Multifunctional underwater intelligent equipment experiment test platform

Abstract

The invention discloses a multifunctional underwater intelligent equipment experimental test platform, and relates to the technical field of marine infrastructure and marine ranch auxiliary equipment, and the experimental test platform comprises an intelligent water tank, a netting hanging mechanism, a robot hoisting system and a control display system. According to the invention, the system can meet the requirements for the early-stage functions of autonomous navigation, net-sticking walking, net cleaning, fish school monitoring and the like of underwater equipment such as a net cleaning robot and a net inspection robot, so that the system can complete the net cleaning function verification test, net-sticking walking test, cleaning effect test and the like of the net cleaning robot; secondly, testing of the autonomous navigation function of the netting cleaning robot can be completed; and finally, the fish school and netting monitoring function of the netting inspection robot is verified and tested.

Description

Technical Field

[0001] The present application relates to the technical field of marine infrastructure and marine ranch auxiliary equipment, and in particular to a multifunctional underwater intelligent equipment experimental testing platform. Background Art

[0002] At present, net cleaning robots and net inspection robots are important equipment in the field of marine ranching. They can effectively improve the real-time performance of net cleaning and inspection, reduce the labor intensity of farmers, significantly reduce labor costs, and improve the safety of deep-sea aquaculture. However, the research and development of net cleaning robots and net inspection robots requires a road test platform. At present, there is no relevant experimental test platform for the test and verification of net robots to promote the development of this field.

[0003] The current testing and verification platforms for offshore engineering equipment include the underwater / marine robot experimental platform of the Shenyang Automation Research Institute and the marine engineering pool and deep-sea experimental pool of Shanghai Jiaotong University. These are mainly designed for testing large offshore engineering equipment, and have the characteristics of large land area, large investment scale, and multifunctionality. However, there is currently a lack of low-cost, miniaturized underwater professional testing platforms that can simulate the net mounting method, ocean current speed and direction to meet the testing and verification needs of net cleaning and net inspection robots. Based on this technical gap, this application designs a multifunctional underwater intelligent equipment experimental testing platform to solve the above problems. Summary of the invention

[0004] The purpose of this application is to provide a multifunctional underwater intelligent equipment experimental testing platform to solve the current problem of lack of a low-cost, miniaturized underwater professional testing platform that can simulate the net mounting method, ocean current speed and direction for the testing and verification needs of net cleaning and net inspection robots.

[0005] The multifunctional underwater intelligent equipment experimental test platform provided in this application adopts the following technical solutions: A multifunctional underwater intelligent equipment experimental test platform, including an intelligent water tank, a net hanging mechanism, a robot hoisting system, and a control and display system; The smart water tank comprises a water tank body, and a sensor system and a wave-making system are arranged inside the water tank body. The sensor system and the wave-making system cooperate with each other to simulate the underwater environment and monitor the underwater equipment, and the sensor system and the wave-making system are respectively connected to the control and display system; The net hanging mechanism comprises support frames symmetrically arranged on both sides of the water tank body, a net support is arranged between the tops of the two support frames, a net hanging support is arranged on the inner side of the net support, a net is arranged at the bottom of the net hanging support, a weight is arranged at the bottom of the net, and the net and the weight are both located in the water tank body; The robot lifting system includes a load-bearing truss arranged on the outside of the water tank body, longitudinal trusses are symmetrically arranged on both sides of the top of the load-bearing truss, a transverse truss is slidably arranged between the tops of the two longitudinal trusses, truss moving components are respectively arranged between the two longitudinal trusses and the two ends of the transverse trusses, and a lifting system is also arranged at the bottom of the transverse truss, the output end of the lifting system is connected to a lifting rope connected to the underwater equipment, and the truss moving component and the lifting system are respectively connected to the control and display system.

[0006] Furthermore, the sensor system includes a camera matrix, an exposure light matrix and a sonar system, and the camera matrix, the exposure light matrix and the sonar system are respectively arranged on the inner side of the water tank body through fasteners, and the camera matrix, the exposure light matrix and the sonar system are respectively connected to the control and display system.

[0007] Furthermore, the camera matrix includes a plurality of underwater cameras, and each of the plurality of underwater cameras is provided with a camera rotating table; the exposure light matrix includes a plurality of underwater exposure lights, and each of the plurality of underwater exposure lights is provided with an exposure light rotating table; the sonar system includes a sonar sensor, and a sonar rotating table is provided on the sonar sensor.

[0008] Furthermore, the wave-making system includes a thruster matrix, which is composed of a plurality of underwater thrusters, which are respectively arranged on the inner side of the water tank body, and are simultaneously connected to the control and display system.

[0009] Furthermore, the net hanging bracket is detachably arranged on the inner side of the net clothing bracket.

[0010] Furthermore, the support frame includes bottom support frames symmetrically arranged on both sides of the water tank body, vertical support frames are symmetrically arranged on the top of the two bottom support frames, the net clothing bracket is arranged on the top of several of the vertical support frames, and the bottom end of the bottom support frame is also provided with a universal wheel.

[0011] Furthermore, the truss moving assembly includes a longitudinal rack arranged on the top of the longitudinal truss, one end of the transverse truss is provided with a forward and backward moving motor, and the output end of the forward and backward moving motor is provided with a longitudinal gear meshing with the longitudinal rack.

[0012] Furthermore, the lifting system includes a guide rail arranged at the bottom of the transverse truss, a base is slidably arranged at the bottom of the guide rail, a left and right moving motor is arranged on one side of the base, a transverse gear is arranged at the output end of the left and right moving motor, and a transverse rack meshing with the transverse gear is also arranged at the bottom of the transverse truss, and a lifting and telescopic assembly connected to the lifting rope is also arranged at the bottom of the base.

[0013] Furthermore, the lifting and telescopic assembly includes a lifting and telescopic motor arranged at the bottom of the base, the output end of the lifting and telescopic motor is provided with a winding drum, a telescopic rope is wound in the winding drum, and the lifting rope is connected to the telescopic rope.

[0014] Furthermore, a force sensor is also provided on the base, and the force sensor cooperates with the retractable rope to measure the gravity and underwater motion force of the underwater equipment.

[0015] Compared with the prior art, the beneficial effects of this application are: By setting up a test platform that cooperates with an intelligent water tank, a net hanging mechanism, a robot hoisting system, and a control and display system, it is possible to meet the early requirements of the functions of autonomous navigation, net-sticking walking, net cleaning, and fish school monitoring of underwater equipment such as net cleaning robots and net inspection robots, so that this application can complete the net cleaning robot's net washing function verification test, net sticking walking test, cleaning effect test, etc.; secondly, it can complete the test of the net cleaning robot's autonomous navigation function; and finally, it can realize the verification and test of the net inspection robot's fish school and net monitoring function. In addition, the experimental test platform designed by this application also has the characteristics of miniaturization, specialization, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the multifunctional underwater intelligent equipment experimental test platform of the embodiment of the present application.

[0017] Figure 2 It is a structural schematic diagram of the intelligent water tank of an embodiment of the present application.

[0018] Figure 3 yes Figure 2 Top view of .

[0019] Figure 4 It is a structural schematic diagram of the net hanging mechanism of the net clothing embodiment of the present application.

[0020] Figure 5 It is a schematic diagram of the structure of the robot lifting system of the embodiment of the present application.

[0021] Figure 6 It is a schematic diagram of the structure of the truss moving group according to an embodiment of the present application.

[0022] Figure 7 It is a schematic diagram of the structure of the lifting system and force sensor of the embodiment of the present application.

[0023] Figure 8 It is a structural schematic diagram of the lifting and telescopic assembly of an embodiment of the present application.

[0024] Description of reference numerals: 1. Intelligent water tank; 11. Water tank body; 12. Thruster matrix; 13. Camera matrix; 14. Exposure light matrix; 15. Sound horn sensor; 2. Net hanging mechanism; 21. Support frame; 211. Bottom support frame; 212. Vertical support frame; 213. Universal wheel; 22. Net bracket; 23. Net hanging bracket; 24. Net; 25. Load; 3. Robot lifting system; 31. Load-bearing truss; 32. Longitudinal truss; 33. Transverse truss; 34. Truss moving assembly; 341. Longitudinal rack; 342. Forward and backward moving motor; 343. Longitudinal gear; 35. Lifting system; 351. Guide rail; 352. Base; 353. Left and right moving motor; 354. Transverse gear; 355. Transverse rack; 356. Lifting and retracting motor; 357. Cable reel; 358. Retractable rope; 36. Lifting rope; 4. Force sensor. DETAILED DESCRIPTION

[0025] The following is combined with Figure 1-8 This application is described in further detail.

[0026] The present application discloses a multifunctional underwater intelligent equipment experimental test platform. Figure 1 In this embodiment, the multifunctional underwater intelligent equipment experimental test platform includes an intelligent water tank 1, a net hanging mechanism 2, a robot hoisting system 3 and a control display system. The intelligent water tank 1 is mainly installed on the ground, and the intelligent water tank 1 is mainly used to simulate the marine environment and observe the movement direction, distance, speed and posture of the underwater equipment, so as to facilitate quantitative testing of the underwater equipment.

[0027] At the same time, the net hanging mechanism 2 is placed on the intelligent water tank 1, and the net hanging mechanism 2 is mainly used to simulate the real net hanging method in the marine environment and simulate the floating state of the net, providing a real working environment for equipment such as net cleaning robots; secondly, sensors can be arranged according to needs to realize underwater autonomous navigation, inspection and other functions of the equipment.

[0028] In addition, the robot hoisting system 3 is placed on the net hanging mechanism 2, and the robot hoisting system 3 is mainly used to simulate the hoisting of marine equipment, realize the hoisting and launching operation of intelligent equipment and the perception of the force of underwater equipment. The control and display system is electrically connected to the intelligent water tank 1 and the robot hoisting system 3 at the same time, so as to realize effective control of the intelligent water tank 1 and the robot hoisting system 3; and can also display corresponding data and images.

[0029] Therefore, by setting up a test platform in which the intelligent water tank 1, the net hanging mechanism 2, the robot hoisting system 3 and the control display system cooperate with each other, it is possible to meet the early requirements of the functions of autonomous navigation, net-sticking walking, net cleaning, and fish school monitoring of underwater equipment such as net cleaning robots and net inspection robots, so that this application can complete the net cleaning robot's net washing function verification test, net-sticking walking test, cleaning effect test, etc.; secondly, it can complete the test of the net cleaning robot's autonomous navigation function; and finally, it can realize the verification and test of the net inspection robot's fish school and net monitoring functions. In addition, the experimental test platform designed by this application also has the characteristics of miniaturization, specialization, and low cost.

[0030] The structures of the intelligent water tank 1, the net hanging mechanism 2, the robot hoisting system 3 and the control and display system are described in detail below: Specifically, refer to Figure 1-Figure 3 In this embodiment, the intelligent water tank 1 includes a water tank body 11, a sensor system and a wave-making system. The water tank body 11 is a 5x5x4m box, and the water tank body 11 is mainly used to contain seawater; the sensor system and the wave-making system are respectively installed on the inner side of the water tank body 11, and the sensor system and the wave-making system cooperate with each other to simulate the underwater environment and monitor the underwater equipment. At the same time, the sensor system and the wave-making system are respectively electrically connected to the control display system, so that the control display system controls the sensor system and the wave-making system respectively.

[0031] More specifically, refer to Figure 2 and Figure 3 In this embodiment, the wave-making system includes a propeller matrix 12, which is composed of a plurality of underwater propellers, which are respectively installed on the inner side of the water tank body 11. The setting of these underwater propellers is mainly used to simulate the speed and direction of ocean currents; and these underwater propellers are electrically connected to the control and display system at the same time to realize the execution of controlling these underwater propellers.

[0032] In this embodiment, the underwater thrusters are divided into three groups, each group has 12; the three groups of underwater thrusters are arranged on three surfaces inside the water tank body 11, specifically the side, front and back of the water tank body 11. At the same time, the speed of each underwater thruster can be controlled individually, and the underwater thrusters can be controlled in combination according to different needs, so as to produce different types of ocean currents.

[0033] More specifically, refer to Figure 2 and Figure 3 In this embodiment, the sensor system includes a camera matrix 13, an exposure light matrix 14, and a sonar system. The camera matrix 13, the exposure light matrix 14, and the sonar system are respectively mounted on the inner side of the water tank body 11 through fasteners, and the camera matrix 13, the exposure light matrix 14, and the sonar system are respectively electrically connected to the control and display system. Specifically, the fasteners are a plurality of stainless steel screws, which are evenly arranged at intervals of 1 m on the inner surface of the water tank body 11. The arrangement of the stainless steel screws mainly facilitates the arrangement and installation of the camera matrix 13, the exposure light matrix 14, and the sonar system.

[0034] At the same time, refer to Figure 2 and Figure 3 In this embodiment, the camera matrix 13 includes a plurality of underwater cameras, each of which is equipped with a camera rotating platform, so that the underwater cameras are rotatably installed on the inner surface of the water tank body 11 through the camera rotating platform, so as to monitor the operating status of the underwater equipment. And the underwater cameras are electrically connected to the control display system to realize the display for the underwater cameras.

[0035] Specifically, the underwater cameras are mainly arranged in the center of the underwater thrusters, arranged diagonally, and arranged on only three surfaces. At the same time, the camera rotating platforms each include two servos, so that two degrees of freedom can be controlled, that is, up and down pitch and left and right yaw control can be achieved.

[0036] In addition, refer to Figure 2 and Figure 3 In this embodiment, the exposure lamp matrix 14 includes a plurality of underwater exposure lamps, each of which is equipped with an exposure lamp rotating platform, so that the underwater exposure lamps are rotatably installed on the inner surface of the water tank body 11 through the exposure lamp rotating platform to expose the underwater equipment. The underwater exposure lamps are electrically connected to the control and display system to realize the control of the underwater exposure lamps.

[0037] Specifically, the installation method of the underwater exposure lights is similar to that of the underwater cameras, and the underwater exposure lights are mainly installed in the underwater thrusters and arranged diagonally; at the same time, the underwater exposure lights are all high-power spotlights, and two high-power spotlights are arranged on the three sides of the water tank body 11, respectively, wherein each high-power spotlight is installed on an exposure light rotating platform, and the exposure light rotating platforms each include two servos, which can realize the control of two degrees of freedom, thereby realizing the up and down pitch and left and right deflection control, and then the underwater equipment can be exposed according to different needs, so as to improve the visibility of the underwater equipment.

[0038] In addition, refer to Figure 2 and Figure 3 In this embodiment, the sonar system includes a sonar sensor 15, on which a sonar rotating platform is installed, and the sonar sensor 15 is rotatably installed at the center of the inner side of the water tank body 11 through the sonar rotating platform. The sonar sensor 15 is electrically connected to the control display system to realize the display of the sonar sensor 15 and the arrangement of related algorithms.

[0039] Specifically, the sonar sensor 15 is installed on a sonar rotating platform, and the sonar rotating platform has only one servo that swings up and down, which can realize the fine up and down swing of the sonar sensor 15; at the same time, combined with auxiliary objects such as the reflector and underwater camera on the net 24 and the three-dimensional construction algorithm, it is possible to realize the construction and implementation of the three-dimensional model of the net 24; therefore, the present application can realize the measurement of the floating speed and direction of the net 24 through the sensor system. To be specific: the three-dimensional construction algorithm recorded above draws on the working principle of 3D laser radar, mainly adopts the time of flight method, uses the sonar sensor 15 to measure the distance of the reflector in real time, combines the deflection angle of the pitch servo, and then unifies the distance of the reflector into a coordinate system, and finally forms a point cloud map.

[0040] Specifically, refer to Figure 1 and Figure 4 In this embodiment, the net hanging mechanism 2 includes a support frame 21, a net support 22, a net hanging support 23, a net 24 and a weight 25. There are two support frames 21, and the two support frames 21 are symmetrically placed on the outside of the two sides of the water tank body 11; the net support 22 is installed between the tops of the two support frames 21; the net hanging support 23 is installed at the inner middle part of the net support 22; the net 24 is installed at the bottom of the net hanging support 23, and the net 24 is a real gravity net 24, so that the net hanging support 23 is used to fix the gravity net 24.

[0041] In addition, a quick installation structure is designed on the net clothing bracket 22, and the structure is a thread locking structure, which is mainly used to lock the net hanging bracket 23 to improve the stability of the net hanging bracket 23.

[0042] There are a plurality of weights 25 , which are respectively installed at the bottom of the net 24 , and these weights 25 are the loads of the real gravity net 24 ; during the experimental test, the net 24 and the weights 25 are both located inside the water tank body 11 to simulate the real layout of the gravity net 24 and the floating state of the net 24 .

[0043] Preferably, in this embodiment, the support frame 21 includes bottom support frames 211 symmetrically placed on both sides of the water tank body 11, and vertical support frames 212 are symmetrically installed on the top of the two bottom support frames 211; and the net support 22 is installed on the top of these vertical support frames 212. In this way, by setting the structure of the vertical support frames 212 and the net support 22, a stable support can be provided for the net 24, thereby achieving a stable installation and support effect of the net 24.

[0044] In addition, a plurality of universal wheels 213 are installed at the bottom ends of the two bottom support frames 211. The arrangement of the universal wheels 213 is mainly for the layout requirements of the position of the net 24, so that fine adjustment can be achieved. Secondly, in another embodiment, the net hanging bracket 23 is detachably installed on the inner side of the net rack 22, so that the net hanging bracket 23 can be easily removed from the net rack 22 to achieve replacement of the net hanging bracket 23. More specifically, the shape and structure of the net hanging bracket 23 can be adjusted according to the installation method of the net 24.

[0045] Specifically, refer to Figure 1 and Figure 5 In this embodiment, the robot hoisting system 3 includes a load-bearing truss 31, a longitudinal truss 32, a transverse truss 33, a truss moving assembly 34, a hoisting system 35, and a hoisting rope 36. The load-bearing truss 31 is stably placed on the outer sides of the water tank body 11; two longitudinal trusses 32 are provided, and the two longitudinal trusses 32 are symmetrically installed on both sides of the top of the load-bearing truss 31; and the two ends of the transverse truss 33 are respectively slidably installed between the tops of the two longitudinal trusses 32.

[0046] The truss moving assembly 34 is provided with two truss moving assemblies 34, which are respectively arranged between the two longitudinal trusses 32 and the two ends of the transverse trusses 33, so as to realize the forward or backward movement of the transverse trusses 33. The truss moving assembly 34 cooperates with the control display system, so that the control display system controls the truss moving assembly 34.

[0047] More specifically, refer to Figure 5 and Figure 6In this embodiment, the truss moving assembly 34 includes a longitudinal rack 341, a front-and-rear moving motor 342, and a longitudinal gear 343. The longitudinal rack 341 is mounted on the top of the longitudinal truss 32; the front-and-rear moving motor 342 is mounted at one end of the transverse truss 33; the longitudinal gear 343 is mounted on the output end of the front-and-rear moving motor 342, and the longitudinal gear 343 and the longitudinal rack 341 are meshed with each other.

[0048] When the forward and backward moving motor 342 is started, the output end of the forward and backward moving motor 342 drives the longitudinal gear 343 to rotate, and under the action of the mutual engagement of the longitudinal gear 343 and the longitudinal rack 341, the longitudinal gear 343 moves on the longitudinal rack 341, so that the two ends of the transverse truss 33 move forward or backward on the top of the two longitudinal trusses 32, thereby facilitating the forward and backward transportation of the underwater equipment.

[0049] Meanwhile, in this embodiment, the hoisting system 35 is arranged at the bottom of the transverse truss 33, and when the transverse truss 33 realizes forward and backward movement, it can drive the hoisting system 35 to move forward and backward; and the hoisting system 35 cooperates with the control display system, so that the control display system controls the hoisting system 35. One end of the hoisting rope 36 is connected to the output end of the hoisting system 35, and the other end of the hoisting rope 36 is connected to the underwater equipment; under the action of the hoisting system 35, not only can the underwater equipment on the hoisting rope 36 be controlled to move left and right, but also can be controlled to move up and down.

[0050] More specifically, refer to Figure 7 and Figure 8 In this embodiment, the hoisting system 35 includes a guide rail 351, a base 352, a left-right moving motor 353, a transverse gear 354, a transverse rack 355, and a lifting and telescopic assembly. The guide rail 351 is installed at the bottom of the transverse truss 33; the base 352 is slidably installed at the bottom of the guide rail 351; the left-right moving motor 353 is installed at one side of the base 352; the transverse gear 354 is installed at the output end of the left-right moving motor 353; the transverse rack 355 is installed at the bottom of the transverse truss 33, the transverse rack 355 is located at one side of the guide rail 351, and the transverse rack 355 and the transverse gear 354 are meshed with each other.

[0051] When the left-right moving motor 353 is started, the output end of the left-right moving motor 353 drives the transverse gear 354 to rotate, and under the action of the mutual engagement of the transverse gear 354 and the transverse rack 355, the transverse gear 354 moves on the transverse rack 355, so that the base 352 moves left-right at the bottom of the guide rail 351, thereby facilitating the left-right transportation of the underwater equipment.

[0052] At the same time, the lifting and telescopic assembly is arranged at the bottom of the base 352, and the lifting and telescopic assembly is fixedly connected to one end of the lifting rope 36. Figure 1 In this embodiment, the lifting and telescopic assembly includes a lifting and telescopic motor 356, a cable drum 357, and a telescopic rope 358. The lifting and telescopic motor 356 is installed at the bottom of the base 352; the cable drum 357 is installed on the output end of the lifting and telescopic motor 356; the telescopic rope 358 is wound inside the cable drum 357, and the telescopic rope 358 is fixedly connected to the hoisting rope 36.

[0053] When the lifting and telescopic motor 356 is started, the output end of the lifting and telescopic motor 356 drives the winding drum 357 to rotate, so that the telescopic rope 358 can achieve the effect of unwinding or winding in the winding drum 357, thereby driving the underwater equipment to be lifted up and down through the lifting rope 36, thereby realizing the lifting function of the underwater equipment.

[0054] In addition, in this embodiment, a force sensor 4 is also installed at the bottom of the base 352, and the force sensor 4 cooperates with the telescopic rope 358 to measure the gravity and underwater motion force of the underwater device. Specifically, the force sensor 4 is composed of a spring structure and a photoelectric encoder, etc.; wherein the spring structure cooperates with the telescopic rope 358; the photoelectric encoder is mainly used to measure the expansion and contraction amount of the spring to measure the force of the underwater device, thereby realizing the measurement of the gravity of the underwater device and the measurement of the underwater motion force, etc.

[0055] Secondly, in this embodiment, the control display system includes a controller and a display screen. Specifically, the controller is used to control the execution of the thruster matrix 12, the deflection of the camera matrix 13, the deflection and brightness of the exposure light matrix 14, and the up and down scanning of the sonar system, and then display these data and images on the display screen to facilitate the experimenter to watch and operate the operation. At the same time, the controller also cooperates with the force sensor 4 to display the measurement data of the gravity and underwater motion force of the underwater equipment through the display screen.

[0056] In addition, the controller can also control the opening and closing of the forward and backward moving motor 342, the left and right moving motor 353 and the lifting and telescopic motor 356, so as to effectively control the movement of the underwater equipment, thereby improving the degree of automation of the entire experimental test platform.

[0057] Therefore, the experimental test platform of the present application, by setting up a test platform in which an intelligent water tank 1, a net hanging mechanism 2, a robot hoisting system 3 and a control display system cooperate with each other, can meet the early requirements of autonomous navigation, net-sticking walking, net 24 cleaning, fish school monitoring and other functions of underwater equipment such as net cleaning robots and net inspection robots, so that the present application can complete the net cleaning robot's net washing function verification test, net sticking walking test, cleaning effect test, etc.; secondly, it can complete the test of the net cleaning robot's autonomous navigation function; finally, it can realize the verification and testing of the net inspection robot's fish school and net 24 monitoring functions.

[0058] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multifunctional underwater intelligent equipment experimental test platform, characterized by: It comprises an intelligent water tank (1), a net hanging mechanism (2), a robot hoisting system (3) and a control display system; The intelligent water tank (1) comprises a water tank body (11), the inner side of which is provided with a sensor system and a wave-making system, the sensor system and the wave-making system cooperate to simulate an underwater environment and monitor underwater equipment, and the sensor system and the wave-making system are respectively connected to the control and display system; The net hanging mechanism (2) comprises support frames (21) symmetrically arranged on both sides of the water tank body (11); a net support (22) is arranged between the tops of the two support frames (21); a net hanging support (23) is arranged on the inner side of the net support (22); a net (24) is arranged at the bottom of the net hanging support (23); a weight (25) is arranged at the bottom of the net (24); and the net (24) and the weight (25) are both located inside the water tank body (11); The robot hoisting system (3) comprises a load-bearing truss (31) arranged outside the water tank body (11), longitudinal trusses (32) are symmetrically arranged on both sides of the top of the load-bearing truss (31), a transverse truss (33) is slidably arranged between the tops of the two longitudinal trusses (32), a truss moving assembly (34) is respectively arranged between the two longitudinal trusses (32) and the two ends of the transverse truss (33), a hoisting system (35) is also arranged at the bottom of the transverse truss (33), the output end of the hoisting system (35) is connected to a hoisting rope (36) connected to the underwater equipment, and the truss moving assembly (34) and the hoisting system (35) are respectively connected to the control and display system.

2. A multifunctional underwater intelligent equipment experimental test platform according to claim 1, characterized in that: The sensor system comprises a camera matrix (13), an exposure light matrix (14) and a sonar system. The camera matrix (13), the exposure light matrix (14) and the sonar system are respectively arranged on the inner side surface of the water tank body (11) through fasteners, and the camera matrix (13), the exposure light matrix (14) and the sonar system are respectively connected to the control and display system.

3. A multifunctional underwater intelligent equipment experimental test platform according to claim 2, characterized in that: The camera matrix (13) includes a plurality of underwater cameras, each of which is provided with a camera rotating platform; the exposure light matrix (14) includes a plurality of underwater exposure lights, each of which is provided with an exposure light rotating platform; the sonar system includes a sonar sensor (15), and a sonar rotating platform is provided on the sonar sensor (15).

4. A multifunctional underwater intelligent equipment experimental test platform according to claim 2, characterized in that: The wave-making system comprises a propeller matrix (12), wherein the propeller matrix (12) is composed of a plurality of underwater propellers, wherein the plurality of underwater propellers are respectively arranged on the inner side surface of the water tank body (11), and the plurality of underwater propellers are simultaneously connected to the control and display system.

5. The multifunctional underwater intelligent equipment experimental test platform according to claim 1 is characterized by: The net hanging bracket (23) is detachably arranged on the inner side of the net clothing bracket (22).

6. A multifunctional underwater intelligent equipment experimental test platform according to claim 5, characterized in that: The support frame (21) comprises bottom support frames (211) symmetrically arranged on both sides of the water tank body (11), vertical support frames (212) are symmetrically arranged on the tops of the two bottom support frames (211), the net clothing support (22) is arranged on the tops of a plurality of the vertical support frames (212), and a universal wheel (213) is also arranged at the bottom end of the bottom support frame (211).

7. The multifunctional underwater intelligent equipment experimental test platform according to claim 1 is characterized by: The truss moving assembly (34) includes a longitudinal rack (341) arranged on the top of the longitudinal truss (32), and a forward and backward moving motor (342) is arranged at one end of the transverse truss (33), and the output end of the forward and backward moving motor (342) is provided with a longitudinal gear (343) meshing with the longitudinal rack (341).

8. The multifunctional underwater intelligent equipment experimental test platform according to claim 1 is characterized by: The hoisting system (35) comprises a guide rail (351) arranged at the bottom of the transverse truss (33); a base (352) is slidably arranged at the bottom of the guide rail (351); a left-right moving motor (353) is arranged on one side of the base (352); a transverse gear (354) is arranged at the output end of the left-right moving motor (353); a transverse rack (355) meshing with the transverse gear (354) is also arranged at the bottom of the transverse truss (33); and a lifting and telescopic assembly connected to the hoisting rope (36) is also arranged at the bottom of the base (352).

9. The multifunctional underwater intelligent equipment experimental test platform according to claim 8, characterized in that: The lifting and telescopic assembly comprises a lifting and telescopic motor (356) arranged at the bottom of the base (352); a winding drum (357) is arranged at the output end of the lifting and telescopic motor (356); a telescopic rope (358) is wound inside the winding drum (357); and the lifting rope (36) is connected to the telescopic rope (358).

10. A multifunctional underwater intelligent equipment experimental test platform according to claim 9, characterized in that: The base (352) is also provided with a force sensor (4), and the force sensor (4) cooperates with the retractable rope (358) to measure the gravity and underwater movement force of the underwater equipment.

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