Submarine ejection function water tank test method

Abstract

The present application relates to a kind of submersible throw load function pool test method, belong to submersible pool test technical field;Among them, submersible throw load function pool test method includes the following steps: the lifting platform for simulating seabed is placed in pool, the lifting platform is dived to preset depth;Submersible is dived into water using hoisting mechanism, and make submersible be located above lifting platform;The depth of submersible and / or lifting platform is adjusted, the height between submersible and lifting platform is less than set height, whether submersible executes throw load action is judged;The depth of submersible and / or lifting platform is adjusted, submersible is dived to underwater set depth, whether submersible executes throw load action is judged.The test method provided by the present application can test the super deep throw load function and bottom throw load function of submersible, and test flexibility is high, test method is simple and test result accuracy is high.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle pool testing technology, and particularly relates to a method for underwater vehicle jettisoning function pool testing. Background Technology

[0002] During actual navigation, when the submersible's diving depth exceeds the set value, the jettison device will jettison the ballast to allow the submersible to surface and prevent it from continuing to descend, thus preventing danger. When the submersible's height above the seabed is less than the set value, the jettison device will also jettison the ballast to allow it to surface and prevent it from touching the seabed due to being too close. When the submersible's navigation time in the ocean exceeds the set value, the jettison device will also jettison the ballast to allow it to surface as soon as possible, so that the submersible can end its navigation as soon as possible and avoid insufficient power due to excessive navigation time.

[0003] During normal navigation, the jettisoning of ballast by a submersible is manually controlled. However, when the submersible encounters bottoming, excessive depth, or timeout conditions, it will automatically jettison ballast to surface and protect itself. Therefore, the automatic ballast jettisoning function is crucial for the safe navigation of a submersible. Before a submersible is put into service, its automatic ballast jettisoning function is tested to determine if it meets requirements. However, current testing methods for automatic ballast jettisoning are complex and the accuracy of the results is not high.

[0004] Therefore, it is of great significance to design a simple, easy-to-operate, and highly accurate test method for the jettisoning function of submersibles in a water tank. Summary of the Invention

[0005] To address the shortcomings of related technologies, this invention provides a pool test method for the jettison function of a submersible. By simulating the actual voyage conditions of a submersible, such as ultra-deep, time-limited, and bottom-touching conditions, the method determines whether the submersible performs jettison under simulated conditions, thereby testing the submersible's ultra-deep jettison function, time-limited jettison function, and bottom-touching jettison function.

[0006] This invention provides a method for testing the ballast jettison function pool of a submersible, comprising the following steps:

[0007] The lifting platform used to simulate the seabed is placed in the pool, and the lifting platform is submerged to the preset depth;

[0008] The submersible is lowered into the water using a hoisting mechanism, with the submersible and the lifting platform positioned vertically opposite each other, and the submersible located above the lifting platform.

[0009] Adjusting the depth of the submarine and / or the lifting platform, so that the height between the submarine and the lifting platform is less than a set height, judging whether the submarine executes the throw-off action; if yes, the throw-off function of the submarine meets the requirement; if not, the throw-off function of the submarine does not meet the requirement.

[0010] Adjusting the depth of the submarine and / or the lifting platform, so that the submarine is submerged to a set depth under water, judging whether the submarine executes the throw-off action; if yes, the throw-off function of the submarine meets the requirement; if not, the throw-off function of the submarine does not meet the requirement.

[0011] Making the submarine travel in the pool for more than a set time, judging whether the submarine executes the throw-off action; if yes, the throw-off function of the submarine meets the requirement; if not, the throw-off function of the submarine does not meet the requirement.

[0012] The technical solution adjusts the depth of the submarine and / or the lifting platform, so that the height between the submarine and the lifting platform is less than a set height, to simulate the situation that the submarine is too close to the sea floor in the actual travel process, thereby testing the automatic throw-off performance of the submarine when the distance between the submarine and the sea floor is too close by judging whether the submarine executes the throw-off action when the height between the submarine and the lifting platform is less than a set height; the technical solution adjusts the depth of the submarine, so that the submarine is submerged to a set depth under water, to simulate the situation that the submarine is submerged to a depth exceeding a set value in the actual travel process, thereby testing the automatic throw-off performance of the submarine when the submarine is submerged to a depth exceeding a set value by judging whether the submarine executes the throw-off action when the submarine is submerged to a set depth under water; the technical solution judges whether the submarine executes the throw-off action when the submarine travels in the pool for more than a set time, to test the automatic throw-off performance of the submarine when the submarine travels for more than a set time in the actual travel process.

[0013] In some embodiments, the submarine travels at a set depth in the pool, the lifting platform is raised, the height between the submarine and the lifting platform is less than a set height, and it is judged whether the submarine executes the throw-off.

[0014] In some embodiments, the submarine travels at a set height in the pool, the lifting platform is lowered, the submarine is lowered to a set depth under water, and it is judged whether the submarine executes the throw-off.

[0015] In some embodiments, the submarine travels in the pool according to a preset route; the preset route at least includes a first preset travel section and a second preset travel section, the first preset travel section and the second preset travel section are performed in sequence; when the height between the submarine and the lifting platform is less than a set height, the submarine travels along the first preset travel section; when the submarine is submerged to a set depth under water, the submarine travels along the second preset travel section.

[0016] In some embodiments, the sum of the time for the submersible to travel along the first preset travel path and the time for the submersible to travel along the second preset travel path is greater than or equal to the set time length.

[0017] The technical solution can simulate the three working conditions of bottom touch, over-depth and over-time in one pool test, simplify the test procedure and save test time.

[0018] In some embodiments, the submersible is provided with a weight, and the weight is thrown when the submersible performs the throwing action, and the thrown weight falls on the lifting platform.

[0019] In the technical solution, the lifting platform can receive the weight thrown by the submersible, thereby realizing recycling of the weight.

[0020] In some embodiments, the weight is provided in a group, the submersible performs real throwing when the submersible performs throwing for the first time in the pool, and the submersible performs the throwing action and throws the weight; and the submersible performs virtual throwing when the submersible performs throwing for the second time in the pool after the weight is thrown, and the submersible only performs the throwing action without throwing the weight.

[0021] In some embodiments, when the weight is thrown, the hoisting mechanism hoists the submersible out of the pool, another weight is installed on the submersible, and then the submersible is submerged in the water to continue the throwing test.

[0022] Alternatively, the hoisting mechanism hoists the submersible out of the pool, and the lifting platform leaves the pool, the weight is recovered from the lifting platform, the weight is reinstalled on the submersible, and then the submersible and the lifting platform are submerged in the water to continue the throwing test.

[0023] In some embodiments, the submersible is installed in the test device, and the test device restrains the submersible to travel in place; and the hoisting mechanism hoists the test device to realize hoisting of the submersible.

[0024] In some embodiments, the test device and / or the lifting platform are provided with a camera device, and the camera device is used to record whether the submersible performs the throwing action.

[0025] The technical solution can record whether the submersible performs the throwing action, thereby facilitating judgment of whether the submersible performs the throwing action.

[0026] Based on the technical scheme, the submersible throwing load function pool test method in the embodiment of the present application can simulate the super deep, super time and bottom touch working conditions in the actual navigation of the submersible, and test the super deep throwing load function, super time throwing load function and bottom touch throwing load function of the submersible by judging whether the submersible executes throwing load in the simulated working conditions; the test flexibility is high, the test method is simple and easy to operate, and the test result is accurate. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0028] Figure 1 FIG. 1 is a structural schematic view of the lifting platform and the submersible in the pool in one embodiment of the submersible throwing load function pool test method of the present application;

[0029] Figure 2 FIG. 2 is a structural schematic view of the submersible installed in the test device and the test device placed on the lifting platform in one embodiment of the submersible throwing load function pool test method of the present application;

[0030] Figure 3 FIG. 3 is a structural schematic view of the submersible installed in the test device in one embodiment of the submersible throwing load function pool test method of the present application;

[0031] Figure 4 FIG. 4 is a structural schematic view of the submersible installed in the test device from another angle in one embodiment of the submersible throwing load function pool test method of the present application;

[0032] Figure 5 FIG. 5 is a structural schematic view of the test device in one embodiment of the submersible throwing load function pool test method of the present application;

[0033] Figure 6 FIG. 6 is a flow chart of the submersible super deep throwing load pool test method in one embodiment of the submersible throwing load function pool test method of the present application;

[0034] Figure 7 FIG. 7 is a flow chart of the submersible super time throwing load pool test method in one embodiment of the submersible throwing load function pool test method of the present application;

[0035] Figure 8 FIG. 8 is a flow chart of the submersible bottom touch throwing load pool test method in one embodiment of the submersible throwing load function pool test method of the present application.

[0036] In the drawings:

[0037] 1, submersible; 2, test device; 3, lifting platform; 4, camera equipment;

[0038] 11. Elevator; 12. Rudder; 13. Propeller; 14. Navigation control unit; 15. Ballast device;

[0039] 21. Frame; 22. Rigid support; 23. Elastic support; 24. Locking member. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0041] In the description of the present application, it should be understood that the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0042] The terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", "third" can explicitly or implicitly include one or more of the features.

[0043] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between the two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] As shown in the accompanying Figure 1As shown, in one illustrative embodiment of the pool test method for the jettison function of the submersible, the pool test method for the jettison function of the submersible comprises the following steps: placing the lifting platform 3 for simulating the seabed in the pool, and diving the lifting platform 3 to a preset depth; using the lifting mechanism to lift the submersible 1 into the water, and arranging the submersible 1 and the lifting platform 3 to be opposite in the vertical direction, with the submersible 1 being above the lifting platform 3; adjusting the depth of the submersible 1 and / or the lifting platform 3, so that the height between the submersible 1 and the lifting platform 3 is less than a set height, and determining whether the submersible 1 performs the jettison action; if yes, the jettison function of the submersible 1 meets the requirements; if no, the jettison function of the submersible 1 does not meet the requirements; adjusting the depth of the submersible 1 and / or the lifting platform 3, so that the submersible 1 is dived to a set depth under water, and determining whether the submersible 1 performs the jettison action; if yes, the jettison function of the submersible 1 meets the requirements; if no, the jettison function of the submersible 1 does not meet the requirements.

[0045] In the pool test method for the jettison function of the submersible, the lifting platform 3 is arranged in the pool to simulate the seabed; the depth of the submersible 1 and / or the lifting platform 3 is adjusted, so that the height between the submersible 1 and the lifting platform 3 is less than a set height, to simulate the situation that the submersible 1 is too close to the seabed in the actual navigation process, thereby determining whether the submersible 1 performs the jettison action when the height between the submersible 1 and the lifting platform 3 is less than the set height, to test the automatic jettison performance of the submersible 1 when the distance between the submersible 1 and the seabed is too close; the depth of the submersible 1 is adjusted, so that the submersible 1 is dived to a set depth under water, to simulate the situation that the submersible 1 is dived to a depth exceeding a set value in the actual navigation process, thereby determining whether the submersible 1 performs the jettison action when the submersible 1 is dived to the set depth under water, to test the automatic jettison performance of the submersible 1 when the diving depth exceeds the set value.

[0046] The pool test method for the jettison function of the submersible further comprises the following steps: presetting the navigation time of the submersible 1 in the pool, so that the navigation time of the submersible 1 in the pool exceeds a set time length, and determining whether the submersible 1 performs the jettison action when the navigation time of the submersible 1 in the pool exceeds the set time length; if yes, the jettison function of the submersible 1 meets the requirements; if no, the jettison function of the submersible 1 does not meet the requirements.

[0047] The navigation time of the submersible 1 in the pool is set to exceed a set time length, to simulate the situation that the navigation time of the submersible 1 in the sea exceeds a set value, thereby determining whether the submersible 1 performs the jettison action when the navigation time of the submersible 1 in the pool exceeds the set value, to test the automatic jettison performance of the submersible 1 when the navigation time exceeds the set value in the actual navigation process.

[0048] It should be noted that the submergence of the submersible 1 to the set depth under water, the height between the submersible 1 and the sea bottom being less than the set height, and the navigation time of the submersible 1 exceeding the set time length are the triggering conditions for the submersible 1 to perform automatic jettisoning, and after the submersible 1 jettisons, the depth of the submersible 1 under water will gradually decrease, and the height between the submersible 1 and the sea bottom will increase.

[0049] In this embodiment, for the convenience of description, the case that the submergence depth of the submersible 1 in the sea exceeds the set value is simply referred to as the submersible 1 being in an over-depth working condition, the case that the height of the submersible 1 from the sea bottom is less than the set value is simply referred to as the submersible 1 being in a bottom-touching working condition, and the case that the navigation time of the submersible 1 in the sea exceeds the set value is simply referred to as the submersible 1 being in an overtime working condition; the automatic jettisoning function performed by the submersible 1 in the over-depth working condition is referred to as an over-depth jettisoning function, the automatic jettisoning function performed by the submersible 1 in the bottom-touching working condition is referred to as a bottom-touching jettisoning function, and the automatic jettisoning function performed by the submersible 1 in the overtime working condition is referred to as an overtime jettisoning function.

[0050] Whether in the pool test or in the actual sea navigation, the submersible 1 navigates according to the preset route.

[0051] The submersible 1 navigates according to the preset route in the pool, the lifting platform 3 is raised, the depth of the lifting platform 3 is lowered, the height between the submersible 1 and the lifting platform 3 is less than the set height, the submersible 1 is in the bottom-touching working condition, thereby triggering the condition for the submersible 1 to perform the bottom-touching jettisoning, and it is judged whether the submersible 1 performs jettisoning, so as to test the automatic bottom-touching jettisoning function of the submersible 1.

[0052] The submersible 1 navigates according to the preset route in the pool, the lifting platform 3 is lowered, the depth of the lifting platform 3 is increased, the submersible 1 is lowered to the set depth under water, and the submersible 1 is in the over-depth working condition, thereby triggering the condition for the submersible 1 to perform the over-depth jettisoning, and it is judged whether the submersible 1 performs jettisoning, so as to test the over-depth jettisoning function of the submersible 1.

[0053] It should be noted that when the submersible 1 navigates at a constant height, the height of the lifting platform 3 is adjusted to simulate the continuous change of the sea bottom elevation, so that the constant-height navigation scene of the submersible 1 in the pool is more consistent with the actual constant-height navigation scene of the submersible 1 in the sea.

[0054] It should also be noted that the submersible 1 can navigate at a constant height along the preset route, or navigate at a constant depth, or navigate freely; the bottom-touching jettisoning function or the over-depth function or the overtime function can be tested when the submersible 1 navigates at a constant height, and the bottom-touching jettisoning function or the over-depth function or the overtime function can also be tested when the submersible 1 navigates at a constant depth.

[0055] In addition, it should be noted that the lifting platform 3 can be a connection plate hoisted by a rope, and the height of the connection plate is changed by winding or releasing the rope to lift the connection plate. The lifting platform 3 belongs to the prior art, and will not be described here.

[0056] In practice, the situation that the submersible 1 dives to a set value under water and the situation that the submersible 1 is at a depth from the seabed less than a set value can occur in the same preset route or in different routes.

[0057] In some embodiments of the present application, the super-deep working condition and the bottom-touching working condition of the submersible 1 occur in the same route, so that a pool test can test the super-deep, super-time and bottom-touching throw-off functions, simplifying the test steps and saving test time.

[0058] Since the navigation information such as the navigation direction, the navigation speed and the navigation depth of the submersible 1 changes during navigation, the preset route can be divided into a plurality of preset navigation segments according to the navigation information such as the navigation direction, the navigation speed and the navigation depth, each preset navigation segment at least including the navigation information such as the navigation direction, the navigation speed and the navigation depth, and at least one of the navigation information such as the navigation direction, the navigation speed and the navigation depth being different in different preset navigation segments. It should be noted that it cannot be considered that the submersible 1 is in different preset navigation segments as long as one of the navigation information such as the navigation direction, the navigation speed and the navigation depth is different, which belongs to the common technical knowledge in the art and will not be described here.

[0059] In the above-mentioned pool test method for the throw-off function of the submersible, the preset route at least includes a first preset navigation segment and a second preset navigation segment, the first preset navigation segment and the second preset navigation segment are performed in sequence; the sum of the navigation time of the submersible 1 along the first preset navigation segment and the navigation time of the submersible 1 along the second preset navigation segment is greater than or equal to a set time length, so that the navigation time of the submersible 1 in the pool exceeds the set time length; when the height between the submersible 1 and the lifting platform 3 is less than a set height, the submersible 1 navigates along the first preset navigation segment; when the submersible 1 dives to a set depth under water, the submersible 1 navigates along the second preset navigation segment.

[0060] By making the sum of the navigation time of the submersible 1 along the first preset navigation segment and the navigation time of the submersible 1 along the second preset navigation segment exceed the set navigation time length, the height between the submersible 1 and the lifting platform 3 is less than the set height when the submersible 1 navigates along the first preset navigation segment in the pool, and the submersible 1 dives to a set depth under water when the submersible 1 navigates along the second preset navigation segment in the pool, so that the super-time, bottom-touching and super-deep three working conditions can be simulated in one pool test, which not only simplifies the test steps, but also saves the test time.

[0061] The depth-keeping submarine 1 performs depth-keeping along the first preset voyage section, the height of the lifting platform 3 is raised, the height between the depth-keeping submarine 1 and the lifting platform 3 is less than a set value, the depth-keeping submarine 1 is in a bottom-touching working condition, a bottom-touching jettison condition of the depth-keeping submarine 1 is triggered, and whether the depth-keeping submarine 1 performs jettison is judged, so as to test the bottom-touching jettison function of the depth-keeping submarine 1.

[0062] The height-keeping submarine 1 performs height-keeping along the second preset voyage section, the height of the lifting platform 3 is lowered, the height of the depth-keeping submarine 1 is also lowered, so as to maintain the fixed height between the depth-keeping submarine 1 and the lifting platform 3, the height of the lifting platform 3 is lowered, so that the depth-keeping submarine 1 is lowered to a set depth, the depth-keeping submarine 1 is in an ultra-depth working condition, an ultra-depth jettison condition of the depth-keeping submarine 1 is triggered, and whether the depth-keeping submarine 1 performs jettison is judged, so as to test the bottom-touching jettison function of the depth-keeping submarine 1.

[0063] In actual application, the depth-keeping submarine 1 is provided with a weight, when the depth-keeping submarine 1 performs jettison, the weight is jettisoned, the depth-keeping submarine 1 is floated by jettisoning the weight. When the weight is jettisoned, the weight falls into the sea.

[0064] Based on this, in some embodiments of the present application, when the depth-keeping submarine 1 performs pool test, the depth-keeping submarine 1 is also provided with a weight, whether the weight is jettisoned can be judged, so as to judge whether the depth-keeping submarine 1 performs jettison. By installing the weight on the depth-keeping submarine 1 in the pool test of the depth-keeping submarine 1, not only whether the depth-keeping submarine 1 performs jettison can be judged, but also the judgment result is accurate. In the pool test, the depth-keeping submarine 1 is above the lifting platform 3, when the depth-keeping submarine 1 performs jettison, the lifting platform 3 can receive the jettisoned weight of the depth-keeping submarine 1, so as to realize recycling of the weight, while in lake test and sea test, the jettisoned weight cannot be recycled.

[0065] In some embodiments, the depth-keeping submarine 1 is provided with only one set of weight, therefore, whether in pool test or in actual voyage, the depth-keeping submarine 1 can only jettison the weight once, when the depth-keeping submarine 1 jettisons again, the depth-keeping submarine 1 can only perform jettison action without jettisoning the weight. Therefore, if the jettison function of the depth-keeping submarine 1 under different working conditions is tested in one pool test, when the depth-keeping submarine 1 performs jettison for the first time in the pool, the depth-keeping submarine 1 performs real jettison, the depth-keeping submarine 1 performs jettison action while jettisoning the weight; while when the depth-keeping submarine 1 performs jettison for the second time in the pool, since the weight has been jettisoned, the depth-keeping submarine 1 performs virtual jettison, the depth-keeping submarine 1 only performs jettison action without jettisoning the weight.

[0066] Therefore, the pool test method for the above-mentioned underwater vehicle weight throwing function further comprises the following steps: after the weight is thrown, the hoisting mechanism hoists the underwater vehicle 1 out of the pool, another weight is installed on the underwater vehicle 1, and then the underwater vehicle 1 is submerged into the water to continue the weight throwing test; or the hoisting mechanism hoists the underwater vehicle 1 out of the pool, and the lifting platform 3 is also hoisted out of the pool, the thrown weight is recovered from the lifting platform 3, the weight is reinstalled on the underwater vehicle 1, and then the underwater vehicle 1 and the lifting platform 3 are submerged into the water to continue the weight throwing test.

[0067] The accuracy of the judgment result is high by checking whether the weight is thrown to determine whether the underwater vehicle 1 performs the weight throwing action, but the underwater vehicle 1 needs to be installed with the weight multiple times during the test, which increases the complexity of the test and increases the test time.

[0068] It should be noted that, since the weight is thrown in the water, in some embodiments, in order to facilitate checking whether the weight is thrown, a camera device 4 is arranged, which is used to record whether the weight is thrown or whether the weight falls on the lifting platform 3. In this embodiment, the camera device 4 can only need to shoot the weight, the installation position of the camera device 4 has high flexibility, and the shooting requirement is low.

[0069] In some other embodiments of the present application, whether the underwater vehicle 1 performs the weight throwing is determined by judging whether the underwater vehicle 1 performs the weight throwing action.

[0070] Specifically, the camera device 4 is arranged to record whether the underwater vehicle 1 performs the weight throwing action, and by watching the content shot by the camera device 4, it is not only convenient to determine whether the underwater vehicle 1 performs the weight throwing action, but also the accuracy of the judgment result is high.

[0071] It should be noted that, since no physical object is thrown, the camera device 4 needs to be arranged close to or corresponding to the component of the underwater vehicle 1 performing the weight throwing action, or arranged corresponding to the component of the underwater vehicle 1 performing the weight throwing action, to ensure the recording effect of the weight throwing action, which may increase the setting difficulty of the camera device 4 and increase the shooting requirement of the camera device 4.

[0072] In some embodiments of the present application, as shown in Figure 2 The underwater vehicle 1 is installed in the test device 2, so that the test device 2 protects the underwater vehicle 1 to avoid collision with other components during the test of the underwater vehicle 1; and the test device 2 can also bind the underwater vehicle 1 to make the underwater vehicle 1 navigate in place, thereby reducing the space required for the pool test of the underwater vehicle 1. The hoisting mechanism is connected to the test device 2, and the hoisting mechanism hoists the test device 2 to realize the hoisting of the underwater vehicle 1.

[0073] As shown in Figures 3-5As shown, the test device 2 includes a frame 21, a support member, and a locking member 24. The support member is located within 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 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.

[0074] In some embodiments, the frame 21 has a rectangular frame structure, and the length, width and height of the frame 21 correspond one-to-one with the length, width and height of the submersible 1. The dimensions of the frame 21 are larger than the corresponding dimensions of the submersible 1, that is, the height of the frame 21 is greater than the height of the submersible 1, the length of the frame 21 is greater than the length of the submersible 1, and the width of the frame 21 is greater than the width of the submersible 1, so that the submersible 1 can be located inside the frame 21, thereby allowing the frame 21 to better protect the submersible 1.

[0075] In some embodiments, the locking member 24 has a semi-enclosed structure, and the locking member 24 partially encloses the upper part of the submersible 1.

[0076] The support system includes two elastic support members 23 and two rigid support members 22. The elastic support members 23 are positioned at opposite ends of the submersible 1 along its length to support both ends. The elastic support members 23 effectively protect the outer surface of the submersible 1 from impact damage. The rigid support member 22 is positioned between the two elastic support members 23 to support the middle section of the submersible 1.

[0077] In some embodiments, the elastic support 23 is a spring-supported arc-shaped plate, the concave surface of which partially encloses the bottom of the submersible 1.

[0078] like Figure 3 and Figure 4 As shown, camera 4 is mounted on frame 21 and is used to record the jettisoning process of jettisoning device 15. The test process recorded by camera 4 can be played back and compared with the test data recorded by navigation control unit 14 and preset data to determine whether the submersible 1 operates according to the preset procedure.

[0079] In some embodiments, the image information provided by the camera device 4, the test data information, and the preset data can be viewed and compared to determine whether the underwater vehicle 1 is operating according to the preset procedure. The image information can be viewed and used by test personnel to make judgments.

[0080] The submarine 1 comprises a ballast device and a navigation control unit 14; the ballast device is used to perform a ballast action and install a weight, and the navigation control unit 14 is used to control the ballast device to perform the ballast action; the navigation control unit 14 is configured to control the ballast device to perform the ballast action when the submarine 1 is submerged to a set depth, or the height between the submarine 1 and the lifting platform 3 is less than a set height, or the navigation time of the submarine 1 in the pool exceeds a set time length.

[0081] It should be noted that the specific structure of the ballast device 15 and how the navigation control unit 14 controls the ballast device 15 to work are conventional technical means in the art, which will not be described here.

[0082] The navigation control unit 14 is further configured to control the submarine 1 to stop navigation before controlling the ballast device to perform the ballast action. By making the submarine 1 in a static state in the pool before the ballast device 15 performs the ballast, the motion of the submarine 1 is avoided to affect the test results of the performance of the ballast device 15.

[0083] In some embodiments, the submarine 1 is installed with two groups of ballast devices 15, and when the submarine 1 performs the ballast, the two groups of ballast devices 15 sequentially complete the ballast action with a time interval of 10s.

[0084] In other embodiments, a single-stage, two-group ballast device 15 is used to simulate the actual use of the submarine 1, and the performance test of the ballast device 15 is performed after the submarine 1 is navigated at a fixed height. It should be noted that the normal operation of any one group of ballast devices 15 can make the submarine 1 rely on its own positive buoyancy to float to the water surface at a fixed angle of elevation.

[0085] As shown in Figure 3 and Figure 4 The submarine 1 comprises a vertical rudder 11 and a horizontal rudder 12; the vertical rudder 11 is installed at the tail of the submarine 1 and is used to control the heading of the submarine 1; the horizontal rudder 12 is usually installed at the front or tail of the submarine 1 and is used to control the pitch attitude of the submarine 1; by changing the angle of the vertical rudder 11, a lateral force can be generated to make the submarine 1 turn left or right, thereby realizing the control of the navigation direction of the submarine 1 in the horizontal direction; by adjusting the angle of the horizontal rudder 12, the submarine 1 can be inclined upward or downward, thereby controlling the diving and floating of the submarine 1 and the navigation attitude in the vertical direction.

[0086] During the navigation of submersible 1, if the navigation depth of submersible 1 increases, the horizontal rudder 12 will typically deflect downwards, causing the nose of submersible 1 to tilt downwards, generating a downward torque to help submersible 1 descend; if the navigation depth of submersible 1 decreases, the horizontal rudder 12 will typically deflect upwards, causing the nose of submersible 1 to tilt upwards, generating an upward torque to help submersible 1 surface. If the navigation direction of submersible 1 changes, the vertical rudder 11 will correspondingly swing left and right to maintain course stability. Therefore, during actual navigation, the vertical rudder 11 and the horizontal rudder 12 will automatically adjust their respective angles according to the navigation conditions of submersible 1 to ensure the stability and reliability of submersible 1's navigation.

[0087] like Figure 3 As shown, the submersible 1 includes a thruster 13, which provides the submersible 1 with the power to move forward, backward, and turn. It converts electrical energy or other energy into mechanical energy to propel the submersible 1 in the water. Different thruster speeds may cause variations in the stability of the submersible 1 during navigation.

[0088] It should be noted that how the vertical rudder 11, horizontal rudder 12, and thruster 13 change and how they operate during the navigation of the submersible 1 are existing technologies in this field and will not be described in detail here.

[0089] To better evaluate the jettisoning function of the submersible 1, the above-mentioned water tank test method for the jettisoning function of the submersible 1 also uses the sailing speed of the submersible 1 as a variable, and makes the submersible 1 sail along the same preset route at different speeds, so as to evaluate the jettisoning function of the submersible 1 when the automatic jettisoning condition is triggered at different speeds.

[0090] It should be noted that the navigation control unit 14 serves as the control center of the submersible 1. Through the navigation control unit 14, various navigation control parameters of the submersible 1 can be set. The navigation control unit 14 can record experimental data information such as the angle changes of the horizontal rudder 12 and the vertical rudder 11, the speed of the thruster 13, and the data collected by various sensors on the submersible 1, as well as the control parameter information used by the submersible 1 for navigation (including but not limited to the set values ​​of parameters such as depth, heading, speed, and altitude), for subsequent analysis and verification.

[0091] The test device 2 can be placed on the lifting platform 3 so that the lifting platform 3 can support the test device 2, thereby increasing the stability of the submersible 1 when it is stationary.

[0092] The underwater vehicle 1 can be roughly divided into four stages in the pool: the diving stage, the navigation stage, the surfacing stage, and the surface stage. The diving stage, the navigation stage, the surfacing stage, and the surface stage are carried out in chronological order.

[0093] The diving stage is also a preparation stage for the navigation of the submersible 1, in which the submersible 1 and the lifting platform 3 are dived synchronously, when the submersible 1 is located at the first preset depth underwater, the propeller 13 rotates at a set speed, the horizontal rudder 12 is automatically adjusted according to a set pitch angle, and the vertical rudder 11 remains unchanged. After the submersible 1 is dived to the first set depth, the lifting platform 3 and the hoisting mechanism stop descending, the submersible 1 starts the lighting lamp, and the submersible 1 starts navigation.

[0094] During the navigation of the submersible 1, the submersible 1 navigates according to the preset route, the vertical rudder 11 is automatically adjusted according to the set navigation direction, and the horizontal rudder 12 is automatically adjusted according to the set navigation depth. When the submersible 1 is dived to the set depth underwater, or the height between the submersible 1 and the lifting platform 3 is less than the set height, or the navigation time of the submersible 1 in the pool exceeds the set time length, the navigation control unit 14 controls the ballast device 15 to perform the ballast action, at the same time, the navigation control unit 14 controls the propeller 13 to stop rotating, and the vertical rudder angle and the horizontal rudder angle are zeroed. After the ballast device 15 performs the ballast action, the submersible 1 enters the floating stage.

[0095] In the floating stage, the hoisting mechanism hoists the submersible 1 to rise, and the lifting platform 3 also rises synchronously, the horizontal rudder 12 remains unchanged, until it floats to the water surface, and then the submersible 1 enters the water surface stage, realizing the recovery of the submersible 1 and the lifting platform 3.

[0096] The following will take the test of the bottom-touching ballast function, the super-depth ballast function and the overtime ballast function in a pool test as an example to introduce the pool test method of the submersible ballast function in detail. Among them, the submersible 1 navigates according to the first preset navigation segment depth, and navigates according to the second preset navigation segment height, the depth of the depth navigation is set to 15m, the super-depth navigation depth is 20m, the depth navigation preset time is 200s, the height of the height navigation is set to 10m, the bottom-touching ballast height is set to 5m, the height navigation preset time is 200s, the overtime navigation time of the submersible 1 is 400s, and the total navigation time of the submersible 1 is 600s.

[0097] The above-mentioned pool test method of the submersible ballast function comprises the following steps:

[0098] The lifting platform 3 is placed in the pool, and the lifting platform 3 is dived to 25m underwater.

[0099] The hoisting mechanism is used to hoist the submersible 1 to dive into the water, so that the submersible 1 and the lifting platform 3 are relatively arranged in the vertical direction, and the submersible 1 is located above the lifting platform 3;

[0100] The hoisting mechanism hoists the underwater vehicle 1 to dive to 15 m underwater, the underwater vehicle 1 performs depth-keeping navigation, and the height of the lifting platform 3 is adjusted to 20 m underwater during the depth-keeping navigation of the underwater vehicle 1, the underwater vehicle 1 is in a bottom-touching working condition, the underwater vehicle 1 triggers a bottom-touching jettison condition, the navigation control unit 14 controls the jettison device 15 to perform a jettison action, and it is judged whether the jettison device 15 performs the jettison action; if yes, the bottom-touching jettison function of the underwater vehicle 1 meets the requirements; if no, the bottom-touching jettison function of the underwater vehicle 1 does not meet the requirements.

[0101] After the underwater vehicle 1 performs the jettison, the depth of the underwater vehicle 1 in water is reduced, the underwater vehicle 1 continues to navigate along the first preset navigation section, and after the underwater vehicle 1 finishes navigating along the first preset navigation section, the underwater vehicle 1 performs height-keeping navigation along the second preset navigation section, the height of the underwater vehicle 1 changes synchronously with the height of the lifting platform 3, so that the height between the underwater vehicle 1 and the lifting platform 3 is 10 m, and the height of the lifting platform 3 is adjusted to 30 m underwater during the height-keeping navigation of the underwater vehicle 1, the underwater vehicle 1 is located at 20 m underwater, the underwater vehicle 1 is in an ultra-deep working condition, the underwater vehicle 1 triggers an ultra-deep jettison condition, the navigation control unit 14 controls the jettison device 15 to perform a jettison action, and it is judged whether the jettison device 15 performs the jettison action; if yes, the ultra-deep jettison function of the underwater vehicle 1 meets the requirements; if no, the ultra-deep jettison function of the underwater vehicle 1 does not meet the requirements.

[0102] After the underwater vehicle 1 performs the jettison, the height of the lifting platform 3 is adjusted to 20 m underwater, and the underwater vehicle 1 continues to perform height-keeping navigation along the second preset navigation section; when the navigation time of the underwater vehicle 1 exceeds 400 s, the underwater vehicle 1 is in an overtime working condition, the underwater vehicle 1 triggers an overtime jettison condition, the navigation control unit 14 controls the jettison device 15 to perform a jettison action, and it is judged whether the jettison device 15 performs the jettison action; if yes, the overtime jettison function of the underwater vehicle 1 meets the requirements; if no, the overtime jettison function of the underwater vehicle 1 does not meet the requirements.

[0103] After the navigation time of the underwater vehicle 1 reaches 600 s, the underwater vehicle 1 stops navigation, and the height of the underwater vehicle 1 and the lifting platform 3 is increased, so that the underwater vehicle 1 and the lifting platform 3 leave the pool.

[0104] The test data information recorded in the navigation control unit 14 and the content recorded by the camera device 4 are analyzed to evaluate the jettison function of the underwater vehicle 1.

[0105] It should be noted that the bottom-touching jettison function, the ultra-deep jettison function and the overtime jettison function of the underwater vehicle 1 can be performed in a sequential pool test, and can be performed in multiple pool tests.

[0106] It is also needed to be explained that the shore station control unit is connected with the navigation control unit 14 by connecting the preset debugging cable with the preset debugging interface of the submarine 1, and the shore station control unit can acquire and replay the test data information recorded in the navigation control unit 14 and the content recorded by the camera equipment 4. It is a conventional technical means in the art to evaluate the throw load function of the submarine 1 by analyzing the related data, which will not be described here.

[0107] In addition, it is also needed to be explained that if the pool test is respectively conducted on the bottom touch throw load function, the super deep throw load function and the overtime throw load function of the submarine 1, the submarine 1 can be installed on the test device 2 for protection when the submarine 1 is in the depth keeping navigation, and the submarine 1 can be navigated in place under the restraint of the test device 2, so as to reduce the space required by the pool test.

[0108] As shown in Figure 6 The submarine throw load function pool test method is described below by taking the pool test on the super deep throw load function as an example. The submarine 1 navigates in the pool, and the super deep navigation depth is 20 m.

[0109] The submarine throw load function pool test method includes the following steps:

[0110] The lifting platform is placed in the pool, and the lifting platform 3 is submerged to 15 m under water.

[0111] The submarine 1 is installed on the test device 2, the test device 2 and the submarine 1 installed thereon are lowered into water by using the hoisting mechanism, the submarine 1 is arranged opposite to the lifting platform 3 in the vertical direction, and the test device 2 is placed on the lifting platform 3;

[0112] The height of the lifting platform 3 and the test device 2 is adjusted so that the submarine 1 is located 15 m under water, the submarine 1 navigates in place, the height of the lifting platform 3 and the test device 2 is adjusted so that the submarine 1 is located 20 m under water during the navigation of the submarine 1 in place, the submarine 1 is in the super deep working condition, the submarine 1 triggers the super deep throw load condition, the navigation control unit 14 controls the throw load device 15 to execute the throw load action, it is judged whether the throw load device 15 executes the throw load action, if yes, the super deep throw load function of the submarine 1 meets the requirements, if not, the super deep throw load function of the submarine 1 does not meet the requirements;

[0113] The shore station control unit is connected with the navigation control unit 14 by connecting the preset debugging cable with the preset debugging interface of the submarine 1, the shore station control unit acquires and replays the test data information recorded in the navigation control unit 14 and the content recorded by the camera equipment 4, and the throw load function of the submarine 1 is evaluated by analyzing the related data.

[0114] AsFigure 7 As shown in the figure, the operation steps of the submarine ballast function pool test method when the submarine 1 tests the over-time ballast function in the pool test; as Figure 8 As shown in the figure, the operation steps of the submarine ballast function pool test method when the submarine 1 tests the bottom-touching ballast function in the pool test; here will not be described one by one.

[0115] In this embodiment, the submarine 1 adopts the powered screw diving mode in the diving navigation stage, uses the negative buoyancy as the main driving force in the diving process, and uses the rudder machine in cooperation with the propeller 13 as the power supplement, and makes spiral motion according to the preset inclination. The specific operation is as follows: the lifting mechanism lifts the test device 2 together with the submarine 1 and the lifting platform 3 to cooperate with the lifting platform 3 to descend, and after diving to the preset water depth, the propeller 13 starts to work at the set speed, the horizontal rudder 12 is automatically adjusted according to the set pitch angle, and the vertical rudder 11 keeps the set value unchanged.

[0116] The above-mentioned submarine ballast function pool test method can simulate the over-depth, over-time and bottom-touching working conditions of the submarine 1 in actual navigation, and test the over-depth ballast function, over-time ballast function and bottom-touching ballast function of the submarine 1 by judging whether the submarine 1 executes the ballast in the simulated working condition; the test flexibility is high, the test method is simple, easy to operate, and the test result accuracy is high.

[0117] Finally, it should be explained that: each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to.

[0118] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit it; although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalent; without departing from the spirit of the technical scheme of the present application, they should be covered in the technical scheme range of the present application.

Claims

1. A test method for a submersible jettisoning function water tank, characterized in that, Includes the following steps: A lifting platform used to simulate the seabed is placed in a pool of water, and the lifting platform is submerged to a preset depth; The submersible is lifted into the water using a hoisting mechanism, and the submersible is positioned vertically opposite the lifting platform, with the submersible located above the lifting platform. Adjust the depth of the submersible and / or the lifting platform so that the height between the submersible and the lifting platform is less than a set height, and determine whether the submersible performs a jettisoning action; if it does, the jettisoning function of the submersible meets the requirements; if it does not, the jettisoning function of the submersible does not meet the requirements. Adjust the depth of the submersible and / or the lifting platform to make the submersible descend to a set depth underwater, and determine whether the submersible performs a jettisoning action; if it does, the jettisoning function of the submersible meets the requirements; if it does not, the jettisoning function of the submersible does not meet the requirements. If the submersible spends more than a set time in the pool, it is determined whether the submersible performs a jettisoning maneuver. If it does, the jettisoning function of the submersible meets the requirements; if it does not, the jettisoning function of the submersible does not meet the requirements.

2. The test method for the underwater vehicle jettisoning function in a water tank according to claim 1, characterized in that, The submersible is made to navigate at a constant depth in a pool. During the constant depth navigation, the lifting platform is raised so that the height between the submersible and the lifting platform is less than a set height. It is then determined whether the submersible should jettison its ballast.

3. The test method for the underwater vehicle jettisoning function in a water tank according to claim 1, characterized in that, The submersible is allowed to maintain a constant altitude in the pool. During the constant altitude navigation, the lifting platform is lowered to lower the submersible to a set underwater depth, and it is determined whether the submersible should jettison its ballast.

4. The test method for the underwater vehicle jettisoning function in a water tank according to any one of claims 1-3, characterized in that, The submersible navigates in the pool according to a preset route; the preset route includes at least a first preset segment and a second preset segment, which are performed sequentially; when the height between the submersible and the lifting platform is less than a set height, the submersible navigates along the first preset segment; when the submersible descends to a set depth underwater, the submersible navigates along the second preset segment.

5. The test method for the underwater vehicle jettisoning function in a water tank according to claim 4, characterized in that, The sum of the travel time of the submersible along the first preset route and the travel time of the submersible along the second preset route is greater than or equal to the set duration.

6. The test method for the underwater vehicle jettisoning function in a water tank according to claim 1, characterized in that, The submersible is equipped with a weight. When the submersible performs a jettisoning operation, the weight is jettisoned and falls onto the lifting platform.

7. The test method for the jettison function pool of a submersible according to claim 6, characterized in that, The weights are set as a group. When the submersible first jettisons its load in the pool, it performs a physical load jettison, executing the load jettisoning action and ejecting the weights. After the weights are jettisoned, when the submersible jettisons its load again in the pool, it performs a virtual load jettison, executing only the load jettisoning action without ejecting any weights.

8. The test method for the underwater vehicle jettisoning function in a water tank according to claim 6, characterized in that, After the weight is dropped, the hoisting mechanism lifts the submersible out of the pool, installs another weight on the submersible, and then submerges the submersible back into the water to continue the drop test. Alternatively, the hoisting mechanism lifts the submersible away from the pool, and the lifting platform leaves the pool. The weight is retrieved from the lifting platform, reinstalled on the submersible, and then the submersible and the lifting platform are submerged in the water to continue the load drop test.

9. The test method for the underwater vehicle jettisoning function in a water tank according to claim 1, characterized in that, The submersible is installed inside a testing device, which restrains the submersible to make it travel in place; the hoisting mechanism hoists the testing device to lift the submersible.

10. The test method for the underwater vehicle jettisoning function in a water tank according to claim 9, characterized in that, The testing device and / or the lifting platform are equipped with camera equipment, which is used to record whether the submersible performs a ballast jettisoning maneuver.

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