes a horizontal beam II, a vertical pole II, a camera waterproof housing and a pulley; the horizontal beam II is located at the bottom and acts as a supporting platform; the vertical pole II is perpendicular to the horizontal beam II; a fixed ring is provided on the outside of the camera waterproof housing, which is fixed at different water depths by steel cables; the pulleys are respectively located at the top and bottom of the vertical pole II.

[0014] A measurement and control method for a floating body blowing and floating experimental device, the measurement and control method comprises a program control system and a measurement system, the working process of the program control system is as follows: through a DAP simulation processor, a control code is programmed into the internal RAM of a single-chip microcomputer CPU by using software, a time-controlled relay is connected to control the solenoid valve circuit to power on, when the main switch circuit is powered on, the relay receives a delay signal and opens the solenoid valves on both sides at the same time at the specified time; the working process of the program measurement system is as follows: through a DAP simulation processor, a recording code is programmed into a single-chip microcomputer program storage by using software, when the relay receives a delay signal and controls the solenoid valve to open after a period of time, variables and calculation results are stored in the single-chip microcomputer data storage through a ten-way input interface, when the floating body floats to the surface, data is read after power is turned off, and the measurement of relevant variables in a round of blowing and floating process is completed.

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention is used for the floating body blowing and floating experimental research, which overcomes the difficulty of controlling the underwater variable buoyancy floating motion. The floating body clamping device is used to release the floating body. After the release, the electromagnetic valve switch is controlled to open for blowing, so as to observe the posture, speed and acceleration of the floating body blowing and floating process; the pressure reducing valve can control the output pressure as needed, and then explore the relationship between the blowing pressure and the lifting speed of the floating body blowing and floating; the floating body blowing and floating and floating body variable speed floating experiments are realized, which solves the problem that the current floating body blowing and floating hydrodynamic analysis is in the numerical simulation stage. Compared with the existing technology, the complete floating body underwater blowing and floating process is studied comprehensively;

[0017] 2. Underwater wireless transmission signals are weak, and normal wireless data transmission cannot be performed. The present invention overcomes the difficulty of wireless data collection. Through the measurement and control system used in the present invention, the recording capability is strong and the data collection is clear; the present invention uses a single-chip microcomputer for data collection, and cooperates with the inertial navigation system to completely cover the types of underwater data collection, and can identify ten or more data analog signals and have an independent motion measurement system; during the experiment, all data measurements have the same initial point and end point, and a complete collection system is formed from the beginning to the end of the experiment. Compared with the measurement and control system with wires, the flexibility and maneuverability of the floating body are greatly improved, making the data more convincing;

[0018] 3. The gas supply system is a very critical part, which directly determines whether the experiment can be carried out smoothly. The present invention places the high-pressure gas tank inside the float and adopts solenoid valve control inside, avoiding the disadvantage of using an external air pump to ventilate through a long air pipe; and various control devices are reasonably designed in the pipeline: solenoid valve, pressure reducing valve, gas flow meter, pressure sensor, and a completely symmetrical way is adopted to solve the stability problem of the center of gravity and the center of buoyancy, overcome the difficulty of the gas supply system and the acquisition system being uniformly installed inside the float, solve the problem of data transmission interfering with the floating movement in the current principle experiment, and solve the problem of the danger of blowing off the floating of the actual boat, thereby avoiding serious safety accidents;

[0019] 4. The internal space of the float is small, and the measurement and control system is relatively complex. It is necessary to fully connect multiple devices such as the solenoid valve, the pressure reducing valve, the gas flow meter, and the pressure sensor to the pipeline, which places very high requirements on the pipeline design. The present invention adopts the pipeline change in pipeline design to increase the pipeline length, and designs a reasonable installation sequence to ensure that the installation can be carried out correctly. The final connected components are the pressure reducing valve and the elbow connected to the liquid flow meter. These two components are connected by a ferrule, which successfully solves the pipeline installation problem and overcomes the difficulty of reasonable pipeline installation.

[0020] 5. The floating body floating device designed by the present invention can be regulated as needed. By adjusting the single-chip program storage through the DAP simulation processor, the power-on time, measurement frequency and data type can be flexibly changed, which greatly improves the experimental cycle, data accuracy and later data processing, effectively improving the experimental operation efficiency and reducing the difficulty of data processing;

[0021] 6. The underwater high-speed camera system designed by the present invention can achieve height adjustment through pulleys and steel cables, thereby greatly improving the coverage of the camera. The safety of the high-speed camera working underwater is guaranteed by the transparent acrylic plate. Three high-speed cameras work simultaneously to capture the entire process of the floating body rising, effectively improving the completion of the experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the floating body blowing and floating experimental device of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of placing the stent in the present invention;

[0024] Figure 3 It is a structural schematic diagram of the floating body clamping device in the present invention;

[0025] Figure 4 It is a schematic diagram of the internal structure of the floating body in the present invention;

[0026] Figure 5 for Figure 4A partial enlarged view of middle A;

[0027] Figure 6 for Figure 4 A partial enlarged view of B in the middle;

[0028] Figure 7 for Figure 4 Side view of

[0029] Figure 8 It is a structural schematic diagram of the floating measurement and control system in the present invention;

[0030] Fig. 9 It is a structural schematic diagram of the camera frame in the present invention.

[0031] In the figure, 1-water tank, 2-deployment bracket, 21-horizontal beam I, 22-vertical pole I, 23-toggle plate, 24-cable-stayed beam, 3-floating body clamping device, 31-support end plate, 311-support connecting shaft plate, 32-support side beam, 33-support middle beam, 34-electromagnet; 4-floating body, 41-intermediate ballast water tank, 411-exhaust hole, 412-blowing hole, 413-drain hole, 414-first and second sub-holes, 42-device layout cabin, 421-horizontal glass end plate, 422-right-angle iron plate, 423-second and second sub-holes, 43-fixed ballast, 5-floating body floating device, 51-connection Pipeline, 511-high-pressure gas tank charging pipeline, 5111-two-way ball valve, 5112-quick plug connector, 512-high-pressure gas tank and solenoid valve connecting pipeline, 5121-two-way external thread pipeline I, 5122-two-way elbow I, 5123-two-way transfer pipeline I, 513-solenoid valve and pressure reducing valve connecting pipeline, 5131-two-way transfer pipeline II, 5132-two-way elbow II, 5133-two-way external thread pipeline II, 514-pressure reducing valve and gas flow meter connecting pipeline, 5141-lower two-way ferrule, 5142-straight pipe, 5143-upper two-way ferrule, 5144-two-way elbow III, 5145- Two-way transfer pipe III, 5146-three-way transfer pipe I, 515-gas flow meter and the pipe connecting the air blowing holes on the upper bulkheads on both sides of the intermediate ballast water tank, 5151-three-way transfer pipe II, 5152-two-way three-way pipe, 5153-two-way transfer pipe IV, 52-high-pressure gas tank, 53-solenoid valve, 54-pressure reducing valve, 55-gas flow meter, 56-pressure sensor, 561-pipeline pressure sensor, 562-cabin pressure sensor, 5621-upper cabin pressure sensor, 5622-lower cabin pressure sensor, 57-liquid flow meter, 6-floating measurement and control system, 61-power supply, 611-24V power supply, 612-5V power supply, 613-PBS-11 switch, 62-control circuit board, 621-five-way pressure sensor circuit interface, 622-two-way gas flow meter circuit interface, 623-three-way liquid flow meter circuit interface, 624-power supply circuit interface, 63-relay, 64-single-chip microcomputer, 65-inertial sensor, 7-high-speed camera, 71-first water depth high-speed camera, 72-second water depth high-speed camera, 73-third water depth high-speed camera, 8-camera frame, 81-horizontal beam II, 82-vertical pole II, 83-camera waterproof shell, 84-pulley. DETAILED DESCRIPTION

[0032] The research on floating body blowing and floating in the prior art has the following deficiencies:

[0033] First, although the existing technology can achieve floating body blowing and floating body variable speed floating, the integrity of the research is different. On the one hand, the floating body needs buoyancy greater than gravity to float, and a fixed gas is injected into the floating body to achieve floating. In this floating process, the buoyancy is constant and there is no blowing process; the other is to keep the buoyancy and gravity equal, clamp the floating body through a clamping device, and control the movement direction of the clamping device at a certain speed, which can also achieve floating body floating, which is a forced floating movement.

[0034] On the other hand, the blowing process was retained, but after investigation, it was found that this blowing and floating research had great shortcomings: (1) Blowing and floating near the water surface, that is, part of the float was exposed on the water surface (within 1m), and there was no floating process from underwater (the water depth of this experiment was 3m and the float was 0.4m high); (2) The gas tank or air pump was outside the float, and a pipeline was required to connect to the float to inflate and float. Therefore, many measuring devices arranged on the pipeline were also outside the float, and some devices were connected by wires. These greatly interfered with the floating movement of the float. The air supply system is a very critical part that directly determines whether the experiment can be carried out smoothly.

[0035] Therefore, at present, most of the research on floating body floating by blowing experiments is still focused on fixed buoyancy floating, clamping device controlled floating, near water surface blowing floating experiments, that is, there is a lack of research on the complete process of floating body underwater blowing floating.

[0036] Second, experimental research focuses on the correctness of the experiment, which requires obtaining a large amount of experimental data. However, the wireless transmission signal underwater is weak and normal wireless data transmission cannot be carried out.

[0037] Third, the internal space of the float is small, and the measurement and control system is relatively complex. It is necessary to fully connect multiple devices such as solenoid valves, pressure reducing valves, gas flow meters, and pressure sensors to the pipeline. This places very high demands on pipeline design. In addition, whether the installation can be carried out correctly and a reasonable installation sequence can be designed, and whether the pipeline installation problem can be solved is a difficult point.

[0038] In order to solve the above technical problems, the present invention proposes a floating body blowing and floating experimental device and a measurement and control method.

[0039] Embodiment 1:

[0040] Combination Figure 1-Figure 9 As shown in the figure, a floating body rapid floating device includes a water pool 1, a deployment bracket 2, a floating body clamping device 3, a floating body 4, a floating body floating device 5, a floating measurement and control system 6, a high-speed camera 7 and a camera frame 8;

[0041] A deployment bracket fixing device is arranged vertically relative to the pool wall in the pool 1, and a camera bracket fixing device is arranged parallel to the pool wall in the pool 1;

[0042] like Figure 1-Figure 2 As shown, Figure 1 For the top view facing the pool, the deployment bracket 2 is arranged in the pool 1 to provide a platform for the floating body clamping device 3. The upper end of the deployment bracket 2 is provided with a ring for the lifting equipment to lower the deployment bracket 2 to the target position; the deployment bracket 2 includes a horizontal beam Ⅰ21, a vertical pole Ⅰ22, a bracket 23, and a diagonal beam 24; the horizontal beam Ⅰ21 is located at the bottom and acts as a support platform; the vertical pole Ⅰ22 is perpendicular to the horizontal beam Ⅰ21; the bracket 23 is located at the connection between the horizontal beam Ⅰ21 and the vertical pole Ⅰ22 to fix it; the diagonal beam 24 connects one end of the horizontal beam Ⅰ21 with the midpoint of the vertical pole Ⅰ22 to play a supporting role;

[0043] like Figure 3 As shown, the floating body clamping device 3 is arranged at the bottom of the deployment bracket and is equipped with an electromagnet for clamping and releasing the floating body; the floating body clamping device 3 includes a support end plate 31, a support side beam 32, a support middle beam 33 and an electromagnet 34; the support connecting shaft plate 311 is located on one side of the horizontal beam Ⅰ21, and the floating body clamping device 3 is fixed to the horizontal beam Ⅰ21 at the bottom of the deployment bracket by screws, and the support end plate 31 is fixed to the horizontal beam Ⅰ21 through the support connecting shaft plate 311. The support side beam 32 and the support middle beam 33 form a platform for supporting the floating body 4; the electromagnet 34 is arranged near the support end plates 31 on both sides.

[0044] The floating body 4 is initially located on the floating body clamping device 3, and is controlled to float up by the floating body floating device 5 after being released; the floating body includes a middle ballast water compartment 41 and device arrangement compartments 42 arranged symmetrically on both sides; two blowing holes 412 are arranged on the bulkheads on both sides of the upper part of the middle ballast water compartment; three drainage holes 413 are arranged on the bottom of the middle ballast water compartment along the transverse center line;

[0045] The floating body buoyancy device 5 is located inside the floating body and is used to control the exhaust of the high-pressure gas tank; the floating body buoyancy device includes a high-pressure gas tank 52, a solenoid valve 53 and a pressure reducing valve 54;

[0046] The air vent on the outside of the high-pressure gas tank is connected to the charging pipe; the air vent on the inside of the high-pressure gas tank is connected to the air inlet of the solenoid valve; the air outlet of the solenoid valve is connected to the air inlet of the pressure reducing valve; the air outlet of the pressure reducing valve is connected to the air inlet of the gas flow meter; the air outlet of the gas flow meter is connected to the air blowing holes on the bulkheads on both sides of the upper part of the intermediate ballast water tank; the liquid flow meter 57 is connected to the three drainage holes 413 along the transverse center line of the bottom of the intermediate ballast water tank;

[0047] The floating measurement and control system 6 is located inside the floating body and is used to record the pipeline flow and pressure as well as the floating body's floating posture and movement speed; Figure 8As shown, the floating measurement and control system 6 includes a gas flow meter 55 , a pressure sensor 56 , a liquid flow meter 57 , a power supply 61 , a control circuit board 62 , a relay 63 , a single chip microcomputer 64 and an inertial sensor 65 .

[0048] The power supply 61 includes a 24V power supply 611 (an external power supply used to control the solenoid valve and the measuring device, but it is not directly connected, but connected to the ten power lines through the power interface on the circuit board. Figure 8 ), 5V power supply 612 (5V power supply is fixed on the circuit board and used to power the microcontroller), PBS-11 switch 613;

[0049] The control circuit board 62 includes a five-way pressure sensor circuit interface 621, a two-way gas flow meter circuit interface 622, a three-way liquid flow meter circuit interface 623, a power circuit interface 624 and a solenoid valve interface;

[0050] The five-way pressure sensor circuit interface 621 is connected to the pressure sensor 56; the two-way gas flow meter circuit interface 622 is connected to the gas flow meter 55; the three-way liquid flow meter circuit interface 623 is connected to the liquid flow meter 57; the power supply circuit interface 624 is connected to the external 24V power supply 612, and the 24V power supply 611 is powered on by the PBS-11 switch 613;

[0051] The relay 63 is fixed on the control circuit board 62, the common terminal of the relay 63 is connected to the positive electrode of the 24V power supply 611, and the normally closed contact of the relay 63 is connected to the negative electrode of the 24V power supply 611;

[0052] The single-chip microcomputer 64 is fixed on the control circuit board 62. The power pin of the single-chip microcomputer 64 is powered by a 5V power supply 612. The power pin of the single-chip microcomputer is built-in on the control circuit board, which is equivalent to directly powering the single-chip microcomputer when it is plugged in. The programming control pin of the single-chip microcomputer 64 is externally connected to the DAP simulation processor.

[0053] The inertial sensor 65 is fixed on the bottom end plate of the cabin arranged on either side, the inertial sensor 65 is connected to an independent power supply, and an SD card is embedded on the upper end of the inertial sensor 65. The inertial sensor is a measurement system independent of the single-chip microcomputer and is integrated.

[0054] like Fig. 9 As shown, the high-speed camera 7 is located in the underwater sliding mechanism, and is used to shoot the floating body's floating posture and the gas-liquid coupling picture; the high-speed camera 7 includes a first water depth high-speed camera 71, a second water depth high-speed camera 72 and a third water depth high-speed camera 73; the first water depth high-speed camera 71, the second water depth high-speed camera 72 and the third water depth high-speed camera 73 are arranged one meter apart in sequence;

[0055] The camera frame 8 is located on one side of the bracket and is used to fix the high-speed camera and move the high-speed camera. The camera frame 8 includes a horizontal beam II 81, a vertical pole II 82, a camera waterproof shell 83 and a pulley 84; the horizontal beam II 81 is located at the bottom and acts as a support platform; the vertical pole II 82 is vertically connected to the horizontal beam II 81; a fixed ring is provided on the outside of the camera waterproof shell 83, and the first water depth high-speed camera 71, the second water depth high-speed camera 72 and the third water depth high-speed camera 73 are respectively fixed at different water depths by steel cables; the pulley 84 is located at the top and bottom of the vertical pole II 82, and the height adjustment of each camera can be achieved through the pulley and the steel cable, thereby greatly improving the coverage rate of the camera. The waterproof shell adopts a cylindrical transparent acrylic plate, and there is a transparent bottom plate in the cylinder. The camera is placed on the bottom plate, which ensures the safety of the high-speed camera working underwater. The three high-speed cameras work simultaneously to shoot the whole process of the floating body floating up, which effectively improves the completion of the experiment.

[0056] The working method of the single-chip microcomputer to measure and read the floating data is mainly the program part, which uses the C language programming software called keil5. The program is divided into two parts, namely the program control system and the measurement system. The working process of the program control system is: through the DAP simulation processor, the control code is programmed into the internal RAM of the single-chip microcomputer CPU using the software, and the time-controlled relay is connected to control the solenoid valve circuit to power on. When the main switch circuit is powered on, the relay receives the delay signal and opens the solenoid valves on both sides at the same time at the specified time.

[0057] The working process of the program measurement system is: the working method of the single-chip microcomputer to measure and read the floating data, which is mainly the program part, using the C language programming software called keil5. The program is divided into two parts, namely control and measurement through the DAP simulation processor, and the recording code is compiled into the single-chip microcomputer program storage by using the software. When the relay receives the delayed signal and controls the solenoid valve to open after a period of time, the variables and calculation results are stored in the single-chip microcomputer data storage through the ten-way input interface. When the floating body floats to the surface, the data is read after the power is cut off to complete the measurement of relevant variables in a round of blowing and floating process.

[0058] This embodiment can overcome the difficulty of controlling the underwater variable buoyancy floating movement. The float clamping device is used to release the float. After the release, the solenoid valve switch is controlled to open for blowing, so as to observe the posture, speed and acceleration of the float during the blowing and floating process; the pressure reducing valve can control the output pressure as needed, and then explore the relationship between the blowing pressure and the lifting speed of the floating body; the floating body blowing and floating and the floating body variable speed floating experiments are realized, which solves the problem that the current hydrodynamic analysis of the floating body blowing and floating is in the numerical simulation stage. Compared with the existing technology, the complete process of the floating body underwater blowing and floating is studied comprehensively.

[0059] Embodiment 2:

[0060] On the basis of the first embodiment, in order to solve the problem that the air supply system is placed outside the floating body in the prior art, interfering with the floating body's floating movement, the air supply system and the collection system are uniformly installed inside the floating body, such as Figure 4-Figure 6 As shown, the floating body of the present invention further includes a fixed ballast 43, a vent hole 411 is provided at the top center of the middle ballast water tank 41, and two first and second split holes 414 are provided at the upper and lower parts of the bulkheads on both sides of the non-center line of the middle ballast water tank 41;

[0061] Device arrangement cabins 42 are symmetrically arranged on both sides of the intermediate ballast water tank 41. The device arrangement cabins 42 are dry layers, and the inner sides are open and connected to the two side walls of the intermediate ballast water tank 41. Two second two-part holes 423 are arranged in the horizontal direction on the outer circular bulkheads of the device arrangement cabins 42 on both sides. A horizontal glass end plate 421 is arranged at the bottom end of the device arrangement cabin 42, and two right-angle iron plates 422 are arranged on both sides of the bottom of the device arrangement cabin 42; the fixed ballast 43 is externally arranged on the circular wall of the device arrangement cabin 42 in the form of a circular tube.

[0062] The pressure sensor 56 includes a pipeline pressure sensor 561, a cabin pressure sensor 562 and a water depth pressure sensor.

[0063] The pipeline pressure sensor 561 is connected to the bottom of the two-way three-way pipeline 5152; the cabin pressure sensor 562 includes an upper cabin pressure sensor 5621 and a lower cabin pressure sensor 5622, the upper cabin pressure sensor 5621 is connected to the first two-way holes 414 on the upper part of the bulkhead on both sides of the non-center line of the intermediate ballast water tank 41, and the lower cabin pressure sensor 5622 is connected to the first two-way holes 414 on the lower part of the bulkhead on both sides of the non-center line of the intermediate ballast water tank 41; there is one water depth pressure sensor, which is connected to the second two-way hole 423 on the inner side of the circular bulkhead on the outer side of the device arrangement cabin 42 on both sides; the outer second two-way hole 423 is used to pass the wire of the liquid flow meter, and the external liquid flow meter passes the wire into the side cabin containing the circuit board.

[0064] This application installs the air supply system and the collection system in a unified manner inside the float, and designs a reasonable underwater data collection system with no wire connection and complete symmetry on both sides (there are air pumps and the same measuring devices on both sides, one is to compare the data of the two pipelines themselves, and the other is to maintain balance), which ensures the interference-free and stable floating process.

[0065] Embodiment three:

[0066] On the basis of the second embodiment, in order to solve the technical problem that the internal space of the floating body is small and the measurement and control system is relatively complex, it is difficult to fully connect multiple devices such as the solenoid valve, the pressure reducing valve, the gas flow meter, and the pressure sensor to the pipeline.

[0067] The floating body floating device 5 of the present invention also includes a connecting pipeline 51; the connecting pipeline 51 (a general term for all pipelines) includes a high-pressure gas tank charging pipeline 511, a high-pressure gas tank and solenoid valve connecting pipeline 512, a solenoid valve and a pressure reducing valve connecting pipeline 513, a pressure reducing valve and a gas flow meter connecting pipeline 514, and a gas flow meter and a gas blowing hole on both sides of the bulkhead of the upper part of the intermediate ballast water tank connecting pipeline 515;

[0068] The two ends of the high-pressure gas tank inflation pipe 511 are respectively connected to the outer vent hole of the high-pressure gas tank 52 and the inflation pipe. Specifically, the outer vent hole is connected to the two-way ball valve 5111, the two-way ball valve 5111 is connected to the quick connector 5112, and the quick connector 5112 is connected to the inflation pipe. When inflation is needed, the bulkhead is directly opened, the inflation pipe is inserted into the quick connector 5112, and the two-way ball valve 5111 is closed after inflation is completed. The inflation pipe is connected to the inflation pump. The inflation pipe and the inflation pump are external devices and are only used when inflating before entering the water, so they are not shown in the drawings.

[0069] The outer vent hole and the inner vent hole above the high-pressure gas tank 52 are closed with a two-part plugging cap, and the bottom of the high-pressure gas tank 52 is fixed to the horizontal glass end plate 421 by bolts;

[0070] The high-pressure gas tank and solenoid valve connecting pipe 512 connects the upper inner vent hole of the high-pressure gas tank 52 and the air inlet hole of the solenoid valve 53. Specifically, the upper inner vent hole is connected to the two-branch external wire pipe I5121, the corresponding two-branch external wire pipe I5121 is connected to the corresponding two-branch elbow I5122, the two-branch elbow I5122 is connected to the two-branch transfer pipe I5123, and the two-branch transfer pipe I5123 is connected to the air inlet hole of the solenoid valve 53;

[0071] The electromagnetic valve and pressure reducing valve connecting pipe 513 connects the air outlet of the electromagnetic valve 53 and the air inlet of the pressure reducing valve 54. Specifically, the air outlet of the electromagnetic valve 53 is connected to the two-branch transfer pipe II 5131, the two-branch transfer pipe II 5131 is connected to the corresponding two-branch elbow II 5132, the two-branch elbow II 5132 is connected to the two-branch external wire pipe II 5133, and the two-branch external wire pipe II 5133 is connected to the air inlet of the pressure reducing valve 54;

[0072] The pressure reducing valve and the gas flow meter connecting pipe 514 connect the air outlet of the pressure reducing valve 54 and the air inlet of the gas flow meter 55. Specifically, the air outlet of the pressure reducing valve 54 is connected to the lower two-division ferrule 5141, the lower two-division ferrule 5141 is connected to the upper two-division ferrule 5143 through a straight pipe 5142 with an outer diameter of 10 mm, the upper two-division ferrule 5143 is connected to the corresponding two-division elbow III5144, the two-division elbow III5144 is connected to the corresponding two-division transfer pipe III5145, the two-division transfer pipe III5145 is connected to the corresponding three-division transfer pipe I5146, and the three-division transfer pipe I5146 is connected to the air inlet of the gas flow meter 55; the pressure reducing valve and the liquid flow meter are connected through two elbows, and the two elbows are connected by a ferrule, which is easy to install and smoothly solves the installation problem of the pipeline.

[0073] The gas flow meter is connected to the blowing holes of the bulkheads on both sides of the upper part of the intermediate ballast water tank through the pipe 515, and the outlet of the gas flow meter 55 is connected to the blowing holes 412 of the bulkheads on both sides of the upper part of the intermediate ballast water tank 41. Specifically, the outlet of the gas flow meter 55 is connected to the corresponding three-way transfer pipe II 5151, the three-way transfer pipe II 5151 is connected to the two-way three-way pipe 5152, the two-way three-way pipe 5152 is connected to the two-way transfer pipe IV 5153, and the two-way transfer pipe IV 5153 is connected to the blowing holes 412 of the bulkheads on both sides of the upper part of the intermediate ballast water tank 41.

[0074] like Figure 1-Figure 9 As shown, the working principle and process of the present invention are:

[0075] Turn on the PBS-11 switch 613, and the relay 63 receives the delayed power-on signal for 20 minutes. Connect the inflation pipe to the inflation pump to inflate the high-pressure gas tank. After the inflation is completed, close the ball valve, seal the outer bulkheads of the two device arrangement chambers 42, control the electromagnet 34 to be energized, install the floating body 4 on the electromagnet 34 of the floating body clamping device 3, and deploy the deployment bracket 2 to the designated position through the external lifting equipment. Control the electromagnet 34 to be de-energized, and the electromagnet loses its magnetic attraction to the floating body 4. After the time is reached, the entire circuit is energized. All measuring equipment starts working, the solenoid valve 53 is powered on and normally open, high-pressure air is released from the high-pressure gas tank 52, and blown out from the upper blowing hole 412 of the intermediate ballast water compartment 41 through the pressure reducing valve 54, and water is discharged from the bottom drain hole 413 of the intermediate ballast water compartment 41. The floating body 4 tends to float up. After the floating body 4 completes the floating process and stabilizes near the water surface, the floating body 4 is retrieved and the outer hatches of the device layout compartment 42 on both sides are opened to read the data information stored in the single-chip computer 64 and the inertial sensor 65.

Claims

1. A floating body blowing and floating experimental device, characterized in that: It includes a deployment bracket, a floating body clamping device, a floating body, a floating body floating device and a floating measurement and control system; The deployment bracket is arranged in the pool; The floating body clamping device is arranged at the bottom of the deployment bracket, and the floating body clamping device includes an electromagnet for clamping and releasing the floating body; The floating body is controlled to be clamped or released by the electromagnet of the floating body clamping device, and is controlled to float up by the floating body floating device after being released; the floating body includes a middle ballast water compartment and device arrangement compartments arranged symmetrically on both sides; two blowing holes are arranged on the bulkheads on both sides of the upper part of the middle ballast water compartment; a plurality of drainage holes are arranged at the bottom of the middle ballast water compartment; The floating body floating device is located inside the floating body and is used to control the exhaust of the high-pressure gas tank; the floating body floating device includes a high-pressure gas tank, a solenoid valve and a pressure reducing valve; The floating measurement and control system is located inside the floating body and is used to record the pipeline flow rate and the floating posture and movement speed of the floating body; the floating measurement and control system includes a gas flow meter and a liquid flow meter; The air vent on the outside of the high-pressure gas tank is connected to the inflation pipe; the inner air vent above the high-pressure gas tank is connected to the air inlet of the solenoid valve; the air outlet of the solenoid valve is connected to the air inlet of the pressure reducing valve; the air outlet of the pressure reducing valve is connected to the air inlet of the gas flow meter; the air outlet of the gas flow meter is connected to the blowing holes on the bulkheads on both sides of the upper part of the intermediate ballast water compartment; the drainage holes along the transverse center line at the bottom of the intermediate ballast water compartment are respectively provided with corresponding liquid flow meters.

2. The floating body blowing and floating experimental device according to claim 1 is characterized in that: The deployment support comprises a horizontal beam I, a vertical pole I, a bracket and a diagonal beam; The vertical pole I is vertically connected to the horizontal beam I; the bracket is located at the connection between the horizontal beam I and the vertical pole I; the two ends of the inclined beam are respectively connected to one end of the horizontal beam I and the midpoint of the vertical pole I.

3. The floating body blowing and floating experimental device according to claim 2 is characterized in that: The floating body clamping device also includes a support side beam, a support middle beam and two support end plates; The two support end plates are fixed in sequence on one side of the horizontal beam I for placing the bracket; the support side beam and the support middle beam are arranged between the two support end plates; and corresponding electromagnets are arranged on the two support end plates.

4. The floating body blowing and floating experimental device according to claim 3 is characterized in that: The floating measurement and control system also includes a power supply, a control circuit board, a relay, a single-chip microcomputer and an inertial sensor; The power supply includes a 24V power supply, a 5V power supply and a PBS-11 switch; The control circuit board is electrically connected to the pressure sensor, the gas flow meter, the liquid flow meter, and the 24V power supply respectively, and the 24V power supply is powered on by the PBS-11 switch control; The relay and the single chip microcomputer are both mounted on a control circuit board, and the relay is electrically connected to a 24V power supply; The single-chip microcomputer power supply pin is powered by a 5V power supply alone, and the single-chip microcomputer programming control pin is externally connected to a DAP simulation processor; The inertial sensor is fixed on the bottom end plate of the device arrangement cabin on either side, the inertial sensor is connected to an independent power supply, and an SD card is embedded on the upper end of the inertial sensor.

5. The floating body blowing and floating experimental device according to claim 4 is characterized in that: It also includes fixed ballast; The fixed ballast is externally mounted on the circular wall of the device arrangement chamber in the form of a circular tube; An exhaust hole is provided at the center of the top of the intermediate ballast water tank, and two first and second divided holes are provided at the upper and lower parts of the bulkheads on both sides of the non-center line of the intermediate ballast water tank; The device arrangement cabin is a dry layer, the inner side is open and connected to the two side walls of the middle ballast water tank, the outer circular bulkhead of the device arrangement cabin is provided with two second two-divided holes in the transverse direction, the bottom end of the interior of the device arrangement cabin is provided with a horizontal glass end plate, and two right-angle iron plates are provided on both sides of the bottom of the device arrangement cabin.

6. The floating body blowing and floating experimental device according to claim 5 is characterized in that: The floating measurement and control system also includes a pressure sensor, which includes a pipeline pressure sensor, a cabin pressure sensor and a water depth pressure sensor; A two-way three-way pipe is arranged in the device arrangement cabin, and the pipe pressure sensor is installed on the two-way three-way pipe; the cabin pressure sensor includes an upper cabin pressure sensor and a lower cabin pressure sensor, the upper cabin pressure sensor is connected to the first two-way hole on the upper part of the bulkhead on both sides of the non-center line of the middle ballast water compartment, and the lower cabin pressure sensor is connected to the first two-way hole on the lower part of the bulkhead on both sides of the non-center line of the middle ballast water compartment; the water depth pressure sensor is connected to the second two-way hole on the outer circular bulkhead of the device arrangement cabin on both sides.

7. The floating body blowing and floating experimental device according to claim 6 is characterized in that: Also included are high-speed cameras and camera frames; The high-speed cameras include a first water depth high-speed camera, a second water depth high-speed camera and a third water depth high-speed camera; The camera frame is located on one side of the deployment bracket, and the camera frame includes a horizontal beam II, a vertical pole II, a camera waterproof housing and two pulleys. The first water depth high-speed camera, the second water depth high-speed camera and the third water depth high-speed camera are all covered with camera waterproof housings; The vertical pole II is vertically connected to the horizontal beam II; a fixed ring is provided on the outside of the camera waterproof housing, two pulleys are respectively located at the top and bottom ends of the vertical pole II, and steel cables are respectively connected to the pulleys and the fixed rings. By pulling the steel cables, the first water depth high-speed camera, the second water depth high-speed camera and the third water depth high-speed camera are adjusted to different water depths.

8. A measurement and control method for the floating body blowing and floating experimental device according to claim 7, characterized in that: The measurement and control method comprises the following steps: S1: Turn on the PBS-11 switch, and the relay receives the delayed power-on signal for 20 minutes. Connect the inflation pipe to the inflation pump to inflate the high-pressure gas tank. After the inflation is completed, close the ball valve, seal the outer bulkhead of the device arrangement compartment on both sides, control the electromagnet to energize, and install the float on the electromagnet of the float clamping device; S2: The deployment bracket is deployed to the designated position by the lifting equipment, and the electromagnet is controlled to be powered off, and the electromagnet loses its magnetic attraction to the floating body. When the time is reached, the whole circuit is powered on, and all measuring equipment starts to work. The solenoid valve is powered on and normally open, and high-pressure air is released from the high-pressure gas tank, and blown out from the blowing hole on the upper side of the middle ballast water tank through the pressure reducing valve, and the water is discharged from the drainage hole at the bottom of the middle ballast water tank; S3: After the floating body completes the floating process and stabilizes near the water surface, the floating body is retrieved and the outer hatches of the device arrangement cabin on both sides are opened to read the data information stored in the single-chip microcomputer and the inertial sensor.

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