A pool test platform for simulating submarine recovery and a test method thereof

Abstract

The present application belongs to the technical field of underwater robots, and particularly relates to a pool test platform for simulating submarine vehicle recovery and a test method thereof. The reconfigurable shape simulation submarine vehicle is used for simulating submarine vehicle movement and testing the docking performance of the submarine vehicle docking guide device on different shapes of submarine vehicles. The simulation submarine vehicle guide launching tube is used for fixing the launching direction of the reconfigurable shape simulation submarine vehicle. The six-degree-of-freedom underwater mechanical arm is used for controlling the docking offset distance and offset angle of the submarine vehicle docking guide device. Based on the shape body of the simulation submarine vehicle, a propulsion and stabilizing device is configured for the simulation submarine vehicle. The docking working condition is set by adjusting the posture of the six-degree-of-freedom mechanical arm for the configured simulation submarine vehicle. The test is implemented. The data of the test is collected to realize the pool test for the simulation submarine vehicle recovery. The present application is used to realize the functional adaptation and performance verification of the docking device in the pool test on different structure simulation submarine vehicles.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, specifically relating to a water tank test platform for simulating the recovery of a submersible and its test method. Background Technology

[0002] Unmanned underwater vehicles (UUVs) possess advantages such as a wide underwater working space and strong cruising capabilities, playing an irreplaceable role in underwater exploration, underwater positioning, and image acquisition. The deployment and recovery of UUVs require support from surface or underwater mother ships. Existing UUV recovery methods incur extremely high human and material costs and are inefficient. To improve the operational efficiency and working range of UUVs and further meet the needs of marine information exploration and sampling, extensive research is focusing on autonomous underwater docking and recovery technologies for UUVs.

[0003] To improve the recovery efficiency and safety of unmanned underwater vehicles (UUVs), systematic experimental research is crucial. However, sea trials are limited by sea state variations, operational risks, and high costs, making it difficult to meet the need for repeated verification. In contrast, pool trials provide a controllable and repeatable experimental environment that can simulate different recovery scenarios and operating conditions, facilitating in-depth research into the operational performance of the recovery system during UUV recovery. Pool trials can effectively evaluate and optimize recovery strategies, reduce risks in practical applications, and improve the efficiency and reliability of UUV recovery operations.

[0004] Current pool tests primarily utilize physical underwater vehicles (UUVs) or their highly realistic simulation models as test platforms. However, the manufacturing and maintenance costs of physical UUVs are extremely high, resulting in very low cost-effectiveness when conducting recovery tests of multiple models and sizes within the limited space of a pool. On one hand, actual UUVs are large and complex, and the limited space in small pools makes it difficult to effectively simulate their swimming trajectories and fully demonstrate their dynamic performance. On the other hand, UUVs possess numerous degrees of freedom, making it difficult for their attitude control systems to operate stably in confined environments like pools. This hinders repeatable testing and increases the risk of equipment collisions or damage to pool facilities due to control instability. Furthermore, verifying the adaptability of docking devices does not require excessively high degrees of freedom or high-precision navigation systems; simulating the characteristic shape and dynamic response of the UUV during approach and docking is sufficient. Therefore, there is an urgent need for a simplified, cost-effective, and flexibly adjustable simulated UUV platform to support the functional adaptation and performance verification of docking devices under different target models in pool tests. Summary of the Invention

[0005] This invention provides a water tank test platform for simulating the recovery of a submersible, in order to solve the above-mentioned problems.

[0006] This invention provides a test method for a water tank test platform simulating the recovery of a submersible, which is used to achieve functional adaptation and performance verification of the docking device under different target models in water tank tests.

[0007] This invention is achieved through the following technical solution:

[0008] A water tank test platform for simulating the recovery of a submersible includes a reconfigurable submersible 1, a submersible guide launch tube 2, a submersible launch tube support frame 3, a submersible docking guide device 4, a robotic arm fixed support frame 5, a six-degree-of-freedom underwater robotic arm 6, a wave-generating water circulation array 7, a highly elastic protective pad 8, and a deployable water tank structure 9.

[0009] The reconfigurable shape of the simulated underwater vehicle 1 is used to simulate the movement of an underwater vehicle and to test the docking performance of the docking device on underwater vehicles with different shapes.

[0010] The simulated underwater vehicle guide launch tube 2 is used to fix the launch direction of the reconfigurable simulated underwater vehicle;

[0011] The simulated underwater vehicle launch tube support frame 3 is used to place the simulated underwater vehicle guide launch tube 2;

[0012] The docking guidance device 4 for the submersible is tested for docking performance using a simulated submersible 1 with a reconfigurable shape.

[0013] The robotic arm mounting support 5 is used to place the six-degree-of-freedom underwater robotic arm 6.

[0014] The six-degree-of-freedom underwater robotic arm 6 is used to control the docking offset and angle of the underwater vehicle docking guide device 4;

[0015] The wave-generating water circulation array 7 is used to simulate ocean current disturbances in the marine environment;

[0016] The highly elastic protective pad 8 is used to protect the bottom structure of the expandable pool structure 9.

[0017] The deployable pool structure 9 is used to accommodate a reconfigurable simulated submersible 1, a simulated submersible guide launch tube 2, a simulated submersible launch tube support frame 3, a submersible docking guide device 4, a robotic arm fixed support frame 5, a six-degree-of-freedom underwater robotic arm 6, a wave-generating water circulation array 7, and a highly elastic protective pad 8.

[0018] Furthermore, the reconfigurable simulated underwater vehicle 1, the simulated underwater vehicle guide launch tube 2, the simulated underwater vehicle launch tube support frame 3, the underwater vehicle docking guide device 4, the robotic arm fixed support frame 5, the six-degree-of-freedom underwater robotic arm 6, the wave-generating water circulation array 7, and the highly elastic protective pad 8 are all placed in the deployable pool structure 9.

[0019] The water tank test platform includes a reconfigurable simulated underwater vehicle 1 placed inside a simulated underwater vehicle guide launch tube 2. The simulated underwater vehicle guide launch tube 2 is placed on a simulated underwater vehicle launch tube support frame 3, so that the launch position and launch direction of the reconfigurable simulated underwater vehicle 1 are fixed.

[0020] The docking guide device 4 of the tested submersible is fixed to the end of the six-degree-of-freedom underwater robotic arm 6, so that the docking offset and angle between the docking guide device and the simulated submersible are adjustable.

[0021] The six-degree-of-freedom underwater robotic arm 6 is placed on the robotic arm fixed support frame 5, and the six-degree-of-freedom underwater robotic arm 6 maintains a preset docking distance with the simulated underwater vehicle launch tube support frame 3.

[0022] The highly elastic protective padding layer 8 is placed between the robotic arm fixed support frame 5 and the deployable pool structure 9.

[0023] Furthermore, the reconfigurable simulated underwater vehicle 1 includes a bow section 101, a bow connector 102, a main body structure 103, a stern thruster connector 104, a detachable stern thruster 105, and a detachable tail fin 106.

[0024] The bow section 101, bow connector 102, main structure 103, and stern thruster connector 104 of the simulated underwater vehicle all adopt a modular design.

[0025] The simulated underwater vehicle bow section 101 is used to simulate the bow structure of a real underwater vehicle;

[0026] The bow connector 102 of the simulated underwater vehicle is used to connect the bow 101 of the simulated underwater vehicle to the main structure 103 of the simulated underwater vehicle.

[0027] The main structure 103 of the simulated underwater vehicle has multiple through holes for fixing buoyancy materials;

[0028] The stern thruster connector 104 of the simulated underwater vehicle is used to connect the stern thruster 105 of the detachable simulated underwater vehicle to the main structure 103 of the simulated underwater vehicle.

[0029] The stern thruster 105 of the detachable simulated submarine is threadedly connected to the stern thruster connector 104 of the simulated submarine to simulate the movement of the submarine.

[0030] The navigation stability of the simulated underwater vehicle is ensured by adjusting the number and attitude of the tail fins 106 of the detachable simulated underwater vehicle.

[0031] Furthermore, the bow section 101 of the simulated underwater vehicle is connected to the bow end of the main structure 103 of the simulated underwater vehicle via the bow connector 102.

[0032] The tail end of the main body structure 103 of the simulated underwater vehicle is connected to the stern thruster 105 of the detachable simulated underwater vehicle via the stern thruster connector 104 of the simulated underwater vehicle.

[0033] The tail fin 106 of the detachable simulated submarine is threadedly connected to the main structure 103 of the simulated submarine.

[0034] Furthermore, the simulated underwater vehicle guide launch tube 2 includes a simulated underwater vehicle guide launch tube body 201, a guide launch tube clamp 202, and a guide launch tube clamp base 203;

[0035] The main body 201 of the guide launch tube is used to determine the initial position and attitude of the simulated underwater vehicle and maintain a straight launch trajectory;

[0036] The guide launch tube clamp 202 is used to fix the body of the simulated underwater vehicle guide launch tube, so that the tube body is in the preset launch position;

[0037] The guide tube clamp base 203 is a connecting structural component between the simulated underwater vehicle guide tube 2 and the simulated underwater vehicle launch tube support frame 3.

[0038] Furthermore, the guide launch tube body 201 houses a reconfigurable simulated underwater vehicle 1, and guide launch tube clamps 202 are uniformly arranged on the outer surface of the guide launch tube body 201. The guide launch tube clamps 202 are connected to the guide launch tube clamp base 203, and the guide launch tube clamp base 203 is connected to the simulated underwater vehicle launch tube support frame 3.

[0039] A test method for a water tank test platform simulating the recovery of a submersible, the test method using the water tank test platform simulating the recovery of a submersible as described above, the test method comprising the following steps:

[0040] Step 1: Construct the main body of the simulated underwater vehicle;

[0041] Step 2: Based on the simulated underwater vehicle's main body shape from Step 1, configure propulsion and stabilization devices for it;

[0042] Step 3: Set the docking conditions for the simulated underwater vehicle configured in Step 2 by adjusting the attitude of the six-degree-of-freedom robotic arm;

[0043] Step 4: Based on the settings in Step 3, conduct the experiment;

[0044] Step 5: Collect the data from the experiment in Step 4 to conduct the experiment on the water tank test platform simulating the recovery of a submersible.

[0045] Furthermore, step 1 specifically involves selecting modules of a hemispherical bow, main body section, and stern thruster connector based on a modular structure to form a simulated submarine of the required external dimensions.

[0046] Let the total mass be The center of gravity is The position of the center of buoyancy is buoyancy is Then, in a static equilibrium state, the following must be satisfied:

[0047]

[0048]

[0049] in, It is the vector pointing from the center of buoyancy to the center of gravity.

[0050] Furthermore, step 2 specifically involves installing a detachable stern thruster 105 of the simulated underwater vehicle at the stern of the simulated underwater vehicle, and setting a detachable tail fin 106 of the simulated underwater vehicle on its conical tail section, arranged in a circular array, and adjusting the angle of the detachable tail fin 106 of the simulated underwater vehicle to control the attitude stability during the propulsion process.

[0051] The simulated underwater vehicle guide launch tube 2 fixes the initial position and launch direction of the underwater model;

[0052] The stern thruster 105 of the detachable simulated underwater vehicle is an adjustable-speed electric propulsion device with forward and reverse rotation functions, which can simulate the dynamic propulsion process of the underwater vehicle entering and exiting the water.

[0053] The tail fin 106 of the detachable simulated underwater vehicle adopts a dovetail-like structure design. By changing the installation angle of the tail fin, the lateral stabilizing force can be adjusted, thereby optimizing the yaw control capability of the underwater vehicle during propulsion.

[0054] Furthermore, step 3 specifically involves installing the docking guide device 4 of the submersible to be tested at the end of the six-degree-of-freedom underwater robotic arm 6, and through the spatial motion control of the six-degree-of-freedom underwater robotic arm 6, realizing the adjustment of the relative angle and position offset between the reconfigurable simulated submersible 1 and the submersible docking guide device 4 during the docking process.

[0055] During the docking process, the actuator connected to the end of the six-degree-of-freedom underwater manipulator 6 needs to be precisely aligned with the docking guide device 4 of the submersible. Its position and attitude adjustment depend on the inverse kinematics solution of the six-degree-of-freedom underwater manipulator 6. The forward kinematics model of the manipulator is established by the Denavit-Hartenberg parametric method.

[0056] An iterative numerical solution method is used to approximate the solution, so that the end of the robotic arm can accurately approach the set target point, thereby simulating the relative attitude change between the reconfigurable simulated submersible 1 and the submersible docking guide device 4 in the pool test.

[0057] The beneficial effects of this invention are:

[0058] This invention provides hardware platform support for verifying the recovery adaptability of different underwater vehicles with different structures under various docking conditions in a controlled environment.

[0059] The platform of this invention is a hardware platform for conducting simulated underwater vehicle docking tests in a deployable pool structure.

[0060] This invention provides a simplified, cost-controllable, and flexibly adjustable simulated underwater vehicle platform to support the functional adaptation and performance verification of docking devices under different target models during pool testing.

[0061] This invention is low-cost and highly versatile: the platform adopts an inflatable water tank and a modular simulated submersible structure, the overall system is easy to build and the cost is significantly lower than that of physical submersibles or high-fidelity models, making it suitable for universities, research institutions and enterprises to conduct multiple rounds of recovery tests at low cost.

[0062] The simulated underwater vehicle of this invention adopts a quick-change shape structure, supports a variety of combinations of length, diameter, buoyancy center, and center of gravity configuration, and is closer to the recovery form requirements of different underwater vehicle models. It can be used for compatibility and robustness evaluation of docking devices.

[0063] The simulated underwater vehicle of this invention simplifies the degrees of freedom, avoiding the risks of collisions and water tank damage caused by the complex control and unstable motion of traditional physical underwater vehicles. It is suitable for conducting high-frequency attitude recovery tests in small water tanks.

[0064] The test method provided by this invention has clear standards, is controllable in operation, and has strong repeatability, making it easy to compare and analyze under different working conditions; the platform structure also has good scalability, adapting to the needs of more complex underwater docking scenarios in the future.

[0065] This invention significantly improves the efficiency and flexibility of research on underwater vehicle recovery technology in a pool environment, and provides an economical, safe, and controllable experimental support method for the design of recovery systems, adaptability verification, and development of control strategies for related equipment.

[0066] This invention uses the position and attitude of the end effector of a six-degree-of-freedom underwater robotic arm to adjust the docking offset and angle, which has high position and attitude accuracy and is easy to adjust, ensuring the accuracy and efficiency of the experiment. Attached Figure Description

[0067] Figure 1 This is a top view of the structure of the present invention.

[0068] Figure 2 This is the AA cross-sectional view of the present invention.

[0069] Figure 3 This is a structural diagram of the reconfigurable shape of the simulated underwater vehicle of the present invention.

[0070] Figure 4 This is a structural diagram of the simulated underwater vehicle guide launch tube of the present invention.

[0071] Figure 5 This is a flowchart of the test method of the present invention.

[0072] The specific names of the labels in the figure are: 1 Reconfigurable shape of the simulated underwater vehicle, 101 Modular hemispherical simulated underwater vehicle bow, 102 Modular simulated underwater vehicle bow connector, 103 Modular simulated underwater vehicle main structure, 104 Modular stern thruster connector, 105 Detachable stern thruster, and 106 Detachable tail fin.

[0073] 2. Simulated underwater vehicle guide launch tube, 201. Simulated underwater vehicle guide launch tube body, 202. Guide launch tube clamp, 203. Guide launch tube clamp base;

[0074] 3. Simulated underwater vehicle launch tube support frame; 4. Underwater vehicle docking guide device; 5. Robotic arm fixed support frame; 6. Six-degree-of-freedom underwater robotic arm; 7. Wave-generating water circulation array; 8. High-elasticity protective padding layer; 9. Deployable pool structure. Detailed Implementation

[0075] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0076] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0077] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0078] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0079] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0080] Implementation Method 1

[0081] This invention provides a water tank test platform for simulating the recovery of a submersible, such as... Figure 1-2 As shown, the water tank test platform includes a reconfigurable shape of a simulated underwater vehicle 1, a simulated underwater vehicle guide launch tube 2, a simulated underwater vehicle launch tube support frame 3, an underwater vehicle docking guide device 4, a robotic arm fixed support frame 5, a six-degree-of-freedom underwater robotic arm 6, a wave-generating water circulation array 7, a highly elastic protective pad 8, and a deployable water tank structure 9.

[0082] The reconfigurable shape of the simulated underwater vehicle 1 is used to simulate the movement of an underwater vehicle and to test the docking performance of the docking device on underwater vehicles with different shapes.

[0083] The simulated underwater vehicle guide launch tube 2 is used to fix the launch direction of the reconfigurable simulated underwater vehicle;

[0084] The simulated underwater vehicle launch tube support frame 3 is used to place the simulated underwater vehicle guide launch tube 2;

[0085] The docking guidance device 4 for the submersible is tested for docking performance using a simulated submersible 1 with a reconfigurable shape.

[0086] The robotic arm mounting support 5 is used to place the six-degree-of-freedom underwater robotic arm 6.

[0087] The six-degree-of-freedom underwater robotic arm 6 is used to control the docking offset and angle of the underwater vehicle docking guide device 4;

[0088] The wave-making water circulation array 7, consisting of multiple wave-making water pumps and their supporting structure, is used to simulate ocean current disturbances in the marine environment.

[0089] The highly elastic protective pad 8 is used to protect the bottom structure of the expandable pool structure 9.

[0090] The deployable pool structure 9 is used to accommodate a reconfigurable simulated submersible 1, a simulated submersible guide launch tube 2, a simulated submersible launch tube support frame 3, a submersible docking guide device 4, a robotic arm fixed support frame 5, a six-degree-of-freedom underwater robotic arm 6, a wave-generating water circulation array 7, and a highly elastic protective pad 8.

[0091] Furthermore, the reconfigurable simulated underwater vehicle 1, the simulated underwater vehicle guide launch tube 2, the simulated underwater vehicle launch tube support frame 3, the underwater vehicle docking guide device 4, the robotic arm fixed support frame 5, the six-degree-of-freedom underwater robotic arm 6, the wave-generating water circulation array 7, and the highly elastic protective pad 8 are all placed in the deployable pool structure 9.

[0092] The water tank test platform includes a reconfigurable simulated underwater vehicle 1 placed inside a simulated underwater vehicle guide launch tube 2. The simulated underwater vehicle guide launch tube 2 is placed on a simulated underwater vehicle launch tube support frame 3, so that the launch position and launch direction of the reconfigurable simulated underwater vehicle 1 are fixed.

[0093] The docking guide device 4 of the tested submersible is fixed to the end of the six-degree-of-freedom underwater robotic arm 6, so that the docking offset and angle between the docking guide device and the simulated submersible are adjustable.

[0094] The six-degree-of-freedom underwater robotic arm 6 is placed on the robotic arm fixed support frame 5, and the six-degree-of-freedom underwater robotic arm 6 maintains a preset docking distance with the simulated underwater vehicle launch tube support frame 3.

[0095] The highly elastic protective padding layer 8 is placed between the robotic arm fixed support frame 5 and the deployable pool structure 9.

[0096] Furthermore, such as Figure 3As shown, the reconfigurable simulated underwater vehicle 1 includes a bow section 101, a bow connector 102, a main body structure 103, a stern thruster connector 104, a detachable stern thruster 105, and a detachable tail fin 106.

[0097] The bow section 101, bow connector 102, main structure 103, and stern thruster connector 104 of the simulated underwater vehicle all adopt a modular design and can be replaced according to the external dimensions of the tested underwater vehicle.

[0098] The simulated underwater vehicle bow 101 is a hollow hemispherical shell made of 316 stainless steel, used to simulate the bow structure of a real underwater vehicle.

[0099] The bow connector 102 of the simulated underwater vehicle is made of T7075 aluminum alloy and is used to connect the bow 101 of the simulated underwater vehicle to the main structure 103 of the simulated underwater vehicle.

[0100] The main structure 103 of the simulated underwater vehicle is a polyvinyl chloride pipe with multiple through holes for fixing buoyancy materials.

[0101] The stern thruster connector 104 of the simulated underwater vehicle is made of T7075 aluminum alloy and is used to connect the stern thruster 105 of the detachable simulated underwater vehicle to the main structure 103 of the simulated underwater vehicle.

[0102] The stern thruster 105 of the detachable simulated submarine is threadedly connected to the stern thruster connector 104 of the simulated submarine to simulate the movement of the submarine.

[0103] After determining the external structural components of the submersible, buoyancy material needs to be filled in to adjust the center of gravity and center of buoyancy of the submersible in order to ensure the floating stability of the simulated submersible.

[0104] The tail fins 106 of the detachable simulated underwater vehicle are connected to the main structure 103 of the simulated underwater vehicle in a circular array via threads. The navigation stability of the simulated underwater vehicle can be ensured by adjusting the number and attitude of the tail fins 106.

[0105] Furthermore, the bow section 101 of the simulated underwater vehicle is connected to the bow end of the main structure 103 of the simulated underwater vehicle via the bow connector 102.

[0106] The tail end of the main body structure 103 of the simulated underwater vehicle is connected to the stern thruster 105 of the detachable simulated underwater vehicle via the stern thruster connector 104 of the simulated underwater vehicle.

[0107] The tail end of the main structure 103 of the simulated underwater vehicle is connected to the stern thruster connector 104 of the simulated underwater vehicle via a thread, and the stern thruster connector 104 of the simulated underwater vehicle is threadedly connected to the stern thruster 105 of the detachable simulated underwater vehicle.

[0108] The tail fin 106 of the detachable simulated submarine is threadedly connected to the main structure 103 of the simulated submarine.

[0109] Furthermore, such as Figure 4 As shown, the simulated underwater vehicle guide launch tube 2 includes a simulated underwater vehicle guide launch tube body 201, a guide launch tube clamp 202, and a guide launch tube clamp base 203;

[0110] The main body 201 of the guide launch tube is a transparent hollow organic glass tube, which is mainly used to determine the initial position and attitude of the simulated underwater vehicle and maintain a straight launch trajectory.

[0111] The guide launch tube clamp 202 is made of aluminum alloy and is used to fix the body of the simulated underwater vehicle guide launch tube so that the tube body is in the preset launch position;

[0112] The guide tube clamp base 203 is a connecting structural component between the simulated underwater vehicle guide tube 2 and the simulated underwater vehicle launch tube support frame 3.

[0113] Furthermore, the guide launch tube body 201 houses a reconfigurable simulated underwater vehicle 1, and guide launch tube clamps 202 are uniformly arranged on the outer surface of the guide launch tube body 201. The guide launch tube clamps 202 are connected to the guide launch tube clamp base 203, and the guide launch tube clamp base 203 is connected to the simulated underwater vehicle launch tube support frame 3.

[0114] Implementation Method 2

[0115] This invention provides a test method for a water tank test platform simulating the recovery of a submersible. The test method uses the water tank test platform for simulating the recovery of a submersible as described in Embodiment 1. Figure 5 As shown, the test method includes the following steps:

[0116] Step 1: Construct the main body of the simulated underwater vehicle;

[0117] Step 2: Based on the simulated underwater vehicle's main body shape from Step 1, configure propulsion and stabilization devices for it;

[0118] Step 3: Set the docking conditions for the simulated underwater vehicle configured in Step 2 by adjusting the attitude of the six-degree-of-freedom robotic arm;

[0119] Step 4: Based on the settings in Step 3, conduct the experiment;

[0120] Step 5: Collect the data from the experiment in Step 4 to conduct the experiment on the water tank test platform simulating the recovery of a submersible.

[0121] Furthermore, step 1 specifically involves selecting modules of a hemispherical bow, main body section, and stern thruster connector based on a modular structure to form a simulated submarine of the required external dimensions.

[0122] By calculating its center of gravity With the position of the center of buoyancy This enables the simulation body to achieve longitudinal and lateral balance in still water conditions, ensuring that it has the same static stability characteristics as the actual underwater vehicle.

[0123] Simulating the static stability of a submersible by properly configuring the center of gravity With floating heart To achieve this. Let the total mass be... The center of gravity is The position of the center of buoyancy is buoyancy is Then, in a static equilibrium state, the following must be satisfied:

[0124]

[0125]

[0126] in, It is a vector pointing from the center of buoyancy to the center of gravity; by adjusting the material density and component positions of each segment in the modular structure, precise balancing can be achieved when building a simulated underwater vehicle.

[0127] Furthermore, step 2 specifically involves installing a detachable stern thruster 105 of the simulated underwater vehicle at the stern of the simulated underwater vehicle, and setting a detachable tail fin 106 of the simulated underwater vehicle on its conical tail section, arranged in a circular array, and adjusting the angle of the detachable tail fin 106 of the simulated underwater vehicle to control the attitude stability during the propulsion process.

[0128] The simulated underwater vehicle guide launch tube 2 uses aluminum profiles and transparent hollow organic glass round tubes to fix the initial position and launch direction of the underwater model;

[0129] In addition, the stern thruster 105 of the detachable simulated submarine is an adjustable speed electric propulsion device with forward and reverse rotation functions, which can simulate the dynamic propulsion process of the submarine.

[0130] The tail fin 106 of the detachable simulated underwater vehicle adopts a dovetail-like structure design, which facilitates quick assembly and disassembly. By changing the installation angle of the tail fin, the lateral stabilizing force can be adjusted, thereby optimizing the yaw control capability of the underwater vehicle during propulsion.

[0131] Furthermore, step 3 specifically involves installing the docking guide device 4 of the submersible to be tested at the end of the six-degree-of-freedom underwater robotic arm 6. Through the spatial motion control of the six-degree-of-freedom underwater robotic arm 6, the relative angle and position offset between the reconfigurable simulated submersible 1 and the docking guide device 4 during the docking process can be adjusted. This process is based on the inverse kinematics model of the underwater robotic arm to ensure that the docking process meets the requirements of various working conditions.

[0132] During the docking process, the end effector connected to the six-degree-of-freedom underwater manipulator 6 needs to be precisely aligned with the docking guide device 4 of the submersible. Its position and attitude adjustment depend on the inverse kinematics solution of the six-degree-of-freedom underwater manipulator 6. Therefore, this embodiment uses the Denavit-Hartenberg parametric method to establish the forward kinematics model of the manipulator.

[0133] Specifically, the coordinate transformation between each joint can be defined by the following four DH parameters:

[0134] : No. The rotation angle of each joint (joint variable);

[0135] Translation distance along the previous coordinate axis;

[0136] : The length of the link between the current joint and the previous joint;

[0137] The previous coordinate system revolves around it - The angle of twist required to rotate the axis to the current coordinate system.

[0138] By establishing homogeneous transformation matrices between each joint coordinate system step by step. This allows us to derive the overall pose transformation relationship from the robot arm base to the end effector:

[0139]

[0140] in It represents the end pose, which includes the position vector and the direction cosine matrix.

[0141] Given the target docking position and attitude Under the given conditions, solve for the joint variables. If this constitutes an inverse kinematics problem, then the equations need to be solved:

[0142]

[0143] This embodiment employs an iterative numerical solution method for approximate solution, enabling the robotic arm's end effector to precisely approach the set target point, thereby simulating the relative attitude changes between the reconfigurable simulated submersible 1 and the submersible docking guide device 4 during pool testing. Through this model and solution strategy, the robotic arm can flexibly achieve continuous adjustment of key parameters such as docking angle and radial offset, meeting the docking test requirements between submersibles of different structures and various recovery devices.

[0144] Furthermore, the reconfigurable simulated submersible 1 is launched from the simulated submersible launch tube 2 to the docking area. By changing the end effector pose of the six-DOF underwater robotic arm 6, docking paths under different working conditions are simulated. Key indicators such as the attitude changes of the reconfigurable simulated submersible 1, docking success rate, collision scenarios, force sensor output, and motor response data are recorded during the process. All test data are synchronously recorded and displayed in real time via the underwater acquisition module and the host computer system for subsequent analysis. After completing the test on the simulated submersible of the current size, the external dimensions of the simulated submersible can be quickly changed by module replacement, and docking tests can be repeated to accumulate data under multiple structural conditions.

[0145] Furthermore, it also includes a comprehensive evaluation of docking performance, which involves a comprehensive analysis of the motion trajectory, stress state, attitude changes, and docking success rate of different underwater vehicle structures and under various docking conditions. This evaluation assesses the adaptability and recovery performance of the docking device under diverse mission conditions, providing reliable data support for the subsequent design and optimization of the docking system.

[0146] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A water pool test platform for simulating a submarine recovery, characterized by, The water tank test platform includes a reconfigurable shape of a simulated underwater vehicle (1), a simulated underwater vehicle guide launch tube (2), a simulated underwater vehicle launch tube support frame (3), an underwater vehicle docking guide device (4), a robotic arm fixed support frame (5), a six-degree-of-freedom underwater robotic arm (6), a wave-making water circulation array (7), a highly elastic protective pad (8), and a deployable water tank structure (9). The reconfigurable shape of the simulated underwater vehicle (1) is used to simulate the movement of the underwater vehicle and to test the docking performance of the docking device on underwater vehicles with different shapes. The simulated underwater vehicle guide launch tube (2) is used to fix the launch direction of the reconfigurable simulated underwater vehicle; Simulated underwater vehicle launch tube support frame (3) is used to place the simulated underwater vehicle guide launch tube (2); The docking guidance device (4) of the submersible is tested for docking performance by a simulated submersible (1) with a reconfigurable shape. The robotic arm fixed support frame (5) is used to place the six-degree-of-freedom underwater robotic arm (6). The six-degree-of-freedom underwater robotic arm (6) is used to control the docking offset and deflection angle of the docking guide device (4) of the submersible; The wave-generating water circulation array (7) is used to simulate ocean current disturbances in the marine environment; The highly elastic protective pad (8) is used to protect the bottom structure of the expandable pool structure (9); The deployable pool structure (9) is used to accommodate a reconfigurable simulated submersible (1), a simulated submersible guide launch tube (2), a simulated submersible launch tube support frame (3), a submersible docking guide device (4), a robotic arm fixed support frame (5), a six-degree-of-freedom underwater robotic arm (6), a wave-making water circulation array (7), and a highly elastic protective pad (8). The reconfigurable simulated underwater vehicle (1), simulated underwater vehicle guide launch tube (2), simulated underwater vehicle launch tube support frame (3), underwater vehicle docking guide device (4), robotic arm fixed support frame (5), six-degree-of-freedom underwater robotic arm (6), wave-making water circulation array (7), and highly elastic protective pad (8) are all placed in a deployable pool structure (9). The pool test platform includes a reconfigurable shape simulated underwater vehicle (1) placed inside a simulated underwater vehicle guide launch tube (2), and the simulated underwater vehicle guide launch tube (2) is placed on a simulated underwater vehicle launch tube support frame (3) to fix the launch position and launch direction of the reconfigurable shape simulated underwater vehicle (1). The docking guide device (4) of the tested submersible is fixed to the end of the six-degree-of-freedom underwater robotic arm (6), so that the docking offset and angle between the docking guide device and the simulated submersible are adjustable. The six-degree-of-freedom underwater robotic arm (6) is placed on the robotic arm fixed support frame (5), and the six-degree-of-freedom underwater robotic arm (6) maintains a preset docking distance with the simulated underwater vehicle launch tube support frame (3); The highly elastic protective pad (8) is placed between the robotic arm fixed support frame (5) and the deployable pool structure (9); The reconfigurable simulated underwater vehicle (1) includes a bow section (101), a bow connector (102), a main body structure (103), a stern thruster connector (104), a detachable stern thruster (105), and a detachable tail fin (106). The bow section (101), bow connector (102), main structure (103), and stern thruster connector (104) of the simulated underwater vehicle all adopt a modular design. The simulated underwater vehicle bow section (101) is used to simulate the bow structure of a real underwater vehicle; The bow connector (102) of the simulated underwater vehicle is used to connect the bow (101) of the simulated underwater vehicle to the main structure (103) of the simulated underwater vehicle; The main structure (103) of the simulated underwater vehicle has multiple through holes for fixing buoyancy materials; The stern thruster connector (104) of the simulated underwater vehicle is used to connect the stern thruster (105) of the detachable simulated underwater vehicle to the main structure (103) of the simulated underwater vehicle; The stern thruster (105) of the detachable simulated submarine is threadedly connected to the stern thruster connector (104) of the simulated submarine for simulating the movement of the submarine; The navigation stability of the simulated underwater vehicle is ensured by adjusting the number and attitude of the tail fins (106) of the detachable simulated underwater vehicle.

2. The water tank test platform according to claim 1, characterized in that, The bow (101) of the simulated underwater vehicle is connected to the bow end of the main structure (103) of the simulated underwater vehicle via the bow connector (102); The tail end of the main structure (103) of the simulated underwater vehicle is connected to the stern thruster (105) of the detachable simulated underwater vehicle via the stern thruster connector (104). The tail fin (106) of the detachable simulated submarine is threadedly connected to the main structure (103) of the simulated submarine.

3. The water tank test platform according to claim 1, characterized in that, The simulated underwater vehicle guide launch tube (2) includes a simulated underwater vehicle guide launch tube body (201), a guide launch tube clamp (202), and a guide launch tube clamp base (203). The main body of the guide launch tube (201) is used to determine the initial position and attitude of the simulated underwater vehicle and maintain a straight launch trajectory; The guide launch tube clamp (202) is used to fix the body of the simulated underwater vehicle guide launch tube, so that the tube body is in the preset launch position; The guide tube clamp base (203) is a connecting structure for the simulated underwater vehicle guide tube (2) and the simulated underwater vehicle launch tube support frame (3).

4. The water tank test platform according to claim 3, characterized in that, The guide launch tube body (201) contains a reconfigurable simulated underwater vehicle (1). Guide launch tube clamps (202) are uniformly arranged on the outer surface of the guide launch tube body (201). The guide launch tube clamps (202) are connected to the guide launch tube clamp base (203). The guide launch tube clamp base (203) is connected to the simulated underwater vehicle launch tube support frame (3).

5. A test method for a water tank test platform simulating the recovery of a submersible, characterized in that, The test method uses a water tank test platform for simulating the recovery of a submersible as described in any one of claims 1-4, and the test method includes the following steps: Step 1: Construct the main body of the simulated underwater vehicle; Step 2: Based on the simulated underwater vehicle's main body shape from Step 1, configure propulsion and stabilization devices for it; Step 3: Set the docking conditions for the simulated underwater vehicle configured in Step 2 by adjusting the attitude of the six-degree-of-freedom robotic arm; Step 4: Based on the settings in Step 3, conduct the experiment; Step 5: Collect the data from the experiment in Step 4 to conduct a pool test simulating the recovery of the submersible.

6. The test method according to claim 5, characterized in that, Step 1 specifically involves selecting modules of a hemispherical bow, main body, and stern thruster connector based on a modular structure to form a simulated submarine with the required external dimensions. Let the total mass be The center of gravity is The position of the center of buoyancy is buoyancy is Then, in a static equilibrium state, the following must be satisfied: in, It is the vector pointing from the center of buoyancy to the center of gravity.

7. The test method according to claim 5, characterized in that, Specifically, step 2 involves installing a detachable stern thruster (105) of the simulated underwater vehicle on the stern and setting a detachable tail fin (106) of the simulated underwater vehicle on its conical tail section, arranged in a circular array, and adjusting the angle of the detachable tail fin (106) of the simulated underwater vehicle to control the attitude stability during the propulsion process. The simulated underwater vehicle guide launch tube (2) fixes the initial position and launch direction of the underwater model; The stern thruster (105) of the detachable simulated submarine is an adjustable electric propulsion device with forward and reverse rotation functions, which can simulate the dynamic propulsion process of the submarine. The tail fin (106) of the detachable simulated underwater vehicle adopts a dovetail-like structure design. By changing the installation angle of the tail fin, the lateral stabilizing force can be adjusted, thereby optimizing the yaw control capability of the underwater vehicle during propulsion.

8. The test method according to claim 5, characterized in that, Specifically, step 3 involves installing the docking guide device (4) of the submersible to be tested at the end of the six-degree-of-freedom underwater robot (6), and adjusting the relative angle and position offset between the reconfigurable simulated submersible (1) and the docking guide device (4) during the docking process through the spatial motion control of the six-degree-of-freedom underwater robot (6). During the docking process, the submersible docking guide device (4) connected to the end of the six-degree-of-freedom underwater robot (6) needs to be precisely aligned. Its position and attitude adjustment depend on the inverse kinematics solution of the six-degree-of-freedom underwater robot (6). The forward kinematics model of the robot is established by the Denavit–Hartenberg parameter method. An iterative numerical solution method is used to approximate the solution, so that the end of the robotic arm can accurately approach the set target point, thereby simulating the relative attitude change between the reconfigurable simulated submersible (1) and the submersible docking guide device (4) in the pool test.

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