Underwater vehicle collision test device and method in deepwater environment

Abstract

The invention discloses an underwater vehicle collision test device and method in a deepwater environment, relates to the technical field of underwater vehicles, and aims to solve the problem that an underwater vehicle-obstacle collision simulation process is difficult to reflect a real collision condition due to the fact that an existing numerical simulation mode is difficult to simulate a real deep sea environment. According to the device, a sensor and a mass block assembly are arranged in an underwater vehicle scale model, the underwater vehicle scale model and an obstacle are located in a water pool, a main body driving mechanism pulls the underwater vehicle scale model to move, and a main body carrying mechanism carries and adjusts the angle and height of the underwater vehicle scale model; the obstacle carrying mechanism clamps obstacles and adjusts the angles of the obstacles, and the top end of the obstacle carrying mechanism is installed on the fixed platform. The method comprises the following steps: adjusting the moving speed and angle of the scale model of the underwater vehicle and the angle of an obstacle, enabling the scale model of the underwater vehicle and the angle of the obstacle to collide according to the preset speed and angle, and collecting the acceleration and collision force data of the scale model of the underwater vehicle in the collision process.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles. Background Art

[0002] The complex shapes and distribution of obstacles in deep-sea environments, such as icebergs, floating platforms, large fish, and rock formations, not only provide good concealment conditions for underwater vehicles and significantly improve their stealth performance, but also pose great challenges to the safety and operation of underwater vehicles. The existence of these obstacles increases the risk of collision accidents for underwater vehicles and poses new challenges to the structural design and manufacturing of underwater vehicles.

[0003] At present, the research on underwater vehicle-obstacle collision in deep-water environment is still in its early stages. Since it is very difficult to collect and transport large underwater obstacles, and the interaction process with obstacles is extremely complex, the research on underwater vehicle-obstacle collision process in deep-water environment is mainly based on numerical simulation. However, numerical simulation is difficult to simulate the real deep-sea environment, and the results obtained are bound to have large errors compared with the underwater vehicle-obstacle collision process in the real deep-sea environment. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing numerical simulation method is difficult to simulate the real deep-sea environment, resulting in the simulated underwater vehicle-obstacle collision process being difficult to reflect the real collision process, and to provide an underwater vehicle collision test device and method in a deep-water environment.

[0005] The underwater vehicle collision test device in a deep water environment of the present invention comprises: a scaled model of an underwater vehicle, a main body carrying mechanism, a main body driving mechanism, an obstacle, a fixed platform, an obstacle carrying mechanism and a water pool;

[0006] A three-axis acceleration sensor, a three-axis force sensor, an inclination sensor and a mass block assembly are arranged inside the underwater vehicle scaled model. The three-axis acceleration sensor, the three-axis force sensor and the inclination sensor are respectively used to collect acceleration data, collision force data and posture data of the underwater vehicle scaled model during the collision test. The mass block assembly is used to simulate the weight distribution of the internal equipment of the vehicle. The underwater vehicle scaled model is located in the water pool. The main body driving mechanism is used to pull the underwater vehicle scaled model to move through the main body carrying mechanism. The main body carrying mechanism is used to adjust the angle and height of the underwater vehicle scaled model. The fixed platform fixes the obstacle in the water pool through the obstacle carrying mechanism. The obstacle carrying mechanism is used to clamp the obstacle and adjust the angle of the obstacle.

[0007] Optionally, the bow of the scaled model of the underwater vehicle is a semi-solid structure, and the non-solid part of the bow is arranged with a three-axis acceleration sensor and a three-axis force sensor, and the three-axis acceleration sensor and the three-axis force sensor are used to measure the acceleration and collision force of the bow during a collision, respectively.

[0008] Optionally, the middle section of the underwater vehicle scale model is a hollow shell structure, and a command room model, a circular hole, and a model and carrying mechanism connecting component are arranged on the outer side of the upper surface of the middle section, and the model and carrying mechanism connecting component is used to connect the main carrying mechanism, and the mass block assembly and a three-axis acceleration sensor for measuring the acceleration response of the mass block are arranged inside the middle section, and the signal lines / connecting lines of the three-axis acceleration sensor and the three-axis force sensor are derived through the circular hole.

[0009] Optionally, the main body carrying mechanism includes a support plate and an adjusting rod; the support plate is fixed on the main body driving mechanism, one end of the adjusting rod is connected to the support plate, and the other end is connected to the scaled model of the underwater vehicle.

[0010] Optionally, the adjusting rod member includes two adjusting rods, one end of the adjusting rod is provided with a plurality of fixing holes along the length direction of the adjusting rod, the adjusting rod is connected to the support plate by bolts passing through the fixing holes, and the other end of the adjusting rod is connected to the scaled model of the underwater vehicle.

[0011] Optionally, a guide rail is provided on the upper edge of the water pool, and the main body driving mechanism can move along the guide rail.

[0012] Optionally, the obstacle carrying mechanism includes a rotating component, a dial, a clamp locking component, a fastening clamp, a constraint frame and a constraint plate; the fastening clamp includes an upper fastening clamp and a lower fastening clamp, the upper fastening clamp and the lower fastening clamp are respectively located above and below the fixed platform, and are used to fix the obstacle carrying mechanism, the dial is fixed to the upper surface of the upper fastening clamp, the rotating component passes through the dial, the upper fastening clamp, the fixed platform, the lower fastening clamp, the clamp locking component and the top of the constraint frame from top to bottom, and the rotating component can drive the constraint frame to rotate, the clamp locking component is used to lock the constraint frame, the constraint plate is installed on the constraint frame, and the constraint plate and the constraint frame jointly fix the obstacle.

[0013] The underwater vehicle collision test method in a deep water environment based on the above device of the present invention comprises:

[0014] The moving speed and angle of the underwater vehicle scale model and the angle of the obstacle are adjusted so that the underwater vehicle scale model collides with the obstacle at a preset collision speed and collision angle, and the acceleration response data of the bow and the internal mass block of the underwater vehicle scale model and the collision force data on the bow of the underwater vehicle scale model are collected during the collision. Optionally, the angle of the underwater vehicle scale model is adjusted by adjusting the relative position of the adjustment rod and the support plate.

[0015] Optionally, after the angle adjustment of the obstacle is completed, the angle of the obstacle is fixed.

[0016] The underwater vehicle collision test device and method in a deep water environment of the present invention have the following beneficial effects:

[0017] (1) The above device has a compact and reasonable structure and is easy to operate. Through the cooperation between the underwater vehicle scale model, the main body carrying mechanism, the main body driving mechanism and other components, the underwater vehicle scale model can be easily moved forward at different angles and speeds. The obstacle carrying mechanism can realize angle setting and fixed constraints on obstacles, thereby realizing the whole process simulation of the underwater vehicle and its equipment-obstacle collision interaction;

[0018] (2) The above device can adjust the relative position between the scaled model of the underwater vehicle and the obstacle, so as to simulate the different collision positions of large obstacles in deep water environment. It can not only reduce the size of obstacles and reduce the dependence of the test on large water tanks, but also more realistically simulate the interaction process between the underwater vehicle and the obstacle.

[0019] (3) The above device can adjust the inclination angle and speed of the underwater vehicle, and can be used to study the impact of changes in the two key parameters of inclination angle and speed on the interaction load and contact response between the structure and obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the three-dimensional structure of an underwater vehicle collision test device in a deep water environment according to an embodiment of the present application;

[0021] Figure 2 yes Figure 1 a front view of the device shown;

[0022] Figure 3 yes Figure 1 a top view of the device shown;

[0023] Figure 4 A schematic diagram of the external structure of a scaled model of an underwater vehicle according to an embodiment of the present application;

[0024] Figure 5A perspective view of a scaled model of an underwater vehicle according to an embodiment of the present application;

[0025] Figure 6 It is a schematic diagram of the structure of a water pool according to an embodiment of the present application, wherein 801 represents water in the water pool, and 803 represents a water pool wall;

[0026] Figure 7 This is a schematic diagram of the structure of the main driving mechanism of an embodiment of the present application;

[0027] Figure 8 This is a schematic structural diagram of the main body mounting mechanism of an embodiment of the present application;

[0028] Fig. 9 A schematic diagram of the structure of a fixed platform according to an embodiment of the present application;

[0029] Fig.10 This is a schematic diagram of the structure of the obstacle carrying mechanism of an embodiment of the present application;

[0030] Fig.11 It is a schematic structural diagram of the rotating component of an embodiment of the present application. DETAILED DESCRIPTION

[0031] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0032] As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions, or operations is inherently mutually exclusive in some way.

[0033] In view of the problem that the existing numerical simulation methods are difficult to simulate the real deep-sea environment, resulting in the problem that the simulated underwater vehicle-obstacle collision process is difficult to reflect the real collision process, the present invention provides an underwater vehicle collision test device and method in a deep-water environment, which can more realistically simulate the collision process between an underwater vehicle and an obstacle in a deep-sea environment, and the obtained data can also more realistically reflect the force conditions of the underwater vehicle during the collision process between the underwater vehicle and the obstacle in the deep-sea environment.

[0034] Figure 1 is a schematic structural diagram of an underwater vehicle collision test device in a deep water environment according to an embodiment of the present application, Figure 2 and Figure 3 They are Figure 1 Front view and top view.

[0035] like Figures 1 to 3 As shown, the underwater vehicle collision test device in a deep water environment of an embodiment of the present application includes an underwater vehicle scale model 1, a main body carrying mechanism 2, a main body driving mechanism 3, a fixed platform 4, an obstacle carrying mechanism 5, an obstacle 6, a data collector 7, and a water pool 8.

[0036] A three-axis acceleration sensor, a three-axis force sensor and a mass block are provided inside the underwater vehicle scaled model 1. The three-axis acceleration sensor and the three-axis force sensor are used to collect acceleration data and collision force data of the underwater vehicle scaled model 1 during the collision between the underwater vehicle scaled model 1 and the obstacle 6, and transmit the collected data to the data collector 7.

[0037] The main driving mechanism 3 is used to pull the underwater vehicle scale model 1 to perform linear motion. The main driving mechanism 3 is located above the pool 8, such as Figure 1 As shown, in the embodiment of the present application, the water pool 8 is a rectangular parallelepiped, and the two sides of the main driving mechanism 3 are respectively located at two opposite upper edges of the water pool 8, and the main driving mechanism 3 can move along the upper edge of the water pool 8.

[0038] One end of the main body carrying mechanism 2 is fixed on the main body driving mechanism 3, and the other end is located in the underwater vehicle scaled model 1 and connected to the underwater vehicle scaled model 1. The main body driving mechanism 3 can adjust the pitch angle and height of the underwater vehicle scaled model 1.

[0039] The obstacle 6 is arranged at the far end position of the movement direction of the underwater vehicle scale model 1. Specifically, the two sides of the fixed platform 4 are installed at two opposite upper edges of the pool 8, one end of the obstacle carrying mechanism 5 is installed on the fixed platform 4, and the other end is located in the pool 8 and is installed with the obstacle 6. The obstacle carrying mechanism 5 can adjust the angle of the obstacle 6 in the horizontal direction.

[0040] like Figure 4As shown, the external structure of the underwater vehicle scale model 1 is the same as that of the underwater vehicle, and is divided into a bow 101, a middle section 104, and a tail 108. Figure 5 As shown, the bow 101 is a semi-solid structure. Specifically, the front end of the bow 101 is a solid structure, and the rear end is a hollow structure. The solid part can prevent collision damage and ensure the repeatability of the test. Figure 5 As shown, the hollow part at the rear end of the bow 101 is built with a first three-dimensional acceleration sensor 109 and a three-dimensional force sensor 110, wherein the three-dimensional force sensor 110 is fixed by a force sensor fixing component 111, and the two sensors can collect acceleration data and collision force data of the bow 101 during the collision. The bow 101 and the middle section 104 are connected by a bow middle connecting component 102. A command room 103 is provided on the upper surface of the middle section 104 near the bow 101, and two model and carrying mechanism connecting components 106 are provided on the upper surface of the middle section 104 near the tail 108. The model and carrying mechanism connecting components 106 are used to connect the underwater vehicle scaled model 1 and the main body carrying mechanism. A bearing bottom plate 112 is arranged near the tail inside the middle section 104. The bearing bottom plate 112 is used to carry the inclination sensor 113 and the base 115. The inclination sensor 113 can monitor the attitude change of the underwater vehicle scale model 1 in real time during the test and accurately measure the inclination angle of the underwater vehicle scale model 1 relative to the horizontal plane. A mass block 114 is fixed on the base 115 to simulate the equipment and weight distribution inside the actual underwater vehicle. The second three-axis acceleration sensor 116 is arranged on the mass block 114 to measure the acceleration data of the mass block 114 during the collision. A circular hole 105 is opened on the upper surface of the middle section. The leads (and connecting wires) of the first three-axis acceleration sensor 109, the second three-axis acceleration sensor 116, the inclination sensor 113 and the three-axis force sensor 110 can be led out through the circular hole 105 and connected to the external data collector 7. A rubber waterproof sealing ring 107 is provided at the connection portion between the middle section 104 and the tail section 108 to seal the internal space of the underwater vehicle scale model 1 .

[0041] In one implementation, two opposite upper edges of the pool 8 are provided with guide rails 802, such as Figure 6 The main driving mechanism 3 includes a driving vehicle body 301, as shown in FIG. Figure 7 As shown, the driving vehicle body 301 is a rectangular frame, and guide wheels 304 are arranged on a set of opposite sides of the rectangular frame. The guide wheels 304 can drive the main driving mechanism 3 to move along the guide rail 802 of the pool 8. The moving speed is 0 to 2.5 m / s, the accuracy can reach 0.01 m / s, and the movable range is 0 to 15 m.

[0042] A traction rope connection mechanism 302 is provided on the other opposite sides of the rectangular frame for connecting the traction rope. Two parallel cross beams are provided in the middle of the main driving mechanism 3, and bolt holes 303 are provided on the cross beams. The main carrying mechanism 2 includes a support plate and an adjusting rod, such as Figure 8 The support plate includes an upper support plate 201 and two lower support plates 204. The upper support plate 201 and the two lower support plates 204 are also provided with bolt holes, and the upper support plate 201 and the two lower support plates 204 are arranged in parallel. The two cross beams of the main driving mechanism 3 are located between the upper support plate 201 and the two lower support plates 204. The bolts pass through the lower support plates 204, the cross beams and the upper support plate 201 in sequence to fix the main carrying mechanism 2 on the main driving mechanism 3. The adjusting rod member includes two adjusting rods 205 parallel to each other. A series of positioning holes 203 arranged along the length direction of the adjusting rod are set on the adjusting rod 205 from the top to the bottom. The adjusting rod 205 passes through the upper support plate 201, and the adjusting rod 205 is fixed to the upper support plate 201 through a connecting member 202. Specifically, the connecting member 202 can be L-shaped, one side of which is fixed to the upper support plate 201 by bolts, and the other side is fixed to the adjusting rod 205 by bolts 202 passing through the positioning holes 203, thereby fixing the position of the adjusting rod 205 in the vertical direction, while constraining the translational and rotational freedom of the rod member. A constraint component 206 is also provided between the two adjustment rods 205, and the two ends of the constraint component 206 are rotatably connected to the two adjustment rods 205, respectively. When performing a collision test, the bolts fixing the connecting member 202 and the adjustment rod 205 can be removed, and the position of any one of the adjustment rods 205 in the vertical direction can be adjusted (i.e., the connection hole position of the adjusting member 202 and the adjustment rod 205 can be adjusted), and the connecting member 202 and the adjustment rod 205 can be re-bolted to achieve the adjustment of the pitch angle of the underwater vehicle scale model 1. By adjusting the positions of the two adjustment rods 205 in the vertical direction, the depth of the underwater vehicle scale model 1 in the pool 8 can be adjusted. The bottom ends of the two adjustment rods 205 are provided with hinges 207, which are respectively used to connect the two models of the underwater vehicle scale model 1 and the carrying mechanism connecting component 106. The connection method of the hinge 207 can not only allow the adjustment of the pitch angle of the underwater vehicle scale model 1, but also constrain the translational freedom of the vehicle model.

[0043] The fixed platform 4 includes a fixed platform body 401 and fixed structures 402 located on both sides of the fixed platform body 401. The fixed structure 402 is provided with fixed holes, such as Fig. 9 As shown, the fixing structure 402 is fixed to the edge of the pool 8, for example, fixed to the guide rail 802 of the pool 8, and the position of the fixing platform 4 is constrained by locking the bolts in the fixing holes. Fig.10As shown, the obstacle carrying mechanism 5 includes a rotating component 501, a dial 502, a fastening clamp 503, a clamp locking component 504, a constraint frame 505 and a constraint plate 506. Among them, there are two fastening clamps 503, namely an upper fastening clamp and a lower fastening clamp, and the dial 502 is fixed on the upper surface of the upper fastening clamp, and the upper fastening clamp and the lower fastening clamp are respectively located above and below the fixed platform 4, and the upper fastening clamp and the lower fastening clamp are fixed by bolts. The rotating component 501 passes through the dial 502, the upper fastening clamp, the fixed platform 4, the lower fastening clamp, the clamp locking component 504 and the top of the constraint frame 505 from top to bottom, and the rotating component 501 can drive the constraint frame 505 to rotate, and the rotation angle can be read through the dial 502, and the dial 502 can display an angle adjustment range of ±60°. After the rotation angle is adjusted, the clamp locking component 504 can be used to lock the constraint frame 505 to prevent relative rotation between the constraint frame 505 and the rotating component 501. The constraint plate 506 is installed in the middle and lower part of the constraint frame 505. The constraint frame 505 is provided with clamp bolts at intervals of 7.5 cm. Together with the constraint plate 506, it can be used to achieve a fine change in the vertical position of the obstacle 6 to prevent the obstacle 6 from being displaced after being hit during the test.

[0044] Specifically, the obstacle carrying mechanism 5 can be adopted Fig.11 The structure shown. Fig.11As shown, the rotating part 501 is realized by a bolt 5011, and an adjusting round rod 5012 is arranged on the top of the bolt 5011 to cross the bolt, and the bolt 5011 can be rotated by rotating the adjusting round rod 5012. The middle part of the bolt 5011 is not threaded, and the tail part is provided with a thread, and the diameter of the middle part is slightly larger than the diameter of the tail part. An upper locking nut 5013 is arranged at the connection between the middle part and the tail part, and the upper locking nut 5013 is used to lock the position of the fastening clamping plate 503 in the vertical direction, so as to lock the angle of the bolt 5011. In order to make the force of the upper locking nut 5013 on the fastening clamping plate 503 act on the edge of the fastening clamping plate 503 and prevent the fastening clamping plate 503 from being deformed, a supporting structure 5017 can also be added between the fastening clamping plate 503 and the upper locking nut 5013, and the upper locking nut 5013 acts on the middle position of the bottom of the supporting structure 5017, and the supporting structure 5017 acts on the edge position of the fastening clamping plate 503. A connecting component 5014 is installed at the tail of the bolt 5011. The connecting component is a tubular structure with a top extending outward. A thread is arranged inside the tube and is fixed to the tail of the bolt 5011 through a threaded sleeve. The tubular structure passes through the top of the restraining frame 505. In order to increase the action area between the outer extension of the tubular structure and the restraining frame 505, a fastening clamp 5015 can be arranged on the upper and lower surfaces of the top of the restraining frame 505 respectively. The outer extension of the tubular structure, the two fastening clamps 5015, and the restraining frame 505 are fixed by bolts. A lower locking nut 5016 is arranged at the top of the outer extension of the tubular structure. The lower locking nut 5016 is used to lock the position of the tubular structure in the vertical direction.

[0045] The embodiment of the present application also provides a method for underwater vehicle collision test in deep water environment based on the underwater vehicle collision test device in deep water environment, the method is as follows: according to the test requirements, the depth, angle and moving speed of the underwater vehicle scale model 1 and the angle of the obstacle 6 are adjusted, so that the underwater vehicle scale model 1 collides with the obstacle 6 at a preset underwater depth and at a preset collision speed and collision angle. The angle of the underwater vehicle scale model 1 refers to the pitch angle, which can be adjusted by changing the fixing hole positions of the two adjustment rods 205 and the connecting member 202. The angle of the obstacle 6 refers to the angle of the obstacle 6 in the horizontal direction, which can be adjusted by rotating the rotating component 501. Next, during the collision process, the acceleration, collision force, and inclination angle data of the underwater vehicle scale model 1 are collected by the data collector 7, wherein the acceleration includes the acceleration of the mid-section mass block 114 of the bow 101, and the collision force refers to the collision force borne by the bow 101. The collected acceleration, collision force and posture data are analyzed to obtain the force conditions of the underwater vehicle scale model 1 when it collides with obstacles in different environments, at different speeds and angles, as well as the stability and motion state of the underwater vehicle scale model 1 under different collision conditions.

[0046] Usually, the collision test needs to be carried out multiple times to obtain the acceleration and collision force data of the underwater vehicle scale model 1 at different collision speeds and collision angles.

[0047] In addition, in order to simulate the deep water environment more realistically, a disturbance device can be set in the pool 8. The disturbance device is used to disturb the water in a certain direction to generate waves on the water surface. The embodiment of the present application does not limit the specific structure of the disturbance device.

[0048] In one implementation, after the angle adjustment of the obstacle 6 is completed, the clamp locking component 504 is locked to fix the angle of the obstacle 6. This type of obstacle 6 can be used to simulate a large obstacle in a deep water environment.

[0049] In another implementation, after the angle adjustment of the obstacle 6 is completed, the clamp locking component 504 is appropriately adjusted to change the angle of the obstacle 6 during the collision process. This type of obstacle 6 can be used to simulate small and medium-sized obstacles in a deep water environment.

Claims

1. A collision test device for underwater vehicles in a deep water environment, characterized in that: include: A scaled model of an underwater vehicle, a main body carrying mechanism, a main body driving mechanism, obstacles, a fixed platform, an obstacle carrying mechanism, and a water tank; A three-axis acceleration sensor, a three-axis force sensor, an inclination sensor and a mass block assembly are arranged inside the underwater vehicle scaled model. The three-axis acceleration sensor, the three-axis force sensor and the inclination sensor are used to collect acceleration data, collision force data and posture data of the underwater vehicle scaled model during the collision test, respectively. The mass block assembly is used to simulate the weight distribution of the internal equipment of the vehicle. The underwater vehicle scaled model is located in the water pool. The main body driving mechanism is used to pull the underwater vehicle scaled model to move through the main body carrying mechanism. The main body carrying mechanism is used to adjust the angle and height of the underwater vehicle scaled model. The fixed platform fixes the obstacle in the pool through the obstacle carrying mechanism, and the obstacle carrying mechanism is used to clamp the obstacle and adjust the angle of the obstacle.

2. The device according to claim 1, characterized in that The bow of the scaled model of the underwater vehicle is a semi-solid structure, and the non-solid part of the bow is arranged with a three-axis acceleration sensor and a three-axis force sensor, which are used to measure the acceleration and collision force of the bow during a collision, respectively.

3. The device according to claim 1, characterized in that: The middle section of the underwater vehicle scale model is a hollow shell structure, and a command room model, a circular hole, and a model and carrying mechanism connecting component are arranged on the outer side of the upper surface of the middle section. The model and carrying mechanism connecting component is used to connect the main carrying mechanism. The mass block assembly, a three-axis acceleration sensor for measuring the acceleration response of the mass block, and an inclination sensor for measuring the posture of the underwater vehicle scale model are arranged inside the middle section, and the signal lines / connecting lines of the three-axis acceleration sensor, the three-axis force sensor, and the inclination sensor are led out through the circular hole.

4. The device according to any one of claims 1 to 3, characterized in that: The main body carrying mechanism includes a support plate and an adjusting rod; the support plate is fixed on the main body driving mechanism, one end of the adjusting rod is connected to the support plate, and the other end is connected to the scaled model of the underwater vehicle.

5. The device according to claim 4, characterized in that: The adjusting rod member includes two adjusting rods, one end of which is provided with a plurality of fixing holes along the length direction of the adjusting rod, the adjusting rod is connected to the support plate by bolts passing through the fixing holes, and the other end of the adjusting rod is connected to the scaled model of the underwater vehicle.

6. The device according to claim 1, characterized in that: The upper edge of the pool is provided with a guide rail, and the main body driving mechanism can move along the guide rail.

7. The device according to claim 1, characterized in that: The obstacle carrying mechanism includes a rotating component, a dial, a clamp locking component, a fastening clamp, a constraint frame and a constraint plate; the fastening clamp includes an upper fastening clamp and a lower fastening clamp, the upper fastening clamp and the lower fastening clamp are respectively located above and below the fixed platform, and are used to fix the obstacle carrying mechanism, the dial is fixed to the upper surface of the upper fastening clamp, the rotating component passes through the dial, the upper fastening clamp, the fixed platform, the lower fastening clamp, the clamp locking component and the top of the constraint frame from top to bottom, and the rotating component can drive the constraint frame to rotate, the clamp locking component is used to lock the constraint frame, the constraint plate is installed on the constraint frame, and the constraint plate and the constraint frame jointly fix the obstacle.

8. A method for underwater vehicle collision test in a deep water environment based on the device according to any one of claims 1 to 7, characterized in that: include: The moving speed and angle of the underwater vehicle scale model and the angle of the obstacle are adjusted so that the underwater vehicle scale model collides with the obstacle at a preset collision speed and collision angle, and during the collision process, the acceleration response data and collision force data of the bow of the underwater vehicle scale model, the acceleration response data of the mass block, and the posture data of the underwater vehicle scale model are collected.

9. The method according to claim 8, characterized in that The angle of the underwater vehicle scale model is adjusted by adjusting the relative position of the adjusting rod and the supporting plate.

10. The method according to claim 8 or 9, characterized in that After the angle adjustment of the obstacle is completed, the angle of the obstacle is fixed.

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