Method and system for measuring underwater volume change of underwater equipment

Abstract

The invention relates to an underwater volume change measuring method and system for underwater equipment, and the method comprises the steps: placing the to-be-measured underwater equipment in a pressure container, obtaining the measurement values of the underwater equipment in different states in the pressure container through a plurality of underwater force sensors, calculating the drainage volume change amount of the underwater equipment according to the measurement values, and calculating the volume change amount of the underwater equipment according to the drainage volume change amount. The volume variation is underwater volume variation; the different states of the underwater equipment in the pressure container comprise a water-free and pressure-free state, a water-full and pressure-free state and a water-full and preset pressure state. According to the invention, the volume change at different depths can be effectively measured.

Description

Technical Field

[0001] This application relates to the field of underwater equipment, and particularly to a method and system for measuring the underwater volume change of an underwater equipment. Background Art

[0002] In marine vessels and underwater engineering, quality inspections need to be carried out on the strength performance, safety performance, and anti-deformation performance of underwater equipment (such as submersibles and underwater robots). The deep diving of underwater equipment not only faces the huge pressure of seawater, but also faces the problem of the mismatch between gravity and buoyancy caused by changes in underwater environmental parameters. If the changes in the gravity and buoyancy of the underwater equipment cannot be accurately predicted and evaluated, it will lead to the inability to carry out scientific research tasks at the specified depth.

[0003] In addition, due to the existence of water pressure, the shape of the underwater equipment has a tendency to be compressed and reduced by water, and its volume is reduced by a certain amount compared to its volume in the air. If the change in the external dimensions of the underwater equipment is too large, it will lead to the inability to balance the gravity and buoyancy of the underwater equipment, and in severe cases, it will lead to the failure of the underwater equipment and cause safety accidents. However, currently, conventional methods such as measuring the external dimensions of underwater equipment are actually difficult to accurately measure its volume change. Summary of the Invention

[0004] This application provides a method and system for measuring the underwater volume change of an underwater equipment, which can solve the problem in the prior art that it is difficult to measure the volume change of an underwater equipment at different depths when the underwater equipment performs underwater operation tasks.

[0005] In a first aspect, an embodiment of this application provides a method for measuring the underwater volume change of an underwater equipment. The method includes: placing the underwater equipment to be measured in a pressure vessel, obtaining measurement values of the underwater equipment in different states in the pressure vessel through a plurality of underwater force sensors, and calculating the drainage volume change amount of the underwater equipment, that is, the underwater volume change amount, according to the measurement values; the different states of the underwater equipment in the pressure vessel include: a state of no water and no pressure, a state of full water and no pressure, and a state of full water and a preset pressure.

[0006] In combination with the first aspect, in some embodiments, obtaining measurement values of the underwater equipment in different states in the pressure vessel through a plurality of underwater force sensors and calculating the drainage volume change amount of the underwater equipment according to the measurement values includes: when it is detected that the underwater equipment is placed at the target position, calculating the sum of the measurement values of all underwater force sensors in each state respectively; and then calculating the drainage volume change amount of the underwater equipment under the preset pressure in combination with the density of water at normal temperature and normal pressure and the density of water under the preset pressure.

[0007] In combination with the first aspect, in some embodiments, it further includes a step of determining whether a preset pressure is reached. If the preset pressure is reached in the pressure vessel and the duration is greater than the preset duration, it is determined that the pressure in the pressure vessel is pressurized to the preset pressure.

[0008] In a second aspect, an embodiment of the present application provides a system for measuring the underwater volume change of an underwater device based on the method in any of the above embodiments. The system includes: a pressure vessel, which includes a plurality of underwater force sensors, and all the underwater force sensors are located on the same horizontal plane; a carrier platform, which is used to support the underwater device to be measured, and the carrier platform is arranged on the top surface of all the underwater force sensors; a console, which is connected to the pressure vessel and each underwater force sensor, is used to control the water injection volume and pressure in the pressure vessel, and is also used to obtain the measurement values of the underwater device in different states through all the underwater force sensors, and calculate the drainage volume change of the underwater device according to the measurement values.

[0009] In combination with the second aspect, in some embodiments, support blocks are installed on the inner wall of the pressure vessel, underwater force sensors are arranged on the top of the support blocks, and the distance between adjacent two support blocks is equal.

[0010] In combination with the second aspect, in some embodiments, the pressure vessel is provided with a cover body, and an exhaust valve is arranged on the cover body. When injecting water into the pressure vessel, the exhaust valve is opened for exhaust; when pressurizing the pressure vessel, the exhaust valve is closed.

[0011] In combination with the second aspect, in some embodiments, a water injection / drainage port for injecting water into and draining water from the pressure vessel is provided at the center of the bottom of the pressure vessel, and the carrier platform is also provided with a water passing hole for water to pass through.

[0012] In combination with the second aspect, in some embodiments, a pressure port is opened on the side wall of the pressure vessel, the pressure port is connected with a pressure pump, the pressure pump is connected with the console, and the pressure pump is used to convey water into the pressure vessel and pressurize the inside of the pressure vessel to the preset pressure.

[0013] In combination with the second aspect, in some embodiments, the carrier platform is provided with waist holes for fixing the underwater force sensors.

[0014] In combination with the second aspect, in some embodiments, it further includes a hanging basket, the hanging basket has an inner space for accommodating and supporting the underwater device, and an installation hole for installing the hanging basket is opened on the top surface of the carrier platform.

[0015] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:

[0016] By placing the underwater device to be measured inside a pressure vessel and using the pressure vessel to simulate the pressure environment of the underwater device during underwater operation, the complexity and cost of the experiment are reduced. By using multiple underwater force sensors to respectively obtain the measurement values of the underwater device in the pressure vessel in the states of no water and no pressure, full water and no pressure, and full water and a preset pressure, and using Archimedes' law, based on these three measurement values, the gravity and buoyancy changes of the underwater device are measured, and then the change amount of the drainage volume of the underwater device, that is, the underwater volume change amount, is calculated. The above method is not only applicable to measuring the volume of underwater devices with regular or irregular shapes, but also by controlling the magnitude of the preset pressure inside the pressure vessel, the water pressure at different depths of the underwater device can be simulated, and then the volume deformation situation of the underwater device at different depths can be calculated, so as to avoid possible excessive deformation and failure situations in advance during the design stage of the underwater device, and ensure the safety and reliability of the underwater device in the underwater working environment. Through this application, the problem in the prior art that it is difficult to measure the volume change of an underwater device at different depths during underwater operation tasks is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a flowchart of the method for measuring the underwater volume change of the underwater device in the embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of the system involved in the method;

[0020] Figure 3 It is Figure 2 an enlarged schematic diagram of part A in

[0021] Figure 4 It is Figure 2 a top view of the carrier platform in

[0022] Figure 5 It is Figure 2 a schematic diagram of the installation position of the support block in

[0023] Figure 6 It is a schematic diagram of the hanging basket in the embodiment of the present application.

[0024] In the figure:

[0025] 1. Pressure vessel; 11. Underwater force sensor; 12. Support block; 121. Threaded hole; 13. Exhaust valve; 14. Water injection / drainage port; 15. Pressure pump;

[0026] 2. Carrying platform; 21. Water through hole; 22. Kidney-shaped hole; 23. Mounting hole;

[0027] 3. Control console;

[0028] 4. Suspended basket. Specific implementation manner

[0029] In order to enable those skilled in the art of this technology to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0030] A pressure vessel, English: pressure vessel, refers to a closed device that contains gas or liquid and bears a certain pressure.

[0031] Archimedes' law. An object immersed in a stationary fluid is subjected to a buoyant force, the magnitude of which is equal to the weight of the fluid displaced by the object, and the direction is vertically upward and passes through the centroid of the displaced object.

[0032] The embodiments of this application provide a method and system for measuring the underwater volume change of an underwater device, which can solve the problem that it is difficult to measure the volume change of an underwater device at different depths when the underwater device performs underwater operation tasks in the prior art.

[0033] In the first aspect, this application provides a method for measuring the underwater volume change of an underwater device.

[0034] In one embodiment, the method includes: placing the underwater device to be measured in the pressure vessel 1, obtaining the measurement values of the underwater device in different states in the pressure vessel 1 through multiple underwater force sensors 11, and calculating the drainage volume change amount of the underwater device according to the measurement values, that is, the underwater volume change amount. The different states of the underwater device in the pressure vessel 1 include: no water and no pressure state, full water and no pressure state, and full water and preset pressure state.

[0035] In this embodiment, before starting the experiment, multiple underwater force sensors 11 are installed in advance inside the pressure vessel 1 (such as a DN1600 vessel), and it is ensured that the weighing planes of all the underwater force sensors 11 are on the same horizontal plane. During the experiment, the underwater device to be measured is hoisted as a whole onto the weighing planes of all the underwater force sensors 11, and all the underwater force sensors 11 weigh the underwater device. Immediately afterwards, the measured values of the underwater device in the pressure vessel 1 in the states of no water and no pressure, full water and no pressure, and full water and a preset pressure are respectively obtained by using all the underwater force sensors 11. Finally, according to Archimedes' law, based on these three measured values, the gravity and buoyancy changes of the underwater device are measured, and then the change amount of the drainage volume of the underwater device, that is, the underwater volume change amount, is calculated. It should be added that different preset pressures correspond to the water pressures of the underwater device at different depths; the underwater device generally refers to devices with underwater operation capabilities such as submersibles and underwater robots.

[0036] In this embodiment, by placing the underwater device to be measured inside the pressure vessel 1 and using the pressure vessel 1 to simulate the pressure environment of the underwater device during underwater operation, the complexity and cost of the experiment are reduced. By respectively obtaining the measured values of the underwater device in the pressure vessel 1 in the states of no water and no pressure, full water and no pressure, and full water and a preset pressure by using multiple underwater force sensors 11, according to Archimedes' law, based on these three measured values, the gravity and buoyancy changes of the underwater device are measured, and then the change amount of the drainage volume of the underwater device, that is, the underwater volume change amount, is calculated. The above method is not only applicable to measuring the volume of the underwater device with a regular or irregular shape, but also by controlling the magnitude of the preset pressure inside the pressure vessel 1, the water pressure of the underwater device at different depths can be simulated, and then the volume deformation situation of the underwater device at different depths can be calculated, so that possible excessive deformation and failure situations can be avoided in advance during the design stage of the underwater device, ensuring the safety and reliability of the underwater device in the underwater working environment.

[0037] Further, in one embodiment, refer to Figure 1 , Figure 1 which is the flowchart of the method for measuring the underwater volume change of the underwater device in the embodiment of the present application. The method includes the following steps:

[0038] Step S101, when it is detected that the underwater device is placed at the target position, calculate the sum of the measured values of all the underwater force sensors 11 in each state respectively.

[0039] Step S102, then combine the density of water at normal temperature and pressure and the density of water at the preset pressure to calculate the change amount of the drainage volume of the underwater device under the preset pressure.

[0040] In this embodiment, it should be understood in advance that according to Archimedes' buoyancy principle, F 浮 = G排 (That is, the buoyant force on an object is equal to the weight of the liquid displaced by the object when it is in a stable state). The calculation can use its derived formula F 浮 = G 排 = ρ 液 gV 排 (ρ 液 is the density of the liquid, with the unit of kg / m 3 ; g is a constant, which is the ratio of gravity to mass. Take g = 9.8 N / kg, and 10 N / kg can be taken for rough calculation; V 排 represents the volume of the displaced liquid, with the unit of m 3 ). At the same time, the buoyancy formula for liquids is also applicable to gases (just replace ρ 液 with ρ 气 ). Without special instructions, the buoyancy generally refers to the vertically upward force on an object immersed in a liquid.

[0041] In this embodiment, when it is detected that the underwater device is placed at the target position (that is, the underwater device is located in the weighing plane of all underwater force sensors 11), before the pressure vessel 1 starts to be filled with water and pressurized, at this time, the pressure vessel 1 is in a state of no water and no pressure. Obtain the sum of the measured values of all underwater force sensors 11, denoted as G (that is, the gravity of the underwater device in the pressure vessel 1 in the state of no water and no pressure).

[0042] Secondly, close the lid of the pressure vessel 1, open the exhaust valve 13 on the lid, and fill the pressure vessel 1 with water. At this time, the pressure vessel 1 is in a state of full water and no pressure. The underwater device is subject to buoyancy and gravity. Obtain the sum of the measured values of all underwater force sensors 11, denoted as T1 (that is, the resultant force of gravity minus buoyancy of the underwater device in the pressure vessel 1 in the state of full water and no pressure. It should be added that the direction of the gravity on the underwater device is vertically downward, while the direction of the buoyancy is vertically upward. Therefore, for an underwater device with a large volume and a small mass, the buoyancy on the underwater device is greater than the gravity, so the measured value of the underwater force sensor 11 is the vertically upward resultant force; while for an underwater device with a small volume and a large mass, the buoyancy on the underwater device is less than the gravity, so the measured value of the underwater force sensor 11 is the vertically downward resultant force). According to Archimedes' principle of buoyancy, formula 1 is obtained as:

[0043] V1 = (G - T1) / gρ1

[0044] where ρ1 is the density of water at normal temperature and pressure, with the unit of kg / m 3 , which is a known quantity; g is a constant, which is the ratio of gravity to mass. Take g = 9.8 N / kg, and 10 N / kg can be taken for rough calculation; V1 represents the volume of the underwater device displacing water at normal temperature and pressure, with the unit of m 3 .

[0045] Then, close the exhaust valve 13 and pressurize the pressure vessel 1 to a preset pressure. At this time, the pressure vessel 1 is in a state of full water and preset pressure. The underwater device is also subject to buoyancy and gravity. Obtain the sum of the measured values of all underwater force sensors 11, denoted as T2 (i.e., the resultant force of gravity minus buoyancy when the underwater device is in the state of full water and preset pressure in the pressure vessel 1). According to Archimedes' principle of buoyancy, the calculation formula 2 can be:

[0046] V2 = (G - T2) / gρ2

[0047] Where ρ1 is the density of water at normal temperature and preset pressure, with the unit of kg / m 3 , which is a known quantity; g is a constant, the ratio of gravity to mass, take g = 9.8 N / kg, and 10 N / kg can be taken for rough calculation; V2 represents the volume of water displaced by the underwater device at normal temperature and preset pressure, with the unit of m 3 .

[0048] By solving the simultaneous equations of formula 1 and formula 2, combined with the density of water at normal temperature and pressure and the density of water at preset pressure (both are known quantities and can be known by looking up the table before the experiment), calculate the change in the drainage volume of the underwater device under the preset pressure, denoted as V3, and the calculation formula 3 is:

[0049] V3 = V1 - V2 = (G - T1) / gρ1 - (G - T2) / gρ2

[0050] Where ρ1 and ρ2 are both known quantities.

[0051] Through the above technical solution, it is not only applicable to measuring the volume of underwater devices with regular or irregular shapes, but also by controlling the magnitude of the preset pressure in the pressure vessel 1, the water pressure at different depths of the underwater device can be simulated, and then the volume deformation of the underwater device at different depths can be calculated. In this way, possible excessive deformation and failure situations can be avoided in advance during the design stage of the underwater device, ensuring the safety and reliability of the underwater device in the underwater working environment.

[0052] Further, in one embodiment, it also includes the step of judging whether the preset pressure is reached. If the pressure in the pressure vessel 1 reaches the preset pressure and the duration is greater than the preset duration, it is determined that the pressure in the pressure vessel 1 is pressurized to the preset pressure. In this embodiment, by confirming that the pressure in the pressure vessel 1 reaches the preset pressure and the duration is greater than the preset duration (such as 5 s), the pressure in the pressure vessel 1 can be ensured to be stable at the required level, avoiding the distortion of the calculation result of the change in the drainage volume of the underwater device under the preset pressure caused by pressure fluctuations.

[0053] In a second aspect, the present application provides a system for measuring the underwater volume change of an underwater device based on the underwater volume change measurement method in any of the above embodiments.

[0054] See Figures 2 - 4 , Figure 2 which is a schematic diagram of the system involved in this method; Figure 3 is Figure 2 an enlarged schematic diagram of part A in Figure 4 is Figure 2 the top view of the stage 2 in Figures 2 - 4 As shown, the system includes: a pressure vessel 1, a stage 2, and a control console 3. Among them, a plurality of underwater force sensors 11 are installed inside the pressure vessel 1, and all the underwater force sensors 11 are arranged in the same plane, that is, the weighing planes of all the underwater force sensors 11 are the same. The stage 2 is placed on the top surface of the underwater force sensors 11, providing a stable placement plane for placing underwater equipment, and can evenly distribute the weight of the underwater equipment to all the underwater force sensors 11. The stage 2 is not simply placed on the top surface of all the underwater force sensors 11, but it is provided with holes for fixing the underwater force sensors 11 to maintain the stability of the connection between them. At the four peripheral edge positions of the stage 2, notches for fixing underwater equipment are symmetrically provided ( Figure 4 the notch in

[0055] is a triangular notch, and the underwater equipment can be tied to the stage 2), or through holes for fixing underwater equipment can be provided on the top surface of the stage 2 (corresponding fixing positions on the underwater equipment correspond to the through holes).

[0056] The control console 3 is connected to the pressure vessel 1 and each underwater force sensor 11, and can be used to monitor and control the pressure vessel 1 and each underwater force sensor 11. Specifically, when water needs to be injected into the pressure vessel 1, the water injection volume in the pressure vessel 1 is controlled; when pressure needs to be applied to the pressure vessel 1, the pressure in the pressure vessel 1 is controlled. And, the measurement values of the underwater equipment in different states (i.e., the state of no water and no pressure, the state of full water and no pressure, and the state of full water and preset pressure) in the pressure vessel 1 can be obtained through all the underwater force sensors 11, and the drainage volume change of the underwater equipment can be calculated based on the measurement values.

[0057] In this embodiment, by arranging a plurality of underwater force sensors 11 in the pressure vessel 1 in the same horizontal plane, the force exerted on the underwater equipment can be measured simultaneously from multiple points, reducing inaccurate results caused by single-point measurement errors. By integrating the data of multiple underwater force sensors 11, the change in buoyancy of the underwater equipment in different states can be more accurately reflected, and thus the drainage volume change can be calculated more accurately.

[0058] The pressure vessel 1 can simulate the underwater environment. By controlling the water injection volume and pressure inside it through the console 3, it can accurately simulate the pressure conditions at different underwater depths, and then calculate the volume deformation of underwater equipment at different depths. In this way, during the design stage of underwater equipment, it is possible to avoid in advance the possible excessive deformation and failure conditions, and ensure the safety and reliability of underwater equipment in the underwater working environment.

[0059] Further, in one embodiment, referring to Figure 3 and Figure 5 , Figure 5 is Figure 2 a schematic diagram of the installation position of the support block 12 in Figure 3 and Figure 5 As shown, the support block 12 is installed on the inner wall of the pressure vessel 1. The underwater force sensor 11 is arranged on the top of the support block 12, and the distance between two adjacent support blocks 12 is equal. In this embodiment, it can be seen from Figure 2 that the bottom surface of the pressure vessel 1 of the present application is arc-shaped, and there are also some other structures at the center of its bottom surface. Therefore, the underwater force sensor 11 can be installed on the inner wall of the pressure vessel 1. By installing the support block 12 on the inner wall of the pressure vessel 1 and using the top of the support block 12 to support the underwater force sensor 11, the support block 12 and the underwater force sensor 11 are connected by bolts. The number of bolts can be 8. As Figure 5 shown, 8 threaded holes 121 are correspondingly opened on the top surface of the support block 12, which are distributed in a ring around the central axis of the underwater force sensor 11 and are mainly used to fix the underwater force sensor 11. Through the above technical solution, a stable installation position can be provided for the underwater force sensor 11, enabling it to accurately measure the magnitude of the force. By setting the distance between two adjacent support blocks 12 to be equal, the weight of the underwater equipment can be evenly transmitted to the inner wall of the pressure vessel 1, avoiding damage or inaccurate measurement of the underwater force sensor 11 due to excessive local stress.

[0060] Further, in one embodiment, as Figure 2As shown, the pressure vessel 1 is provided with a cover body, and an exhaust valve 13 is provided on the cover body. When water is injected into the pressure vessel 1, the exhaust valve 13 is opened for exhaust; when pressure is applied to the pressure vessel 1, the exhaust valve 13 is closed. In this embodiment, by providing a cover body on the pressure vessel 1 and an exhaust valve 13 on the cover body, in this way, when it is necessary to inject water into the pressure vessel 1, the exhaust valve 13 can be opened for exhaust, enabling the air in the pressure vessel 1 to be discharged smoothly. Otherwise, as water is continuously injected into the pressure vessel 1, the air in the pressure vessel 1 is compressed, generating back pressure, which hinders the continuous injection of water and prolongs the water injection time. By adding an additional exhaust valve 13 on the cover body of the pressure vessel 1, this obstacle can be eliminated, making the water injection process smoother and improving the water injection efficiency. When it is necessary to apply pressure to the pressure vessel 1, the exhaust valve 13 can be closed, thus forming a relatively enclosed space, which can ensure that the applied pressure can effectively act on the water and underwater equipment in the pressure vessel 1, preventing the pressure from leaking through the exhaust valve 13, and thus realizing the stable establishment and maintenance of the preset pressure, providing guarantee for accurately simulating the underwater pressure environment.

[0061] Further, in one embodiment, as Figure 2 shown, a water injection and drainage port 14 for injecting water into and draining water from the pressure vessel 1 is provided at the center of the bottom of the pressure vessel 1, and the carrier platform 2 is also provided with a water passing hole 21 for water to pass through. In this embodiment, by providing a water injection and drainage port 14 for injecting water into and draining water from the pressure vessel 1 at the center of the bottom of the pressure vessel 1, the water injection and drainage port 14 can utilize the gravity effect to make the water injection and drainage more smooth. When injecting water, the water can uniformly fill the entire pressure vessel 1 from the bottom of the pressure vessel 1 upwards, avoiding uneven local water injection; when draining water, the water can quickly drain out under the action of gravity, improving the drainage efficiency and reducing the residual water accumulation in the container. By providing a water passing hole 21 for water to pass through on the carrier platform 2, the water above and below the carrier platform 2 can freely circulate, ensuring that the underwater equipment can be immersed in water during the measurement process, and the surrounding water flow state is not hindered by the carrier platform 2, so as to simulate a more real underwater environment, which is beneficial to improving the accuracy of measuring the change in the drainage volume of the underwater equipment.

[0062] Further, in one embodiment, as Figure 2As shown, a pressure port is provided on the side wall of the pressure vessel 1. The pressure port is connected to a pressure pump 15, and the pressure pump 15 is connected to the control console 3. The pressure pump 15 is used to convey water into the pressure vessel 1 and pressurize the interior of the pressure vessel 1 to a preset pressure. In this embodiment, by providing a pressure port on the side wall of the pressure vessel 1, connecting a pressure pump 15 to the pressure port, and directly connecting the pressure pump 15 to the control console 3, in this way, the working state of the pressure pump 15 can be accurately controlled through the control console 3 according to the test requirements, and the pressure inside the pressure vessel 1 can be flexibly adjusted. Whether simulating the pressure environment in the shallow water area or the deep water area, the internal pressure of the pressure vessel 1 can be accurately adjusted to the preset value to meet the test requirements of different underwater devices under various pressure conditions. The pressure pump 15 can maintain the pressure stability inside the pressure vessel 1 by conveying water (generally water, if other liquids are contained in the pressure vessel 1, the corresponding liquids can also be conveyed through the pressure pump 15) into the pressure vessel 1. And this method can quickly increase the pressure inside the container. Compared with other pressurization methods, this side wall pressurization method can make more effective use of the power of the pressure pump 15, reduce energy loss, and thus raise the pressure inside the pressure vessel 1 to the preset pressure in a shorter time, improving the experimental efficiency.

[0063] In addition, the control console 3 also needs to monitor and control the pressure pump 15 in real time. When the pressure inside the pressure vessel 1 approaches or exceeds the safety upper limit, the control console 3 can promptly issue an alarm and stop the operation of the pressure pump 15 to prevent dangerous situations such as the container bursting due to overpressure, protecting the safety of underwater devices and operators.

[0064] Furthermore, in one embodiment, as Figure 4 shown, the loading platform 2 is provided with a waist-shaped hole 22 for fixing the underwater force sensor 11. In this embodiment, by providing a waist-shaped hole 22 for fixing the underwater force sensor 11 on the loading platform 2 and installing the underwater force sensor 11 using the waist-shaped hole 22, there is a certain margin for adjusting the installation position of the underwater force sensor 11. At the same time, when calibrating or maintaining the underwater force sensor 11, the waist-shaped hole 22 can conveniently loosen or adjust the position of the underwater force sensor 11. There is no need to completely disassemble the underwater force sensor 11. Just loosen the fixing bolts and move the underwater force sensor 11 to a suitable position through the waist-shaped hole 22 for calibration operations, or move it away for maintenance, reducing the workload and time for calibration and maintenance.

[0065] Furthermore, in one embodiment, refer to Figure 4 and Figure 6 , Figure 6 which is a schematic diagram of the hanging basket 4 in the embodiment of the present application. As Figure 4 and Figure 6As shown, the system further includes a hanging basket 4 which has an inner space for accommodating and supporting underwater equipment. An installation hole 23 for installing the hanging basket 4 is provided on the top surface of the load platform 2. In this embodiment, during actual application, the shapes of underwater equipment vary, and not all of them have a structure that is easy to place. Sometimes there are also some special-shaped structures. Therefore, it is necessary to additionally use the hanging basket 4 for auxiliary hoisting and fixing on the load platform 2. The hanging basket 4 can be made of steel bars and steel plates, and its volume will not change under high pressure. By providing an inner space for accommodating and supporting underwater equipment inside the hanging basket 4, the installation and disassembly of the underwater equipment become more convenient. By installing the hanging basket 4 by providing the installation hole 23 on the top surface of the load platform 2, the position of the underwater equipment in the pressure vessel 1 can be accurately determined. This helps to ensure that the underwater equipment is in the same position every time an experiment is conducted, so that the experimental conditions are consistent and reproducible, improving the accuracy and reliability of the experimental results.

[0066] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application 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. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and limited, the terms "installation", "connection" and "coupling" 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 mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0067] It should be noted that in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0068] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for measuring the underwater volume change of an underwater device, characterized in that, Including: Placing the underwater device to be measured inside the pressure vessel (1), obtaining the measured values of the underwater device in different states inside the pressure vessel (1) through multiple underwater force sensors (11), and calculating the change in the drainage volume of the underwater device based on the measured values, that is, the change in underwater volume; The different states of the underwater device inside the pressure vessel (1) include: a state without water and without pressure, a state full of water and without pressure, and a state full of water and at a preset pressure.

2. The method for measuring the underwater volume change of the underwater device according to claim 1, characterized in that, Obtaining the measured values of the underwater device in different states inside the pressure vessel (1) through multiple underwater force sensors (11), and calculating the change in the drainage volume of the underwater device based on the measured values, including: When it is detected that the underwater device is placed at the target position, calculating the sum of the measured values of all underwater force sensors (11) in each state respectively; Then, combining the density of water at normal temperature and normal pressure and the density of water at the preset pressure, calculating the change in the drainage volume of the underwater device at the preset pressure.

3. The method for measuring the underwater volume change of the underwater device according to claim 1, wherein It also includes the step of judging whether the preset pressure is reached. If the pressure inside the pressure vessel (1) reaches the preset pressure and the duration is greater than the preset time, it is determined that the pressure inside the pressure vessel (1) is pressurized to the preset pressure.

4. A system for measuring the underwater volume change of an underwater device according to any one of claims 1-3, characterized in that, Including: A pressure vessel (1), which includes multiple underwater force sensors (11), and all underwater force sensors (11) are located on the same horizontal plane; A carrier platform (2), which is used to support the underwater device to be measured, and the carrier platform (2) is arranged on the top surface of all underwater force sensors (11); A control console (3), which is connected to the pressure vessel (1) and each underwater force sensor (11), is used to control the water injection volume and pressure inside the pressure vessel (1), and is also used to obtain the measured values of the underwater device in different states through all underwater force sensors (11), and calculate the change in the drainage volume of the underwater device based on the measured values.

5. The system according to claim 4, wherein Support blocks (12) are installed on the inner wall of the pressure vessel (1), underwater force sensors (11) are arranged on the top of the support blocks (12), and the distance between adjacent two support blocks (12) is equal.

6. The system according to claim 4, wherein The pressure vessel (1) is provided with a cover body, and an exhaust valve (13) is arranged on the cover body. When injecting water into the pressure vessel (1), the exhaust valve (13) is opened for exhaust; when pressurizing the pressure vessel (1), the exhaust valve (13) is closed.

7. The system according to claim 4, wherein A water injection and drainage port (14) for injecting water into and draining water from the pressure vessel (1) is arranged at the center of the bottom of the pressure vessel (1), and the carrier platform (2) is also provided with a water passing hole (21) for water to pass through.

8. The system according to claim 4, wherein A pressure port is opened on the side wall of the pressure vessel (1), the pressure port is connected with a pressure pump (15), the pressure pump (15) is connected with the control console (3), and the pressure pump (15) is used to convey water into the pressure vessel (1) and pressurize the inside of the pressure vessel (1) to the preset pressure.

9. The system according to claim 4, wherein The carrier platform (2) is provided with waist holes (22) for fixing the underwater force sensors (11).

10. The system according to claim 4, characterized in that, It also includes a hanging basket (4), the hanging basket (4) has an inner space for accommodating and supporting the underwater device, and an installation hole (23) for installing the hanging basket (4) is opened on the top surface of the carrier platform (2).

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