Depth-keeping sailing pool test method for underwater vehicle

Abstract

The invention relates to a depth-keeping sailing pool test method for an underwater vehicle, and belongs to the technical field of underwater vehicle pool tests. The underwater vehicle depth-keeping sailing pool test method comprises the following steps: placing a lifting platform in a pool, and submerging the lifting platform to a preset depth; the underwater vehicle is installed in the testing device, and the testing device is hoisted by using the hoisting mechanism, so that the testing device dives into water and is placed on the lifting platform; the height of the lifting platform and the height of the testing device are adjusted, so that the underwater vehicle, the testing device and the lifting platform dive synchronously until the underwater vehicle is located at the underwater set depth; enabling the underwater vehicle to carry out in-situ fixed-depth navigation at a set depth under the constraint effect of the testing device; the height of the lifting platform is adjusted, so that the underwater vehicle sails at fixed depth in situ at different set depths; and recording the actual movement condition of the underwater vehicle, and comparing the actual movement condition of the underwater vehicle with the theoretical movement condition of the underwater vehicle to judge whether the depth-keeping navigation performance of the underwater vehicle meets the requirement or not.

Description

Technical Field

[0001] The invention belongs to the technical field of submersible tank testing, and in particular relates to a method for testing a submersible tank for constant-depth navigation. Background Art

[0002] In the field of ocean exploration and development, submersibles play a vital role. The performance test of submersibles is a key link to ensure their safe and efficient operation in complex marine environments, and the tank test is an important preliminary step in the performance test of submersibles.

[0003] The depth-fixing navigation function of the submersible is an important function of the submersible. It can help the submersible to stably reach a specific ocean depth area, obtain diverse sample data such as seawater, organisms, and seabed geology, and also enable the submersible to explore and evaluate deep-sea oil and gas, combustible ice and other resources at a predetermined depth. In addition, the submersible can also perform inspection tasks of underwater infrastructure such as submarine cables and pipelines.

[0004] When a submersible conducts a depth-keeping navigation test in a pool, due to the limited depth of the pool, the submersible is easily affected by various factors such as water flow disturbance and the stability of the equipment itself during the depth-keeping navigation process, which may not only cause damage to the shell and internal precision equipment of the submersible, increasing the maintenance cost and time cost, but also seriously interfere with the accuracy of the test data. In addition, the submersible navigation test has high requirements for the site of the test pool, especially for large submersibles, which require a large enough pool space to simulate its navigation trajectory in the ocean, which undoubtedly increases the cost and difficulty of the submersible pool test.

[0005] Therefore, designing a fixed-depth navigation tank test method that can ensure the safety of the submersible during the tank test and / or reduce the submersible's requirements for the tank test site is of great significance for the tank test of the submersible. Summary of the invention

[0006] In view of the deficiencies existing in the related art, the present invention provides a method for testing a submersible in a constant-depth navigation tank, so as to simplify the method for testing a submersible in a constant-depth navigation tank, reduce the test site, and improve the accuracy of the test results.

[0007] The present invention provides a method for testing a submersible in a fixed-depth navigation tank, comprising the following steps:

[0008] Place the lifting platform in the pool and dive it to a preset depth;

[0009] Install the submersible in the test device, use the lifting mechanism to lift the test device down, and place the test device on the lifting platform;

[0010] Adjust the height of the lifting platform and the height of the test device, so that the submersible, the test device and the lifting platform dive synchronously until the submersible is at a set depth underwater; make the submersible navigate at the set depth in situ under the restraint of the test device;

[0011] Adjust the height of the lifting platform to enable the submersible to navigate at a fixed depth in situ at different set depths;

[0012] The actual movement of the submersible is recorded, and compared with the theoretical movement of the submersible to determine whether the depth-keeping navigation performance of the submersible meets the requirements.

[0013] The technical solution is to install the submersible in a test device so as to protect the submersible with the test device to avoid collision with other parts during the test of the submersible; the test device can also restrain the submersible so that the submersible moves in situ, thereby reducing the space required for the submersible to navigate at a constant depth; a lifting platform is provided so that the test device is placed on the lifting platform so that the lifting platform provides support for the test device, thereby increasing the stability of the submersible's navigation at a constant depth in situ; and the actual movement of the submersible is recorded and compared with the theoretical movement to evaluate the depth-keeping navigation performance of the submersible and determine whether it meets the design requirements.

[0014] In some of the embodiments, the submersible includes a vertical rudder and a horizontal rudder, the vertical rudder is located at the tail of the submersible, and the horizontal rudder is located at the head or tail of the submersible; the test device is installed with a camera device, which is arranged on the test device and close to the tail of the submersible to record the movement of the vertical rudder and the horizontal rudder.

[0015] In some of the embodiments, the submersible navigates at a constant depth according to a preset route, the preset route includes a first preset segment and a second preset segment, the first preset segment and the second preset segment are adjacent, and the second preset segment is located behind the first preset route; the first preset segment and the second preset segment have different navigation directions, and the same navigation speed and navigation depth; after the submersible finishes navigating the first preset segment, when the submersible enters the second preset segment, the movement state of the vertical rudder is recorded to determine whether the vertical rudder automatically adjusts the vertical rudder angle.

[0016] In some of the embodiments, after completing the navigation along the preset route, the navigation control unit of the submersible sends a command to the jettisoning device of the submersible to determine whether the jettisoning device performs the jettisoning action, so as to test the performance of the jettisoning device.

[0017] In some of the embodiments, before the performance test of the jettison device, the vertical rudder and the horizontal rudder are reset to zero; after the performance test of the jettison device is completed, the hoisting mechanism hoists the test device upward, and the lifting platform and the test device move upward synchronously; during the upward movement of the test device, the horizontal rudder and the vertical rudder remain unchanged.

[0018] In some of the embodiments, the submersible further includes a propeller, which is located at the tail of the submersible; the submersible is enabled to perform depth-keeping navigation along the same preset section at different speeds, and the motion state of the submersible is recorded to evaluate the depth-keeping navigation performance of the submersible at different speeds.

[0019] In some of the embodiments, after recording the actual movement of the submersible while navigating at a first set depth, the height of the lifting platform is adjusted so that the submersible is located at a second set depth underwater, and the submersible continues to navigate at the second set depth in situ; the actual movement of the submersible while navigating at the second set depth underwater is recorded and compared with the theoretical movement of the submersible while navigating at the second set depth underwater.

[0020] In some of the embodiments, the transition process of the submersible from constant depth navigation at a first set underwater depth to constant depth navigation at a second set underwater depth is recorded, and the movement state of the horizontal rudder is recorded to determine whether the horizontal rudder automatically adjusts the horizontal rudder angle.

[0021] In some of the embodiments, the testing device includes a frame, a support member and a locking member. The support member is disposed in the frame to support the submersible. The locking member is detachably connected to the top of the support member to lock and fix the submersible. The locking member and the support member are arranged relative to each other in the vertical direction.

[0022] In some embodiments, the support member includes an elastic support member and a rigid support member. Two elastic support members are provided, and the two elastic support members are respectively provided at the two ends of the length direction of the submersible for supporting the two ends of the submersible; the rigid support member is provided between the two elastic support members for supporting the middle part of the submersible.

[0023] Based on the above technical solution, the method for the submersible fixed depth navigation tank test in the embodiment of the present invention performs a fixed depth navigation test on the submersible in the tank at the actual depth of the submersible, and the test result is highly accurate; the submersible can also be protected to ensure the safety of the submersible during the test. The requirements for the site of the submersible tank test can also be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 It is a structural schematic diagram of an embodiment of a submersible fixed-depth navigation tank test method of the present invention, in which a submersible is installed in a test device and the test device is placed on a lifting platform;

[0026] Figure 2 It is a schematic diagram of the structure in which a submersible is installed on a test device in one embodiment of a submersible fixed depth navigation tank test method of the present invention;

[0027] Figure 3 It is a structural schematic diagram of another angle when a submersible is installed on a test device in one embodiment of a submersible fixed depth navigation tank test method of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of a test device in one embodiment of a submersible constant depth navigation tank test method of the present invention.

[0029] In the figure:

[0030] 1. Submersible; 2. Test equipment; 3. Lifting platform; 4. Camera equipment;

[0031] 11. Vertical rudder; 12. Horizontal rudder; 13. Propeller; 14. Navigation control unit; 15. Load dumping device;

[0032] 21. Frame; 22. Rigid support member; 23. Elastic support member; 24. Locking member. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0035] The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] As attached Figure 1 As shown, in an exemplary embodiment of the submersible constant depth navigation tank test method of the present invention, the submersible constant depth navigation tank test method includes the following steps:

[0038] Place the lifting platform 3 in the pool and submerge the lifting platform 3 to a preset depth;

[0039] The submersible 1 is installed in the test device 2, and the test device 2 is hoisted by a hoisting mechanism, so that the test device is submerged underwater and placed on the lifting platform 3;

[0040] Adjust the height of the lifting platform 3 and the height of the test device 2, so that the submersible 1, the test device 2 and the lifting platform 3 dive synchronously until the submersible 1 is located at a set depth underwater; and make the submersible 1 navigate at the set depth in situ under the restraint of the test device 2;

[0041] The height of the lifting platform 3 is adjusted so that the submersible 1 can navigate at a fixed depth in situ at different set depths;

[0042] The actual movement of the submersible 1 is recorded, and the actual movement of the submersible 1 is compared with the theoretical movement of the submersible 1 to determine whether the depth-fixing navigation performance of the submersible 1 meets the requirements.

[0043] The above-mentioned submersible constant depth navigation tank test method is to install the submersible 1 in the test device 2 so as to use the test device 2 to protect the submersible 1, avoid collision between the submersible 1 and other components during the test, and ensure the safety of the submersible 1 during the test; and the submersible 1 is installed in the test device 2 so that the test device 2 can restrain the submersible 1 and make the submersible 1 move in situ, thereby reducing the space required for the submersible 1 to perform the constant depth navigation test; by providing the lifting platform 3, the test device 2 is placed on the lifting platform 3, so that the lifting platform 3 provides support for the test device 2, thereby increasing the stability of the submersible 1 in situ constant depth navigation; by comparing the actual movement of the submersible 1 with the theoretical movement, the depth navigation performance of the submersible 1 is evaluated to determine whether it meets the design requirements.

[0044] It should be noted that when the submersible 1 is performing depth navigation in the water pool, in order to ensure the accuracy of the test results, the submersible 1 is usually made to perform depth navigation at multiple depths. Since the submersible 1 cannot actively adjust the depth under the action of the test device 2, in the present invention, the height of the lifting platform 3 is adjusted so that the submersible 1 can perform depth navigation at different depths in the water pool, which is convenient for testing.

[0045] It should also be noted that before the water tank test of the submersible 1, multiple depths are preset. During the test, the height of the lifting platform 3 and the order of height changes of the lifting platform 3 are set in a one-to-one correspondence with the multiple preset depths.

[0046] The above-mentioned submersible depth-keeping navigation tank test method also includes the following steps: after recording the actual movement of the submersible 1 at the first set depth, adjusting the height of the lifting platform 3 so that the submersible 1 is located at the second set depth underwater, and allowing the submersible 1 to continue to perform depth-keeping navigation in situ at the second set depth underwater; recording the actual movement of the submersible 1 at the second set depth underwater, and comparing it with the theoretical movement of the submersible 1 at the second set depth underwater.

[0047] It should be noted that the lifting platform 3 can be a connecting plate hoisted by ropes, and the connecting plate can be lifted or lowered by winding or releasing the ropes, thereby changing the height of the connecting plate. The lifting platform 3 belongs to the prior art and will not be described in detail here.

[0048] In the depth-keeping navigation experiment of the submersible 1, the submersible 1 is made to navigate at a first set depth and then at a second set depth. The depth-keeping navigation performance of the submersible 1 is evaluated based on the test results of the two depth-keeping navigations to increase the accuracy of the test results of the submersible 1.

[0049] The two ends of the length direction of the submersible 1 correspond to the head and tail of the submersible 1. When the submersible 1 is sailing, the head of the submersible 1 is located at the front end of the motion trajectory of the submersible 1, and the tail of the submersible 1 is located at the rear end of the motion trajectory of the submersible 1.

[0050] like Figure 2 and Figure 3 As shown, the submersible 1 includes a vertical rudder 11 and a horizontal rudder 12. The vertical rudder 11 is installed at the tail of the submersible 1 to control the heading of the submersible 1; the horizontal rudder 12 is usually installed at the front or tail of the submersible 1 to control the pitch attitude of the submersible 1; by changing the angle of the vertical rudder 11, a lateral force can be generated to make the submersible 1 turn left or right, thereby realizing the navigation direction control of the submersible 1 in the horizontal direction; by adjusting the angle of the horizontal rudder 12, the submersible 1 can be tilted up or down, thereby controlling the diving and surfacing of the submersible 1, as well as the navigation attitude in the vertical direction.

[0051] During the navigation of the submersible 1, if the navigation depth of the submersible 1 increases, the horizontal rudder 12 usually deflects downward, causing the head of the submersible 1 to tilt downward, generating a downward torque to help the submersible 1 dive; if the navigation depth of the submersible 1 decreases, the horizontal rudder 12 usually deflects upward, causing the head of the submersible 1 to tilt upward, generating an upward torque to help the submersible 1 float. If the navigation direction of the submersible 1 changes, the vertical rudder 11 will swing left and right accordingly to keep the heading stable. Therefore, when the submersible 1 is actually sailing, the vertical rudder 11 and the horizontal rudder 12 will automatically adjust their respective angles according to the navigation situation of the submersible 1 to ensure the stability and reliability of the navigation of the submersible 1.

[0052] In order to more comprehensively evaluate the depth-keeping navigation performance of the submersible 1, the above-mentioned depth-keeping navigation tank test method for the submersible also tests whether the horizontal rudder 12 and the vertical rudder 11 can automatically adjust the angle.

[0053] Since the depth of the submersible 1 changes when it is navigating at the first set depth underwater and navigating at the second set depth underwater, the horizontal rudder angle will change. In theory, the horizontal rudder 12 will automatically adjust the angle.

[0054] Based on this, the above-mentioned submersible constant depth navigation tank test method also includes the following steps: recording the transition process of the submersible 1 from constant depth navigation at a first set underwater depth to constant depth navigation at a second underwater depth, and recording the movement state of the horizontal rudder 12 to test whether the horizontal rudder 12 can automatically adjust the horizontal rudder angle.

[0055] Whether in the tank test or in actual application, the submersible 1 is sailing at a fixed depth according to the preset route. Since the navigation information such as the navigation direction, navigation speed and navigation depth of the submersible 1 will change during the navigation process, therefore, in some embodiments, according to the navigation information such as the navigation direction, navigation speed and navigation depth, the preset route can be divided into a plurality of preset sections, the preset route includes a plurality of preset sections, each preset section includes at least navigation information such as the navigation direction, navigation speed and navigation depth, and at least one of the navigation direction, navigation speed and navigation depth in different preset sections is different.

[0056] The submersible 1 performs depth-keeping navigation at the first set depth and the depth-keeping navigation at the second set depth, which can be considered as the submersible 1 navigating along two preset sections respectively.

[0057] During the navigation process, the submersible 1 enters the next preset segment after the current preset segment is completed. If the navigation depths of the current preset segment and the next preset segment are different, the horizontal rudder 12 will automatically adjust the horizontal rudder angle. Therefore, at the end of a certain segment or each preset segment, the depth value of the submersible 1 can be adjusted to observe whether the horizontal rudder 12 automatically adjusts the horizontal rudder angle to test the performance of the horizontal rudder 12.

[0058] Similarly, if the sailing directions of the previous preset segment are different from those of the next preset segment, the vertical rudder 11 will automatically adjust the vertical rudder angle. Therefore, at the end of a certain segment or each preset segment, the direction of the test device 2 can be adjusted to change the sailing direction of the submersible 1, and the vertical rudder 11 can be observed to see whether it automatically adjusts the vertical rudder angle to test the performance of the vertical rudder 11.

[0059] In order to test whether the vertical rudder 11 can automatically adjust the vertical rudder angle, in the present invention, the preset route at least includes a first preset segment and a second preset segment, the first preset segment and the second preset segment are adjacent, and the second preset segment is located behind the first preset route; the first preset segment and the second preset segment have different navigation directions, the same navigation speed and navigation depth. Since the navigation directions of the first preset segment and the second preset segment are different, the vertical rudder angle of the submersible 1 in the first preset segment and the vertical rudder angle of the submersible 1 in the second preset segment are different.

[0060] Based on this, the above-mentioned submersible constant depth navigation tank test method also includes the following steps: after the submersible 1 completes the navigation in the first preset section, when the submersible 1 enters the second preset section, the movement state of the vertical rudder 11 is recorded to determine whether the vertical rudder 11 can automatically adjust the vertical rudder angle.

[0061] It should be noted that in the tank test, since the submersible 1 is installed on the test device 2, the direction of the test device 2 is the direction of the submersible 1. Before the submersible 1 dives, the direction of the test device 2 is adjusted, and the vertical rudder 11 of the submersible 1 will automatically adjust the direction.

[0062] like Figure 2 As shown, the submersible 1 includes a propeller 13, which provides the submersible 1 with power to move forward, backward and turn, and converts electrical energy or other energy into mechanical energy to propel the submersible 1 to move in the water. Different speeds of the propeller 13 may cause the stability of the submersible 1 to change during navigation.

[0063] In order to better evaluate the depth-keeping navigation performance of the submersible 1, the above-mentioned submersible depth-keeping navigation tank test method also takes the navigation speed of the submersible 1 as a variable, so that the submersible 1 performs depth-keeping navigation along the same preset section at different speeds to evaluate the depth-keeping navigation performance of the submersible 1 at different speeds.

[0064] Specifically, the above-mentioned submersible depth-keeping navigation tank test method also includes the following steps: causing the submersible 1 to perform depth-keeping navigation along the same preset section at different speeds, and recording the movement state of the submersible 1 to evaluate the depth-keeping navigation performance of the submersible 1 at different speeds.

[0065] In some embodiments, in order to increase the accuracy of the evaluation results, a plurality of preset sections are set, and the submersible 1 navigates at a constant depth along each preset section at different speeds.

[0066] like Figure 3 As shown, the submersible 1 also includes a navigation control unit 14. The navigation control unit 14 serves as the control center of the submersible 1. Various navigation control parameters of the submersible 1 can be set through the navigation control unit 14. The structure and working principle of the navigation control unit 14 belong to the common knowledge and technology in the field and will not be repeated here.

[0067] It should be noted that the navigation control unit 14 can record test data information such as the angle changes of the horizontal rudder 12 and the vertical rudder 11, the speed of the thruster 13, the data collected by various sensors on the submersible 1, and the control parameter information used for constant depth navigation (including but not limited to the set values ​​of parameters such as depth, heading, speed, and altitude) for subsequent analysis and verification.

[0068] It should also be noted that the vertical rudder angle, horizontal rudder angle and the speed of the propeller 13 can be calculated in advance based on the navigation parameters of the preset route. By comparing the actual values ​​of the vertical rudder angle, horizontal rudder angle and the speed of the propeller 13 with the pre-calculated theoretical values, the depth-keeping navigation performance of the submersible 1 can be determined.

[0069] like Figure 3As shown, the submersible 1 also includes a jettison device 15, which is located at the front of the submersible 1. The jettison device 15 is a safety device for the submersible 1. When the submersible 1 needs to float urgently or needs to be recovered after completing the mission, the jettison device 15 can jettison a certain weight of ballast so that the buoyancy of the submersible 1 is greater than the gravity, thereby achieving rapid floating. In addition, when encountering a fault or dangerous situation, the jettison device 15 can also help the submersible 1 get out of trouble. The navigation control unit 14 can issue instructions to the jettison device 15 of the submersible 1, so that the jettison device 15 performs the jettisoning action.

[0070] In the above-mentioned submersible navigation depth tank test method, the performance of the jettisoning device 15 is also tested to increase the accuracy of the evaluation results of the submersible 1 depth navigation performance.

[0071] Specifically, after the navigation of the preset route is completed, the navigation control unit 14 of the submersible 1 sends a command to the jettisoning device 15 of the submersible 1 to determine whether the jettisoning device 15 performs the jettisoning action, so as to test the performance of the jettisoning device 15. If the jettisoning device 15 performs the jettisoning action, the jettisoning device 15 works normally; if the jettisoning device 15 does not perform the jettisoning action or delays the jettisoning action, the jettisoning device 15 cannot work normally.

[0072] In some implementations, the submersible 1 is equipped with two sets of jettisoning devices 15, and the two sets of jettisoning devices 15 complete the jettisoning action in sequence, and the time interval is set to 10s.

[0073] In other embodiments, a single-stage, two-group jettisoning device 15 is used to simulate the actual use of the submersible 1, and the performance test of the jettisoning device 15 is performed after the submersible 1 is sailing at a constant altitude. It should be noted that the normal operation of any group of jettisoning devices 15 can enable the submersible 1 to float to the surface of the water at a fixed elevation angle by relying on its own positive buoyancy.

[0074] In the above-mentioned submersible constant-depth navigation tank test method, before the performance test of the jettisoning device 15, the vertical rudder 11 and the horizontal rudder 12 are reset to zero, the propeller 13 is stopped, the submersible 1 stops navigating in the tank, and the submersible 1 is kept stationary in the tank to avoid the movement of the submersible 1 affecting the results of the performance test of the jettisoning device 15.

[0075] It should be noted that the submersible 1 stopping moving is different from the submersible 1 stopping running. When the submersible 1 stops moving, the electrical components on the submersible 1 are usually still running, while the submersible 1 stopping running means that the submersible 1 is turned off, and the electrical components on the submersible 1 also stop working. This is common knowledge in the field and will not be elaborated.

[0076] It should also be noted that, in actual applications, after the jettisoning device 15 performs the jettisoning action, the buoyancy of the submersible 1 is greater than the gravity, and the submersible 1 will float up in the water. However, since the test device 2 has a binding force on the submersible 1, in the present invention, the submersible 1 cannot float up.

[0077] After the performance test of the jettisoning device 15 is completed, the pool test of the submersible 1 is completed, the hoisting mechanism hoists the test device 2 upward, and the lifting platform 3 moves upward synchronously with the test device 2. It should be noted that, when the performance test of the jettisoning device 15 is performed, the submersible 1 has stopped moving, the vertical rudder 11 and the horizontal rudder 12 are reset to zero, and the thruster 13 also stops running. Therefore, during the upward movement of the test device 2 hoisted by the hoisting mechanism, the horizontal rudder 12 and the vertical rudder 11 remain unchanged.

[0078] After the hoisting mechanism hoists the test device 2 and the submersible 1 out of the water pool, the shore station control unit is connected to the navigation control unit 14 by connecting the preset debugging cable to the preset debugging interface of the submersible 1. The shore station control unit obtains and replays the test data information recorded in the navigation control unit 14, and evaluates the depth-keeping navigation performance of the submersible 1 by analyzing the relevant data.

[0079] like Figure 2-Figure 4 As shown, the test device 2 includes a frame 21, a support member and a locking member 24. The support member is arranged in the frame 21 and is used to support the submersible 1. The locking member 24 is detachably connected to the top of the support member to lock and fix the submersible 1. The locking member 24 and the support member are arranged opposite to each other in the vertical direction. It should be noted that the support member is adapted to the shape of the bottom of the submersible 1 so that the support member can better support the submersible 1. The locking member 24 is adapted to the shape of the upper part of the submersible 1 so that the locking member 24 can better lock the submersible 1.

[0080] In some embodiments, frame 21 is a rectangular frame structure, the length, width and height of frame 21 correspond one-to-one to the length, width and height of submersible 1, and the size of frame 21 is larger than the corresponding size of submersible 1, that is, the height of frame 21 is larger than the height of submersible 1, the length of frame 21 is larger than the length of submersible 1, and the width of frame 21 is larger than the width of submersible 1, so that submersible 1 can be located in frame 21, so that frame 21 can better protect submersible 1.

[0081] In some embodiments, the locking member 24 is in a semi-enclosed structure, and the locking member 24 semi-encloses the upper part of the submersible 1.

[0082] The support member includes an elastic support member 23 and a rigid support member 22. Two elastic support members 23 are provided. The two elastic support members 23 are correspondingly provided at both ends of the length direction of the submersible 1 to support both ends of the submersible 1. The elastic support members 23 can effectively protect the outer surface of the submersible 1 from being damaged. The rigid support member 22 is provided between the two elastic support members 23 to support the middle part of the submersible 1.

[0083] In some embodiments, the elastic support member 23 is a spring-supported arc-shaped plate, and the inner concave surface of the arc-shaped plate half wraps the bottom of the submersible 1.

[0084] like Figure 2 and Figure 3 As shown, the test device 2 is equipped with a camera 4, which is used to record the motion state of the vertical rudder 11 and the horizontal rudder 12 and the jettisoning process of the jettisoning device 15. The test process recorded by the camera 4 can be replayed and compared with the test data information recorded by the navigation control unit 14 and the preset data to determine whether the submersible 1 moves according to the preset process.

[0085] In some embodiments, the image information provided by the camera device 4 can be viewed and compared with the test data information and the preset data to determine whether the submersible 1 operates according to the preset process. The image information can be viewed and determined by the test personnel.

[0086] The camera device 4 can be provided in multiple numbers to increase the recording effect of the camera device 4. Since the vertical rudder 11 and the horizontal rudder 12 are provided at the tail of the submersible 1, at least one camera device 4 is usually installed at the end of the test device 2 corresponding to the tail of the submersible 1.

[0087] In this embodiment, two camera devices 4 are provided, and the two camera devices 4 are respectively installed at the upper rear part and the lower front part of the structural frame 21. One camera device 4 is at a certain angle to the tail of the submersible 1, and is used for photographing the movement of the vertical rudder 11, the horizontal rudder 12, and the propeller 13 at the rear of the submersible 1 during the test; the other camera device 4 is at a certain angle to the front of the submersible 1, and is used for photographing the movement of the jettisoning device 15 at the front of the submersible 1 during the test.

[0088] The submersible 1 can be roughly divided into four stages in the pool, namely: diving stage, depth-keeping navigation stage, floating stage, and surface stage. The diving stage, depth-keeping navigation stage, floating stage, and surface stage are carried out in chronological order.

[0089] The diving stage is also the preliminary preparation stage for the submersible 1 to conduct depth-fixing navigation. During the diving stage, the submersible 1, the test device 2 and the lifting platform 3 dive synchronously. When the submersible 1 is at the first set depth underwater, the propeller 13 rotates at the set speed, the horizontal rudder 12 automatically adjusts according to the set pitch angle, and the vertical rudder 11 maintains the set value unchanged. After the submersible 1 dives to the first set depth, the lifting platform 3 and the hoisting mechanism stop descending, the submersible 1 starts the lighting, and the submersible 1 enters the depth-fixing navigation stage.

[0090] During the depth-fixing navigation phase, the submersible 1 navigates according to the preset route, the vertical rudder 11 automatically adjusts the angle according to the set route direction, and the horizontal rudder 12 automatically adjusts the angle according to the set navigation depth. After the preset route navigation is completed, the propeller 13 stops, the vertical rudder angle and the horizontal rudder angle return to zero, and the navigation control unit 14 sends a command to the dumping device 15 to complete the dumping action. After the dumping device 15 performs the dumping action, the submersible 1 enters the floating phase.

[0091] During the surfacing stage, the hoisting mechanism hoisting test device 2 rises synchronously together with the submersible 1 and the lifting platform 3, and the horizontal rudder 12 maintains the set value unchanged until it floats to the water surface. Then the submersible 1 enters the surface stage to realize the recovery of the submersible 1 and the lifting platform 3.

[0092] In this embodiment, the submersible 1 adopts a powered spiral diving mode during the diving stage, with negative buoyancy as the main driving force of the diving process, and the steering gear cooperates with the propeller 13 as a power supplement, and performs spiral motion at a preset inclination angle. The specific operation is: the hoisting mechanism hoists the test device 2 together with the submersible 1 and the lifting platform 3 to descend in coordination, and after diving to the preset water depth, the propeller 13 starts to work and rotates at the set speed, the horizontal rudder 12 automatically adjusts according to the set pitch angle, and the vertical rudder 11 keeps the set value unchanged.

[0093] It should be noted that, during the diving and navigating stage, the lifting platform 3 first descends to the preset underwater depth, and the hoisting mechanism then lifts the test device 2 and dives, so that the test device 2 is placed on the lifting platform 3, so as to ensure the reliability of the test device 2 being placed on the lifting platform 3. If the test device 2 is placed on the lifting platform 3, and then the test device 2 and the lifting platform 3 dive together, the buoyancy of the test device 2 and the lifting platform 3 is different, and the diving speeds of the two may be different. The test device 2 and the lifting platform 3 may descend asynchronously, which may result in that if the test device 2 descends slowly, the lifting platform 3 may reach the preset water depth, while the test device 2 is not placed on the lifting platform 3. If the test device 2 descends quickly, the test device 2 will exert downward pressure on the lifting platform 3, pressing the lifting platform 3 down, which may affect the submersible 1 installed in the test device 2.

[0094] It should also be noted that although the test device 2 is placed on the lifting platform 3 and the two are not fixedly connected, the gravity of the test device 2 is relatively large. When the submersible 1 is sailing, the test device 2 cannot be driven to move. Under the restraining effect of the test device 2, the submersible 1 can only sail in place.

[0095] In some embodiments, the test device 2 may be connected to the lifting platform 3 in a simple and easily detachable manner to ensure that the test device 2 is firmly mounted on the lifting platform 3 .

[0096] The following is an example in which the preset route of the submersible 1 includes four preset sections, in which the above-mentioned submersible constant depth navigation tank test method is introduced in detail.

[0097] For the convenience of description, the four preset segments are sequentially referred to as: the first preset segment, the second preset segment, the third preset segment, and the fourth preset segment. Among them, the navigation depth of the first preset segment is 15m, and the speed of the propeller 13 is 100r / min; the navigation depth of the second preset segment is 20m, and the speed of the propeller 13 is 200r / min; the navigation depth of the third preset segment is 25m underwater, and the speed of the propeller 13 is changed to 300r / min; the navigation depth of the fourth preset segment is 20m underwater, and the speed of the propeller 13 is 400r / min; after each preset segment ends, the navigation direction of the submersible 1 is deflected by 90°, and each preset segment has a corresponding navigation distance and / or navigation time.

[0098] The above-mentioned submersible fixed depth navigation tank test method comprises the following steps:

[0099] S1. Place the lifting platform 3 in the pool and submerge the lifting platform 3 to a preset depth.

[0100] S2. Install the submersible 1 in the test device 2, use the lifting mechanism to lift the test device 2 down, and place the test device on the lifting platform 3.

[0101] S3. Adjust the height of the lifting platform 3 and the height of the test device 2 so that the submersible 1, the test device 2 and the lifting platform 3 dive synchronously. When the submersible 1 is 15m underwater, the lifting platform 3 and the lifting mechanism stop moving, the submersible 1 starts the lighting, and the submersible 1 enters the constant depth navigation stage.

[0102] S4. The submersible 1 performs in-situ depth-keeping navigation along the preset route formed by the first preset route segment, the second preset route segment, the third preset route segment, and the fourth preset route segment in sequence.

[0103] In the first preset section, the speed of the propeller 13 is 100r / min. After the submersible 1 sails for TI, the navigation of the first preset section ends; then the height of the lifting platform 3 and the height of the test device 2 are adjusted so that the submersible 1 is 20m underwater. At this time, the horizontal rudder 12 rotates accordingly, and the vertical rudder 11 of the submersible 1 rotates, so that the navigation direction of the submersible 1 deflects 90°. The speed of the propeller 13 is 200r / min, and the submersible 1 enters the second preset section for navigation. After the submersible 1 sails for T2, the navigation of the second preset section ends; then the height of the lifting platform 3 and the height of the test device 2 are adjusted so that the submersible 1 is 20m underwater. 1 is located at 25m underwater, the horizontal rudder 12 also rotates accordingly, the vertical rudder angle of the submersible 1 rotates, the navigation direction of the submersible 1 deflects 90°, the propeller 13 speed is 300r / min, and the submersible 1 enters the third preset section for navigation. After the navigation time T3 of the submersible 1, the navigation of the third preset section ends; then adjust the height of the lifting platform 3 and the height of the test device 2, so that the submersible 1 is located at 20m underwater, the horizontal rudder 12 also rotates accordingly, the vertical rudder angle of the submersible 1 rotates, the navigation direction of the submersible 1 deflects 90°, the propeller 13 speed is 400r / min, and the submersible 1 enters the fourth preset section for navigation. During the fixed depth navigation of the submersible 1, the navigation control unit 14 records and stores the values ​​of the vertical rudder angle and the horizontal rudder angle, and the camera device 4 installed on the upper rear part of the frame 21 records the motion state of the vertical rudder 11 and the horizontal rudder 12.

[0104] S5. After the fourth preset segment is completed, the vertical rudder angle and the horizontal rudder angle return to zero, the propeller 13 stops running, the navigation control unit 14 sends a command to the jettisoning device 15, and the camera device 4 installed on the front lower part of the frame 21 records whether the jettisoning device 15 performs the jettisoning action.

[0105] S6. After the dumping device 15 performs the dumping action, the hoisting mechanism hoists the test device 2 upward, the lifting platform 3 and the test device 2 move upward synchronously, and the vertical rudder angle and the horizontal rudder angle are kept at zero.

[0106] S7. The hoisting mechanism hoists the test device 2 together with the submersible 1 to the shore of the pool, and connects the preset debugging cable to the preset debugging interface of the submersible 1 to realize the connection between the shore station control unit and the navigation control unit 14. The shore station control unit obtains and replays the test data information recorded in the navigation control unit 14. Analyzing and evaluating the depth-fixing navigation performance of the submersible 1 based on the data and collected information belongs to the conventional technical means in this field, which will not be repeated here.

[0107] S8. Based on the information recorded and stored by the navigation control unit 14 and the information recorded by the camera 4, the actual movement of the submersible 1 is compared with the theoretical movement of the submersible 1, the depth-keeping navigation performance of the submersible 1 is analyzed, and it is determined whether the depth-keeping navigation performance of the submersible 1 meets the requirements.

[0108] It should be noted that during the depth-keeping navigation of the submersible 1, the submersible 1 navigates at different speeds along the first preset segment, the second preset segment, the third preset segment, and the fourth preset segment, and the navigation control unit 14 records and stores relevant information and the camera device 4 captures the motion state of the submersible 1 to analyze the depth-keeping navigation performance of the submersible 1 at different speeds.

[0109] The above-mentioned submersible fixed-depth navigation tank test method can reduce the requirements for the site of the tank test of the submersible 1, and the test process is simple and convenient, the test results are highly accurate, and the submersible 1 can be protected, ensuring the safety of the submersible 1 during the test.

[0110] The test device 2 is hoisted by the hoisting mechanism, and is lifted and lowered synchronously with the submersible 1 and the lifting platform 3 to provide depth changes of different submersibles 1. The full process test of the submersible 1's fixed-depth navigation in various deep ocean environments is simulated in the water pool, and the submersible 1 is "tested" in water after the onshore joint adjustment and before the lake trial and sea trial. Fault problems during the test can be discovered and resolved in time, and the test efficiency of the system functions of the submersible 1 and the work flow of the navigation control unit 14 is improved, which can effectively reduce the failure rate and test cost of the submersible 1 in the lake trial and sea trial, improve the test flexibility, and provide a guarantee for the stability of the test effect.

[0111] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0112] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A method for testing a submersible in a fixed depth navigation tank, characterized in that: The following steps are involved: Placing the lifting platform in the pool, and submerging the lifting platform to a preset depth; Install the submersible in the test device, use a lifting mechanism to lift the test device down, and place the test device on the lifting platform; Adjusting the height of the lifting platform and the height of the testing device, so that the submersible, the testing device and the lifting platform dive synchronously until the submersible is located at a set depth underwater; and making the submersible navigate at a set depth in situ under the restraining effect of the testing device; Adjusting the height of the lifting platform to enable the submersible to navigate at a fixed depth in situ at different set depths; The actual movement of the submersible is recorded, and the actual movement of the submersible is compared with the theoretical movement of the submersible to determine whether the depth-fixing navigation performance of the submersible meets the requirements.

2. The method for testing a submersible in a constant depth navigation tank according to claim 1, characterized in that: The submersible includes a vertical rudder and a horizontal rudder, the vertical rudder is located at the tail of the submersible, and the horizontal rudder is located at the head or tail of the submersible; the test device is installed with a camera, which is arranged on the test device and close to the tail of the submersible to record the movement of the vertical rudder and the horizontal rudder.

3. The method for testing a submersible in a constant depth navigation tank according to claim 2, characterized in that: The submersible performs depth-keeping navigation according to a preset route, the preset route includes a first preset segment and a second preset segment, the first preset segment and the second preset segment are adjacent, and the second preset segment is located behind the first preset route; the first preset segment and the second preset segment have different navigation directions, and the same navigation speed and navigation depth; after the submersible finishes navigating the first preset segment and enters the second preset segment for navigation, the movement state of the vertical rudder is recorded to determine whether the vertical rudder automatically adjusts the vertical rudder angle.

4. The method for testing a submersible in a fixed depth navigation tank according to claim 3, characterized in that: After the navigation of the preset route is completed, the navigation control unit of the submersible sends a command to the jettisoning device of the submersible to determine whether the jettisoning device performs a jettisoning action, so as to test the performance of the jettisoning device.

5. The method for testing a submersible in a constant depth navigation tank according to claim 4, characterized in that: Before the performance test of the jettisoning device, the vertical rudder and the horizontal rudder are reset to zero; after the performance test of the jettisoning device is completed, the hoisting mechanism hoists the test device upward, and the lifting platform moves upward synchronously with the test device; during the upward movement of the test device, the horizontal rudder and the vertical rudder remain unchanged.

6. The method for testing a submersible in a constant depth navigation tank according to claim 3, characterized in that: The submersible also includes a propeller, which is located at the tail of the submersible; the submersible is enabled to perform depth-keeping navigation along the same preset section at different speeds, and the motion state of the submersible is recorded to evaluate the depth-keeping navigation performance of the submersible at different speeds.

7. The method for testing a submersible in a constant depth navigation tank according to claim 2, characterized in that: After recording the actual movement of the submersible at the first set depth, adjust the height of the lifting platform so that the submersible is located at a second set depth underwater, and allow the submersible to continue to navigate at the second set depth in situ; record the actual movement of the submersible at the second set depth underwater, and compare it with the theoretical movement of the submersible at the second set depth underwater.

8. The method for testing a submersible in a constant depth navigation tank according to claim 7, characterized in that: The process of the submersible changing from constant depth navigation at a first set underwater depth to constant depth navigation at a second set underwater depth is recorded, and the motion state of the horizontal rudder is recorded to determine whether the horizontal rudder automatically adjusts the horizontal rudder angle.

9. The method for testing a submersible in a constant depth navigation tank according to claim 1, characterized in that: The testing device includes a frame, a support member and a locking member. The support member is arranged in the frame to support the submersible. The locking member is detachably connected to the top of the support member to lock and fix the submersible. The locking member and the support member are arranged relative to each other in the vertical direction.

10. The method for testing a submersible in a constant depth navigation tank according to claim 9, characterized in that: The support member includes an elastic support member and a rigid support member, and the elastic support member is provided in two pieces, and the two elastic support members are correspondingly provided at two ends of the length direction of the submersible, so as to support the two ends of the submersible; The rigid support member is arranged between the two elastic support members and is used to support the middle part of the submersible.

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