Crawler underwater towing test device considering ocean current and test method thereof

Abstract

The invention discloses a crawler belt underwater dragging test device considering ocean current and a test method thereof. The crawler belt underwater dragging test device comprises a water and soil tank, a crawler belt system, a dragging system and a water flow circulating system, a soil layer is arranged at the bottom of the water and soil tank and is filled with fine sand, sludge and clay so as to simulate different seabed environments; the track system adopts a high-precision servo motor to drive a track to advance in a soil layer; the dragging system is used for applying different reverse dragging forces in the advancing process of the track system so as to simulate a complex resistance environment; the water flow circulating system is used for simulating ocean current environments with different intensities and directions so as to research the influence of water flow on the advancing of the crawler system; therefore, a cable dragging mode is adopted to simulate complex seabed working conditions, and the test freedom degree is improved; a multi-dimensional parameter measurement system is adopted to monitor key parameters of traction force, slip rate, subsidence amount, pitch angle and roll angle in real time, and a scientific basis is provided for optimal design of underwater crawler-type equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean engineering, and particularly relates to a crawler underwater towing test device considering ocean currents and a test method thereof. Background Art

[0002] In the research of underwater crawler equipment, the towing test is one of the important experimental methods for evaluating the traveling performance of crawlers on soft sediments. Crawler equipment is widely used in ocean engineering fields such as deep-sea mining, seabed exploration, seabed pipeline laying, and salvage operations, and needs to adapt to the complex sea conditions in deep seas and near-shallow seas. The main purpose of the towing test is to study the traction force, slip ratio, and settlement amount of crawler equipment under different underwater terrains and bottom conditions, providing an experimental basis for optimizing crawler design and control strategies.

[0003] Traditional crawler towing tests generally adopt the following test methods: The crawler moves forward under the action of the driving wheel's pulling force, and at the same time, different degrees of reverse towing forces (traction loads) are applied to change the slip ratio of the crawler. By measuring the relationship between the slip ratio and the traction load, the traveling performance of the crawler under different resistance conditions is studied. The test is usually carried out on a flat test bed to study the basic traction performance of the crawler. Although the existing test methods can be used for basic traction force research, their test environment is relatively idealized and cannot comprehensively simulate the real seabed conditions, affecting the evaluation of the actual performance of crawler equipment. Problems existing in the prior art:

[0004] (1) The test environment is single, lacking the evaluation of adaptability to complex seabed terrains. When crawler equipment operates on the seabed, it needs to adapt to complex terrain conditions such as soft sediments, uneven seabeds, and local slope changes. However, most of the existing test equipment uses flat test beds for towing and cannot simulate the influence of complex seabed environments, resulting in test results that cannot accurately reflect the crawler's traveling performance under actual seabed conditions.

[0005] (2) It is impossible to simulate the ocean current environment, affecting the evaluation of crawler towing performance. Existing crawler towing tests usually do not consider the effect of water flow. Even if underwater conditions are involved, they are limited to static water conditions and it is difficult to reproduce the influence of strong ocean currents in near-shallow sea areas on crawler performance. In practical applications, ocean currents will generate additional fluid resistance, thrust, or lateral forces on the traveling of crawler equipment. If these factors are not considered, the test results may underestimate the actual traveling ability of the crawler, affecting design optimization.

[0006] (3) Traditional rail towing tests have too many constraints and lack degrees of freedom. Traditional crawler towing tests mostly adopt the rail towing method, that is, the crawler is fixed in a guide rail system for traveling tests. This method greatly restricts the movement degrees of freedom of the crawler and cannot accurately simulate the complex movement state of the crawler in the seabed environment. In contrast, using a cable towing method is more in line with the actual working conditions and can provide more realistic test data.

[0007] (4) The measurement range of test parameters is limited and key indicators are lacking. Existing test methods mainly focus on traction measurement, but ignore important parameters such as pitch angle and settlement amount, which are crucial for comprehensively evaluating the traveling stability and adaptability of tracked equipment. For example, the change in pitch angle can reflect the attitude adjustment ability of tracked equipment on an uneven seabed; settlement amount measurement can be used to evaluate the adaptability of the track to different soft sediments and predict the sinking risk of the equipment; although slip ratio measurement is relatively common, it does not combine multi-dimensional mechanical parameters, resulting in incomplete test results. Summary of the Invention

[0008] The present invention provides an underwater tracked towing test device considering ocean currents, which can simulate complex seabed terrains and introduce the influence of water currents, meet the requirements of multi-variable testing, the test equipment needs to take into account the degrees of freedom of the track movement, adopt a cable towing method, and ensure the accuracy and repeatability of test data. A real-time measurement system needs to be established to synchronously obtain multi-dimensional parameters such as traction force, slip ratio, settlement amount, and pitch angle to ensure the comprehensiveness of test data.

[0009] To solve the above problems, the technical solutions provided by the present invention are as follows:

[0010] An embodiment of the present invention provides an underwater tracked towing test device considering ocean currents, including a soil and water tank (1-1), a tracked system, a towing system, and a water flow circulation system; a soil layer is provided at the bottom of the soil and water tank (1-1), and the soil layer is filled with fine sand, silt, and clay to simulate different seabed environments; the tracked system uses a high-precision servo motor to drive the track (1-2) to travel in the soil layer; the towing system is used to apply different reverse towing forces during the forward movement of the tracked system to simulate a complex resistance environment; the water flow circulation system is used to simulate water current environments with different intensities and directions to study the influence of water currents on the travel of the tracked system.

[0011] In a preferred embodiment of the present invention, the length of the soil and water tank (1-1) is 8 m, its width is 2 m, and its height is 1.3 m; the height of the soil layer in the soil and water tank (1-1) is 0.3 - 0.4 m, the material of the soil and water tank (1-1) is tempered glass, and the soil and water tank (1-1) is filled with sealant to ensure the waterproofness and pressure resistance of the tank body; a first circulation hole position (1-5) and a second circulation hole position (1-6) are respectively provided at both ends of the soil and water tank (1-1), and the heights of the first circulation hole position (1-5) and the second circulation hole position (1-6) are 0.6 m.

[0012] In a preferred embodiment of the present invention, the length of the crawler belt (1-2) of the crawler system is 1.5 m, its width is 0.5 m, and its height is 0.4 m; the crawler system is provided with a measurement system, and the measurement system includes a gyroscope (4-4) and a laser rangefinder (4-5), and the gyroscope (4-4) and the laser rangefinder (4-5) are arranged on the side of the crawler belt (1-2); the measurement system is used for: monitoring the travel trajectories in the X, Y, and Z directions and performing three-way displacement measurement; real-time monitoring of the front and rear inclination states of the crawler belt (1-2) and performing pitch angle measurement; recording the lateral inclination angle when the crawler belt (1-2) travels underwater, analyzing the influence of the ocean current on the device, and performing roll angle measurement.

[0013] In a preferred embodiment of the present invention, the towing system includes a soil trough pulley (2-1), a suspension beam (2-2), a truss pulley (2-3), a truss (2-4), a main pulley (2-5), a servo motor (2-6), a steel cable (2-7), and a bracket (2-8); two soil trough pulleys (2-1) are arranged on one side of the bracket (2-8) close to the soil and water trough (1-1), the truss (2-4) and the main pulley (2-5) are respectively arranged on both sides of the bracket (2-8), two truss pulleys (2-3) are arranged under the top cross beam of the truss (2-4), the servo motor (2-6) is arranged on one side of the main pulley (2-5), and the output shaft of the servo motor (2-6) is connected to the main pulley (2-5); two steel cables (2-7) are sequentially connected to the crawler belt (1-2) through the main pulley (2-5), two truss pulleys (2-3), and two soil trough pulleys (2-1).

[0014] In a preferred embodiment of the present invention, the water flow circulation system includes a drain pipe (3-1), a circulation pipe (3-2), a drainage pump (3-3), and a pump box (3-4); wherein, one end of the circulation pipe (3-2) is connected to the first circulation hole position (1-5), the other end of the circulation pipe (3-2) is connected to the first interface of the drainage pump (3-3), one end of the drain pipe (3-1) is connected to the second circulation hole position (1-6), the other end of the drain pipe (3-1) is connected to the second interface of the drainage pump (3-3), the third interface of the drainage pump (3-3) is connected to the pump box (3-4), and the pump box (3-4) is installed on the upper part of the bracket (2-8).

[0015] In a preferred embodiment of the present invention, the water flow circulation system further includes a high-power circulation pump (3-5) and a pump box base (3-6), the high-power circulation pump (3-5) is installed at the partition of the circulation pipe (3-2), and the pump box base (3-6) is arranged at the bottom of the high-power circulation pump (3-5).

[0016] An embodiment of the present invention provides a test method for a tracked underwater towing test device considering ocean currents, including the following steps:

[0017] Step 1, test preparation: Set the bottom sediment type in the soil and water tank and fill it with a soil layer to a height of 0.3 - 0.4 m; Adjust the water level to the set value, with the highest water level of 1 m, and adjust the water flow velocity; Install the tracked system and connect the measurement system; Set the initial state of the servo motor to ensure that the track can move forward freely;

[0018] Step 2, perform the test: Start the tracked system to make the track travel at a preset speed; Start the towing system and gradually increase the towing load, record the track slip ratio and settlement amount; Adjust the flow velocity through the water flow circulation system and analyze the influence of water flow on the track performance; Record all sensor data, including traction force, slip ratio, settlement amount, pitch angle, and roll angle; Adjust the motor torque of the towing system and the motor torque of the drive wheel respectively, and conduct cross-repeated tests to study the relationship between the slip ratio and the towing load;

[0019] Step 3, data analysis: Calculate the traveling resistance, stability, and settlement characteristics of the track under different flow velocities and different terrain conditions; Compare the movement trajectories of the track under different flow velocities and analyze the influence of water flow on the track movement trajectory; Combine the pitch angle and roll angle data to study the adaptability of the track on slopes and uneven seabeds and reveal the mechanism of dynamic instability of the track.

[0020] Compared with the prior art, an embodiment of the present invention provides a tracked underwater towing test device considering ocean currents and its test method, having the following beneficial effects: The present invention improves the scientificity of the design of underwater tracked equipment: By simulating the actual seabed environment, optimizing the track parameters, and improving its adaptability to complex sea conditions; Enhances the stability of ocean engineering equipment: Improves the operating ability of the tracked equipment in applications such as deep-sea mining and seabed exploration, and reduces risks such as slipping and capsizing; Fills the technical gap in tracked towing tests: There is no mature tracked towing test device considering the influence of ocean currents in the prior art. The present invention will provide a more realistic experimental environment and more reliable data support for related research. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a structural schematic diagram of a tracked underwater towing test device considering ocean currents provided by an embodiment of the present application.

[0023] Figure 2 Schematic diagram of the towing system of a tracked underwater towing test device considering ocean currents provided by an embodiment of the present application.

[0024] Figure 3 Schematic diagram of a part of the water flow circulation system of a tracked underwater towing test device considering ocean currents provided by an embodiment of the present application.

[0025] Figure 4 Schematic diagram of another part of the water flow circulation system of a tracked underwater towing test device considering ocean currents provided by an embodiment of the present application. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application. When referring to the "upper", "lower", "front", "rear", "left", "right", etc. used for the installation position or direction of the structure or components in this embodiment, they are based on the orientation of the given drawings. They are only for convenience of description to distinguish the relative positions of the components or directions, and do not represent the orientation when the device or components in this embodiment are in use.

[0027] An embodiment of the present invention provides a tracked underwater towing test device considering ocean currents. This test device is used to study the traveling stability and traction performance of tracked equipment under different underwater terrains, sediment deposition conditions, and ocean current effects. Through a controllable water flow circulation system, different ocean current environments are simulated to study the influence of water flow on the traveling performance of the track; the cable towing method is adopted to simulate complex seabed conditions and improve the test freedom; a multi-dimensional parameter measurement system is used to real-time monitor key parameters such as traction force, slip ratio, settlement amount, pitch angle, and roll angle, providing a scientific basis for the optimal design of underwater tracked equipment.

[0028] As Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, this tracked underwater towing test device includes a soil and water tank 1-1, a track system, a towing system, and a water flow circulation system. The bottom of the soil and water tank 1-1 is provided with a soil layer, and the soil layer is filled with fine sand, silt, and clay to simulate different seabed environments; the track system uses a high-precision servo motor to drive the track 1-2 to travel in the soil layer. The towing system is used to apply different reverse towing forces during the forward movement of the track system to simulate a complex resistance environment. The water flow circulation system is used to simulate different intensities and directions of ocean current environments to study the influence of water flow on the traveling of the track system.

[0029] The length of the soil and water tank 1-1 is 8 m, its width is 2 m, and its height is 1.3 m. The height of the soil layer in the soil and water tank 1-1 is 0.3 - 0.4 m, ensuring that the water flow acts better on the crawler 1-2. The material of the soil and water tank 1-1 is toughened glass, and the soil and water tank 1-1 is filled with sealant to ensure the waterproofness and pressure resistance of the tank body. The first circulation hole position 1-5 and the second circulation hole position 1-6 are respectively arranged at both ends of the soil and water tank 1-1. The heights of the first circulation hole position 1-5 and the second circulation hole position 1-6 are 0.6 m, and the water level limit height is 1 m. Both the first circulation hole position 1-5 and the second circulation hole position 1-6 are equipped with drainage pipes, which can provide power for the water cycle and also help to quickly replace the test medium. A waterproof sealing structure is adopted to ensure the safety of long-term operation.

[0030] The length of the crawler 1-2 of the crawler system is 1.5 m, the width is 0.5 m, and the height is 0.4 m; the traveling direction of the crawler 1-2 is the opposite direction to that of the towing system, that is Figure 1 in the direction of the yellow arrow in the figure. The driving mode is rear-wheel drive, and the driving wheel is equipped with a servo motor, which can provide a specified rotational speed or torque to ensure the consistency and repeatability of the crawler's travel. The crawler system is provided with a measurement system, and the measurement system includes a gyroscope 4-4 and a laser rangefinder 4-5. The gyroscope 4-4 and the laser rangefinder 4-5 are arranged on the side of the crawler 1-2; the measurement system is used for: monitoring the traveling trajectory in the X, Y, and Z directions and performing three-dimensional displacement measurement; real-time monitoring of the front and rear inclination states of the crawler 1-2 and performing pitch angle measurement; recording the lateral inclination angle of the crawler 1-2 when traveling underwater, analyzing the influence of ocean currents on the device, and performing roll angle measurement. The characteristics of the crawler system are: a highly flexible rubber crawler, which can adapt to different terrains; a modular driving wheel design, which is convenient for replacing different crawler types to meet different experimental requirements.

[0031] The towing system includes a soil trough pulley 2-1, a suspension beam 2-2, a truss pulley 2-3, a truss 2-4, a main pulley 2-5, a servo motor 2-6, a steel cable 2-7, and a bracket 2-8. Two soil trough pulleys 2-1 are arranged on one side of the bracket 2-8 close to the soil and water trough 1-1. The truss 2-4 and the main pulley 2-5 are respectively arranged on both sides of the bracket 2-8. Two truss pulleys 2-3 are arranged under the top cross beam of the truss 2-4. The servo motor 2-6 is arranged on one side of the main pulley 2-5, and the output shaft of the servo motor 2-6 is connected to the main pulley 2-5. Two steel cables 2-7 are sequentially connected to the crawler 1-2 through the main pulley 2-5, two truss pulleys 2-3, and two soil trough pulleys 2-1. The servo motor 2-6 provides a set torque to control the traction load of the crawler 1-2. Working principle of the towing system: The servo motor controls the traction force of the steel wire rope to provide a set torque, so that the crawler is subject to a certain resistance during the traveling process. The pulley system reduces the frictional resistance to ensure the accuracy of the applied traction load. Variable load control: Different traction loads can be set to simulate various underwater conditions (soft mud, hard mud, sandy seabed, etc.). Innovation points: The cable towing method is adopted, which is more in line with the seabed conditions than the traditional slide rail towing method, improving the test freedom; the towing torque can be adjusted to evaluate the traction performance under different slip ratios; combined with the crawler displacement sensor, the traveling stability and subsidence behavior are calculated.

[0032] The water flow circulation system includes a drain pipe 3-1, a circulation pipe 3-2, a drainage pump 3-3, and a pump box 3-4. Among them, one end of the circulation pipe 3-2 is connected to the first circulation hole position 1-5, the other end of the circulation pipe 3-2 is connected to the first interface of the drainage pump 3-3, one end of the drain pipe 3-1 is connected to the second circulation hole position 1-6, the other end of the drain pipe 3-1 is connected to the second interface of the drainage pump 3-3, the third interface of the drainage pump 3-3 is connected to the pump box 3-4, and the pump box 3-4 is installed on the upper part of the bracket 2-8. The water flow circulation system also includes a high-power circulation pump 3-5 and a pump box base 3-6. The high-power circulation pump 3-5 is installed at the partition of the circulation pipe 3-2, and the pump box base 3-6 is arranged at the bottom of the high-power circulation pump 3-5. Working mode of the water flow circulation system: Controllable flow rate: The circulation pump provides a stable water flow, and the adjustable flow rate range is 0.1m / s - 1.5m / s, which can simulate environments such as weak currents, conventional ocean currents, and strong currents; Uniform flow field: The design of the circulation pipeline is optimized to make the water flow evenly distributed, avoiding local turbulence from interfering with the test data; Adjustable water flow direction: Head-on flow test (the ocean current impacts the crawler in the positive direction); Lateral flow test (the ocean current acts on the crawler laterally to analyze the side-slip behavior); Backflow test (the ocean current acts on the crawler in the reverse direction). Innovation points: A high-power variable-speed water pump is adopted, which can adjust different flow rates to improve the authenticity of simulating the ocean environment; The drainage and water replenishment systems are linked to quickly adjust the water depth to meet different test requirements; The flow rate sensor monitors in real time to ensure the accuracy of the test data.

[0033] The present invention also provides a test method for a tracked underwater towing test device considering ocean currents, which specifically includes the following steps:

[0034] Step 1, test preparation: Set the bottom sediment type in the soil and water tank and fill it with a soil layer up to a height of 0.3 - 0.4 m; Adjust the water level to the set value, with the maximum water level of 1 m, and adjust the water flow velocity; Install the tracked system and connect the measurement system; Set the initial state of the servo motor to ensure that the track can move forward freely;

[0035] Step 2, perform the test: Start the tracked system to make the track travel at a preset speed; Start the towing system, gradually increase the towing load, and record the track slip ratio and settlement; Adjust the flow velocity through the water circulation system to analyze the influence of water flow on the track performance; Record all sensor data, including traction force, slip ratio, settlement, pitch angle, and roll angle; Adjust the motor torque of the towing system and the driving wheel motor torque respectively to conduct cross - repeated tests to study the relationship between the slip ratio and the towing load;

[0036] Step 3, data analysis: Calculate the traveling resistance, stability, and settlement characteristics of the track under different flow velocities and different terrain conditions; Compare the movement trajectories of the track under different flow velocities to analyze the influence of water flow on the track movement trajectory; Combine the pitch angle and roll angle data to study the adaptability of the track on slopes and uneven seabeds, and reveal the mechanism of dynamic instability of the track.

[0037] The technical innovation points of this test method: Simulate the real ocean current environment: Compared with traditional still - water tests, this device can adjust the water flow velocity and direction to achieve the simulation of real underwater working conditions. Free towing method: Adopt a cable towing system to avoid the constraints of traditional slide rails and improve the freedom of movement of the track. Multi - parameter measurement system: For the first time, pitch angle, roll angle, and settlement are synchronously measured in an underwater tracked test, providing comprehensive data support for equipment optimization. Intelligent data acquisition: All sensor data can be recorded and analyzed in real - time to improve the accuracy of experimental results.

[0038] Above, the test device of the present invention adopts a controllable water flow system, a free towing method, and a multi - parameter measurement system, achieving the following direct technical effects: Breaking through the still - water limit, supporting adjustable water flow tests with a speed range of 0 - 1.5 m / s, and truly simulating the traveling state of tracked equipment under different sea conditions; Supporting variable terrain and bottom sediment adjustment (such as soft mud, sandy, rocky, etc.), and being applicable to simulating different geomorphic environments in coastal, shallow - sea, and deep - sea areas; Increasing the three - dimensional motion measurement ability, and being able to simultaneously measure: track settlement, pitch angle, and roll angle. Adopting a cable towing method to reduce the restriction on the freedom of movement of the track and ensure that the test data is closer to the actual working conditions; Variable towing load (traction load control accuracy ±0.1 N), meeting the research on the traction performance of the track under different resistance conditions.

[0039] The test device of the present invention has the following overall technical advantages: (1) More realistically simulate complex underwater working conditions: Compared with traditional still water tests, the present invention can study the influence of ocean currents on the movement of tracked equipment through an adjustable water flow system, improving the applicability of the experiment. (2) Adapt to various terrains and bottom sediments: The type of bottom sediment and slope can be freely adjusted to simulate the undulation of the seabed, the change in sediment layer thickness, and the bearing capacity of different soil types. (3) Expand the measurement range and obtain more motion parameters: In addition to traditional traction force and slip ratio, this test system can also measure the settlement, pitch angle, and roll angle of the track, and is suitable for studying extreme bottom sediment conditions. (4) Optimize the design of tracked equipment and improve operation stability: By measuring the running characteristics of the track under different seabed conditions, the material, width, pattern, and driving strategy of the track can be optimized to improve the adaptability of tracked equipment in applications such as deep-sea mining, seabed exploration, and pipeline laying.

[0040] Compared with the prior art, in terms of the water flow environment, traditional tracked towing tests use a static water environment without the action of ocean currents; the present invention has adjustable water flow (0 - 1.5 m / s) to simulate different ocean current intensities and directions. In terms of terrain, traditional tracked towing tests use a flat test bed with a fixed terrain; the present invention can adjust the type of bottom sediment (soft mud, sandy, rocky) and support slope changes. In terms of the towing method, traditional tracked towing tests use a rail towing method, which limits the degree of freedom of movement; the present invention uses cable towing, which is closer to the actual seabed environment. In terms of measurement parameters, traditional tracked towing tests use traction force and slip ratio; the present invention uses traction force, slip ratio, settlement amount, pitch angle, and roll angle. In terms of applicable scenarios, traditional tracked towing tests are only applicable to low-speed tests; the present invention is applicable to extreme bottom sediments, complex terrains, and variable water flow environments.

[0041] Therefore, the underwater tracked towing test device of the present invention that considers simulating ocean currents has achieved technical breakthroughs in aspects such as water flow environment simulation, test freedom, and data measurement accuracy, and has the following advantages: It breaks through the limitations of traditional still water tests and realizes the simulation of a 0 - 1.5 m / s ocean current environment; it supports experiments under various bottom sediment conditions (soft mud, sandy, rocky) and variable slopes (0° - 10°); it uses a cable towing method to improve the authenticity of the test and the accuracy of data; it adds the measurement functions of settlement amount, pitch angle, and roll angle to increase the dimension of experimental data; it optimizes the engineering applicability of tracked equipment and improves the stability of deep-sea operations. The test device of the present invention provides scientific support for the optimized design, adaptability evaluation, and operation performance testing of underwater tracked equipment, and has broad engineering application value.

[0042] Although the present invention has been disclosed above with preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those of ordinary skill in the art can make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the scope defined in the claims.

Claims

1. A crawler underwater towing test device considering ocean currents, characterized in that It includes a soil and water tank (1-1), a crawler system, a towing system, and a water flow circulation system; a soil layer is provided at the bottom of the soil and water tank (1-1), and the soil layer is filled with fine sand, silt, and clay to simulate different seabed environments; the crawler system uses a high-precision servo motor to drive the crawler (1-2) to travel in the soil layer; the towing system is used to apply different reverse towing forces during the forward movement of the crawler system to simulate a complex resistance environment; the water flow circulation system is used to simulate sea current environments with different intensities and directions to study the influence of water flow on the travel of the crawler system.

2. The underwater tracked towing test device considering ocean currents according to claim 1, characterized in that, The soil and water tank (1-1) is 8 m in length, 2 m in width, and 1.3 m in height; the height of the soil layer in the soil and water tank (1-1) is 0.3 - 0.4 m, the material of the soil and water tank (1-1) is tempered glass, and the soil and water tank (1-1) is filled with sealant to ensure the waterproofness and pressure resistance of the tank body; a first circulation hole position (1-5) and a second circulation hole position (1-6) are respectively provided at both ends of the soil and water tank (1-1), and the heights of the first circulation hole position (1-5) and the second circulation hole position (1-6) are 0.6 m.

3. The underwater tracked towing test device considering ocean currents according to claim 2, characterized in that, The crawler (1-2) of the crawler system is 1.5 m in length, 0.5 m in width, and 0.4 m in height; the crawler system is provided with a measurement system, and the measurement system includes a gyroscope (4-4) and a laser rangefinder (4-5), and the gyroscope (4-4) and the laser rangefinder (4-5) are arranged on the side of the crawler (1-2); the measurement system is used for: monitoring the travel trajectory in the X, Y, and Z directions and performing three-way displacement measurement; real-time monitoring of the front and rear inclination states of the crawler (1-2) and performing pitch angle measurement; recording the lateral inclination angle of the crawler (1-2) when traveling underwater, analyzing the influence of sea current on the device, and performing roll angle measurement.

4. The underwater tracked towing test device considering ocean currents according to claim 3, characterized in that, The towing system includes soil tank pulleys (2-1), a suspension beam (2-2), truss pulleys (2-3), a truss (2-4), a main pulley (2-5), a servo motor (2-6), a steel cable (2-7), and a bracket (2-8); two soil tank pulleys (2-1) are arranged on one side of the bracket (2-8) close to the soil and water tank (1-1), the truss (2-4) and the main pulley (2-5) are respectively arranged on both sides of the bracket (2-8), two truss pulleys (2-3) are arranged under the top cross beam of the truss (2-4), the servo motor (2-6) is arranged on one side of the main pulley (2-5), and the output shaft of the servo motor (2-6) is connected to the main pulley (2-5); two steel cables (2-7) are sequentially connected to the crawler (1-2) through the main pulley (2-5), two truss pulleys (2-3), and two soil tank pulleys (2-1).

5. The underwater towing test device with crawlers considering ocean currents according to claim 4, characterized in that, The water flow circulation system includes a drain pipe (3-1), a circulation pipe (3-2), a drainage pump (3-3) and a pump box (3-4); wherein, one end of the circulation pipe (3-2) is connected to the first circulation hole position (1-5), the other end of the circulation pipe (3-2) is connected to the first interface of the drainage pump (3-3), one end of the drain pipe (3-1) is connected to the second circulation hole position (1-6), the other end of the drain pipe (3-1) is connected to the second interface of the drainage pump (3-3), the third interface of the drainage pump (3-3) is connected to the pump box (3-4), and the pump box (3-4) is installed on the upper part of the bracket (2-8).

6. The underwater tracked towing test device considering ocean currents according to claim 5, characterized in that, The water flow circulation system further includes a high-power circulation pump (3-5) and a pump box base (3-6), the high-power circulation pump (3-5) is installed at the partition of the circulation pipe (3-2), and the pump box base (3-6) is arranged at the bottom of the high-power circulation pump (3-5).

7. A test method for a tracked underwater towing test device considering ocean currents, characterized in that, It includes the following steps: Step 1, test preparation: Set the bottom sediment type in the soil and water tank and fill the soil layer to a height of 0.3-0.4 m; Adjust the water level to the set value, with the highest water level of 1 m, and adjust the water flow velocity; Install the crawler system and connect the measurement system; Set the initial state of the servo motor to ensure that the crawler can move forward freely; Step 2, perform the test: Start the crawler system to make the crawler travel at a preset speed; Start the towing system, gradually increase the towing load, and record the crawler slip ratio and settlement; Adjust the flow velocity through the water flow circulation system to analyze the influence of water flow on the crawler performance; Record all sensor data, including traction force, slip ratio, settlement, pitch angle and roll angle; Adjust the motor torque of the towing system and the motor torque of the drive wheel respectively to conduct cross-repeated tests to study the relationship between the slip ratio and the towing load; Step 3, data analysis: Calculate the traveling resistance, stability and settlement characteristics of the crawler under different flow velocities and different terrain conditions; Compare the movement trajectories of the crawler under different flow velocities to analyze the influence of water flow on the crawler movement trajectory; Combine the pitch angle and roll angle data to study the adaptability of the crawler on slopes and uneven seabeds, and reveal the dynamic instability mechanism of the crawler.

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