Real-time communication submersible onshore joint debugging method based on underwater winch

Abstract

The application discloses a kind of real-time communication submersible land joint debugging method based on underwater winch, belong to submersible simulation test technical field.The method is implemented using submersible joint debugging test device, including: transfer equipment to open area, connect pressurizing pump and pressure sensor, underwater winch communication cable and satellite communication buoy and power on;Pressure simulation enters water by pressurizing pump, start satellite communication buoy and main float;After establishing communication, control underwater winch cable, return state information after simulating water and judge system state;After releasing timing communication buoy through underwater acoustic communication machine and release mechanism cooperation, it is communicated through its Beidou antenna;After releasing all timing communication buoys, control underwater winch cable, simulate water through satellite communication buoy Beidou antenna communication.The real-time communication submersible land joint debugging method based on underwater winch provided by the application can realize submersible land joint debugging, low-cost efficient simulation process, facilitate repeated verification function.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of submersible simulation test, and particularly relates to a real-time communication submersible onshore joint debugging method based on an underwater winch. BACKGROUND

[0002] In the field of marine monitoring, the system function joint debugging of real-time communication submersible needs to simulate the underwater working process. In the traditional test scheme, the small-depth pool cannot completely reproduce the whole process of submersible deployment, communication and recovery due to the length limitation of the underwater winch cable; although the large-depth pool can meet the depth simulation requirement, it has the problems of high use cost and low debugging efficiency caused by frequent deployment and recovery of equipment.

[0003] The existing onshore test method does not fully consider the underwater winch cable control logic of the submersible, the multi-buoy communication link verification and other technical scenarios, and it is difficult to solve the technical problems such as poor site adaptability, high test cost and low function verification efficiency faced by the submersible in onshore joint debugging.

[0004] Therefore, there is an urgent need for a low-cost and high-efficiency onshore joint debugging method that adapts to the structural characteristics and working process of the submersible, to break through the limitations of traditional pool test and realize efficient verification of submersible system functions. SUMMARY

[0005] In view of the deficiencies in the related art, the present application aims to provide a real-time communication submersible onshore joint debugging method based on an underwater winch to solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0007] A real-time communication submersible onshore joint debugging method based on an underwater winch, which adopts a submersible joint debugging test device to perform onshore joint debugging on a real-time communication submersible based on an underwater winch. The submersible joint debugging test device includes a first pressurizing pump for applying pressure to the pressure sensor of the satellite communication buoy, a second pressurizing pump for applying pressure to the pressure sensor of the main float, an underwater winch and a timing communication buoy arranged in the main float, a release mechanism for releasing the timing communication buoy, and an underwater acoustic communication machine for water surface and underwater communication; the onshore joint debugging method comprises:

[0008] S1, preparation step

[0009] The submersible joint debugging test device and the real-time communication submersible based on the underwater winch are transferred to an open area, the first pressurizing pump and the second pressurizing pump are connected with the corresponding pressure sensors respectively, the communication cable of the underwater winch is connected with the satellite communication buoy, and the equipment is powered on;

[0010] S2, submersible deployment step

[0011] The first and second pressing pumps apply pressure to the corresponding pressure sensors to simulate the deployment of the satellite communication buoy and the main float into water, and then start the satellite communication buoy and the main float to work;

[0012] S3, system self-checking step

[0013] After the satellite communication buoy and the main float establish communication, the underwater winch is controlled to release and take up the cable to simulate the state of the satellite communication buoy out of water, and then the state information is returned and the system state is judged;

[0014] S4, timing communication buoy communication step

[0015] The simulated detection data triggers the release mechanism to perform a separation action to release the timing communication buoy, and after release, the timing communication buoy communicates through its Beidou antenna;

[0016] S5, satellite communication buoy communication step:

[0017] After all the timing communication buoys are released, the underwater winch is controlled to release and take up the cable to simulate the state of the satellite communication buoy out of water, and then the satellite communication buoy communicates through its Beidou antenna.

[0018] In some embodiments, the submersible buoy commissioning test device further comprises a signal shielding device; in the S2 submersible buoy deployment step, the first pressing pump applies pressure to the pressure sensor of the satellite communication buoy to P1, and the second pressing pump applies pressure to the pressure sensor of the main float to P2 to simulate the pressure state of deployment into water; the signal shielding device shields the Beidou antenna of the satellite communication buoy to simulate the no-signal state of deployment into water.

[0019] In some embodiments, in the S3 system self-checking step and the S5 satellite communication buoy communication step, the underwater winch is controlled to release and take up the cable: after releasing the cable, within a preset cable release and take-up delay, the pressure sensor of the satellite communication buoy is gradually depressurized to zero by the first pressing pump to simulate the out-of-water pressure state of the satellite communication buoy; the shielding of the signal shielding device is removed to simulate the out-of-water signal state of the satellite communication buoy; after detecting the out-of-water state, the release of the cable is stopped, the satellite communication buoy establishes a communication connection with the data receiving and processing shore station through its Beidou antenna, and after successful communication, the cable is taken up, the cable is taken up at the same time by the first pressing pump to apply pressure to the pressure sensor of the satellite communication buoy and by the signal shielding device to shield the Beidou antenna of the satellite communication buoy to simulate the pressure state and the no-signal state of deployment into water, and the pressure sensor of the satellite communication buoy is stopped when the pressure is restored to P1.

[0020] In some embodiments, in the S3 system self-checking step and the S5 satellite communication buoy communication step, the judgment condition for stopping the cable releasing further comprises a preset cable releasing timeout time, wherein the cable releasing timeout time of the satellite communication buoy is T3, the cable releasing timeout time of the main float is T4, and T3 is less than T4; when the pressure sensor or the communication cable of the satellite communication buoy is abnormal, the cable releasing time exceeds the corresponding cable releasing timeout time to stop the cable releasing.

[0021] In some embodiments, in the S3 system self-checking step and the S5 satellite communication buoy communication step, the judgment condition for stopping the cable releasing further comprises a preset cable releasing timeout time, wherein the cable releasing timeout time of the satellite communication buoy is T3, the cable releasing timeout time of the main float is T4, and T3 is less than T4; when the pressure sensor or the communication cable of the satellite communication buoy is abnormal, the cable releasing time exceeds the corresponding cable releasing timeout time to stop the cable releasing.

[0022] In some embodiments, in the S4 timing communication buoy communication step, the first designated instruction is transmitted to the main float control cabin through the underwater acoustic communication machine, the first designated instruction is transmitted to the timing communication buoy through the infrared module of the release mechanism by the main float control cabin, the release mechanism performs a separation action to disconnect the timing communication buoy from the release mechanism, and the separated timing communication buoy transmits the first designated instruction information to the data receiving and processing shore station through its Beidou antenna.

[0023] In some embodiments, in the S5 satellite communication buoy communication step, after all the timing communication buoys are released, the second designated instruction is transmitted to the main float control cabin through the underwater acoustic communication machine, and then transmitted to the satellite communication buoy through the communication cable; the underwater winch performs the cable releasing while simulating the out-of-water state of the satellite communication buoy; the cable releasing is stopped after detecting the out-of-water, and the second designated instruction information is transmitted to the data receiving and processing shore station through the Beidou antenna of the satellite communication buoy; after the communication is completed, the underwater winch performs the cable collecting while simulating the in-water state of the satellite communication buoy.

[0024] In some embodiments, in the S1 preparation step, the devices are powered on in the order of the timing communication buoy, the satellite communication buoy, and the main float.

[0025] In some embodiments, in the S2 submersible deployment step, the satellite communication buoy starts to work after exceeding the set delay time T1, the main float starts to work after exceeding the set delay time T2, and T1 is less than T2.

[0026] In some embodiments, the onshore joint debugging method of the real-time communication submersible based on the underwater winch further comprises the step S6 of repeatedly performing the S5 satellite communication buoy communication step to verify the communication function and the cable releasing and collecting control function of the submersible in multiple rounds until the function verification is passed.

[0027] Compared with the prior art, the present application has the beneficial effects that:

[0028] 1、The real-time communication submersible land joint debugging method based on underwater winch provided by the present application can realize land joint debugging of the real-time communication submersible based on underwater winch without relying on a pool, effectively solves the problems that a small-depth pool cannot carry out full-process test due to the length limitation of winch cable winding and unwinding, a large-depth pool has high use cost and low efficiency of frequent laying and recovery, precisely reproduces key states such as water entry and water exit through pressure simulation, signal shielding and other means, combines multi-stage cable winding and unwinding control and communication verification, greatly reduces test cost, improves debugging efficiency, and provides a convenient and feasible land test scheme for submersible system function verification.

[0029] 2、The real-time communication submersible land joint debugging method based on underwater winch provided by the present application can comprehensively verify the stability of the submersible under abnormal working conditions such as pressure sensors or communication cables through preset timeout mechanism, state detection and repeated verification process of pressure sensors and Beidou signals, and ensure the reliable operation of cable winding and unwinding control and communication functions. At the same time, the phased joint debugging design of system self-checking, timed communication and satellite communication can verify the performance of each core module, facilitate accurate positioning of problems, and provide strong guarantee for the safety and reliability of actual underwater operation of the submersible. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this application, illustrate certain illustrative embodiments of the present application and are used to explain the present application, but do not limit the present application. In the drawings:

[0031] Fig. 1 The method flowchart of one embodiment of the real-time communication submersible land joint debugging method based on underwater winch of the present application;

[0032] Fig. 2 The submersible joint debugging test device structure schematic diagram of one embodiment of the real-time communication submersible land joint debugging method based on underwater winch of the present application;

[0033] Fig. 3 The signal shielding device structure schematic diagram of one embodiment of the real-time communication submersible land joint debugging method based on underwater winch of the present application.

[0034] In the drawings:

[0035] 1, first punch pump; 2, satellite communication buoy; 3, satellite communication buoy control cabin; 4, first Beidou antenna; 5, main float; 6, main float control cabin; 7, underwater winch; 8, communication cable; 9, timing communication buoy; 10, second Beidou antenna; 11, underwater acoustic communication machine; 111, underwater acoustic communication machine surface machine; 112, underwater acoustic communication machine underwater machine; 12, main float debugging vehicle; 13, release mechanism; 14, second punch pump; 15, signal shielding device; 151, metal shell; 152, tin foil. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0037] In the description of the present application, it should be understood that the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0038] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between the two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] Referring to the accompanying drawings Figs. 1 to 3 An illustrative embodiment of the real-time communication submersible land joint debugging method based on the underwater winch proposed in the present application is shown, which uses a submersible joint debugging test device to perform land joint debugging on the real-time communication submersible based on the underwater winch 7.

[0040] Referring to the accompanying drawings Fig. 2, the submersible includes a satellite communication buoy 2 with a first Beidou antenna 4 and a timing communication buoy 9 with a second Beidou antenna 10, and the submersible joint debugging test device includes a first pressurizing pump 1 for applying pressure to the pressure sensor of the satellite communication buoy 2, a second pressurizing pump 14 for applying pressure to the pressure sensor of the main float 5, an underwater winch 7 and the timing communication buoy 9 arranged in the main float 5, a release mechanism 13 for releasing the timing communication buoy 9, and an underwater acoustic communication machine 11 for water surface and underwater communication. Wherein, the underwater acoustic communication machine 11 includes an underwater acoustic communication machine water surface machine 111 and an underwater acoustic communication machine underwater machine 112 arranged in the main float 5. The pressure sensor of the satellite communication buoy 2 is arranged in the satellite communication buoy control cabin 3, and the pressure sensor of the main float 5 is arranged in the main float control cabin 6.

[0041] The real-time communication submersible land joint debugging method based on the underwater winch includes a preparation step, a submersible deployment step, a system self-checking step, a timing communication buoy 9 communication step and a satellite communication buoy 2 communication step, specifically:

[0042] S1, preparation step

[0043] The submersible joint debugging test device and the real-time communication submersible based on the underwater winch 7 are transferred to an open area, the first pressurizing pump 1 and the second pressurizing pump 14 are connected with the corresponding pressure sensors respectively, the communication cable 8 of the underwater winch 7 is connected with the satellite communication buoy 2, and the equipment is powered on;

[0044] S2, submersible deployment step

[0045] Pressure is applied to the corresponding pressure sensors by the first pressurizing pump 1 and the second pressurizing pump 14 to simulate the deployment of the satellite communication buoy 2 and the main float 5 into water, and then the satellite communication buoy 2 and the main float 5 are started to work;

[0046] S3, system self-checking step

[0047] After the satellite communication buoy 2 and the main float 5 establish communication, the underwater winch 7 is controlled to reel in and out the cable, the state information is returned after simulating the satellite communication buoy 2 out of water state, and the system state is judged;

[0048] S4, timing communication buoy 9 communication step

[0049] The simulated detection data triggers the release mechanism 13 to execute the separation action to release the timing communication buoy 9 through the underwater acoustic communication machine 11, and after release, the timing communication buoy 9 communicates through its Beidou antenna;

[0050] S5, satellite communication buoy 2 communication step:

[0051] After all the timing communication buoys 9 are released, the underwater winch 7 is controlled to reel in and out the cable, and after simulating the satellite communication buoy 2 out of water state, it communicates through its Beidou antenna.

[0052] In order to facilitate movement, the submersible buoy system joint debugging test device further comprises a main float debugging vehicle 12, and the main float 5 is arranged on the main float debugging vehicle 12. In the S1 preparation step, the main float 5 is transferred to the open area by the main float debugging vehicle 12. The first press pump 1 and the second press pump 14 are respectively connected with corresponding pressure sensors, specifically, the first press pump 1 is connected to the pressure sensor interface of the satellite communication buoy control cabin 3, and the second press pump 14 is connected to the pressure sensor interface of the main float control cabin 6. The communication cable 8 of the underwater winch 7 is a 485 communication cable, and the 485 communication cable is stable in transmission and can guarantee the reliable interaction of instructions in joint debugging.

[0053] The submersible buoy system joint debugging test device further comprises a signal shielding device 15, as shown in the accompanying drawings Fig. 3 The signal shielding device 15 comprises a metal shell 151 and a tin foil 152, the outside of the signal shielding device 15 is the metal shell 151, and the tin foil 152 is covered in the metal shell 151 to shield signals. In the S2 submersible buoy deployment step, the first press pump 1 is used to apply pressure to the pressure sensor of the satellite communication buoy 2 to P1, and at the same time, the second press pump 14 is used to apply pressure to the pressure sensor of the main float 5 to P2, so as to simulate the deployment of the satellite communication buoy 2 and the main float 5 into the water pressure state; the Beidou antenna of the satellite communication buoy 2 is shielded by the signal shielding device 15 to simulate the deployment of the satellite communication buoy 2 into the water without signal state.

[0054] In the S3 system self-checking step, after the satellite communication buoy 2 and the main float 5 establish communication, the satellite communication buoy 2 sends a cable deployment instruction to the main float 5, and the main float 5 starts the underwater winch 7 to begin to deploy the cable.

[0055] In the S3 system self-checking step and the S5 satellite communication buoy 2 communication step, the underwater winch 7 is controlled to perform the cable releasing and collecting operation: after the cable releasing, within the preset cable releasing and collecting delay time, the pressure sensor of the satellite communication buoy 2 is gradually depressurized to zero by the first pressurizing pump 1 to simulate the out-of-water pressure state of the satellite communication buoy 2; the satellite communication buoy 2 is simulated to have a signal state out of water by removing the shielding of the signal shielding device 15; after the satellite communication buoy 2 detects the out-of-water state, a stop cable releasing instruction is sent to the main float 5, and the underwater winch 7 stops releasing the cable; the satellite communication buoy 2 establishes a communication connection with the data receiving and processing shore station through the first Beidou antenna 4, and after the communication is successful, the satellite communication buoy 2 sends a cable collecting instruction to the main float 5, and the main float 5 starts the underwater winch 7 to perform the cable collecting; the cable collecting is used to apply pressure to the pressure sensor of the satellite communication buoy 2 through the first pressurizing pump 1 and shield the Beidou antenna of the satellite communication buoy 2 through the signal shielding device 15 to simulate the pressure state and the signal-free state of the cable being placed into water; when the pressure of the pressure sensor of the satellite communication buoy 2 returns to P1, the satellite communication buoy 2 sends a stop cable collecting instruction to the main float 5, and the underwater winch 7 stops collecting the cable.

[0056] The preset cable releasing and collecting delay time is a time parameter that is preset according to the cable releasing and collecting speed of the underwater winch 7 and the test requirement, and is used to control the timing relationship between the cable releasing and collecting operation and the simulation of the out-of-water state. In the embodiment, the preset cable releasing and collecting delay time is 2 min to simulate the actual cable releasing and collecting time length at a set sea depth.

[0057] In the embodiment, there are two judgment conditions for the satellite communication buoy 2 to detect the out-of-water state: one is to detect the pressure sensor, and the pressure sensor of the satellite communication buoy 2 is gradually depressurized to zero by the first pressurizing pump 1 to simulate the out-of-water pressure state; the other is to detect the Beidou signal strength, and the satellite communication buoy 2 is simulated to have a signal state out of water by removing the shielding of the signal shielding device 15. When the satellite communication buoy 2 detects that the pressure sensor is zero or has the Beidou signal, it is judged to be in the out-of-water state, a stop cable releasing instruction is sent to the main float 5, and the underwater winch 7 stops releasing the cable.

[0058] In the S3 system self-checking step and the S5 satellite communication buoy 2 communication step, the judgment condition for stopping the cable releasing also includes a preset cable releasing timeout time, wherein the cable releasing timeout time of the satellite communication buoy 2 is T3, the cable releasing timeout time of the main float 5 is T4, and T3 is less than T4; when the pressure sensor of the satellite communication buoy 2 or the communication cable 8 is abnormal, the cable releasing time exceeds the corresponding cable releasing timeout time to stop the cable releasing.

[0059] In the S3 system self-checking step and the S5 satellite communication buoy 2 communication step, the stopping of the cable receiving condition further comprises a preset cable receiving timeout time, wherein the cable receiving timeout time of the satellite communication buoy 2 is T6, the cable receiving timeout time of the main float 5 is T7, and T6 is less than T7; when the pressure sensor or the communication cable 8 of the satellite communication buoy 2 is abnormal, the cable receiving time exceeds the corresponding cable receiving timeout time to stop the cable receiving.

[0060] In addition, in the embodiment, a preset communication timeout time T5 is further included, and in the satellite communication process, the satellite communication buoy 2 transmits the instruction information to the data receiving and processing shore station through the first Beidou antenna 4. When the data transmission is completed or the communication duration of the satellite communication buoy 2 reaches the preset communication timeout time T5, the satellite communication buoy 2 sends the cable receiving instruction to the main float 5 to trigger the underwater winch 7 to perform the cable receiving operation. The preset communication timeout time T5 is set to avoid the satellite communication buoy 2 from falling into an infinite waiting state due to communication abnormalities (such as signal interruption), and is a time control parameter for ensuring the connection between the communication stage and the cable receiving stage. The cable receiving timeout times T6 and T7 in the cable receiving process belong to different control logics of different stages.

[0061] In the S3 system self-checking step, the back transmission of the state information and the judgment of the system state specifically comprises: back transmitting the depth and the system state information of the main float 5 and the depth and the state information of the satellite communication buoy 2 to the data receiving and processing shore station, and judging whether the state after the system deployment is normal.

[0062] In the S4 timed communication buoy 9 communication step, the first designated instruction is transmitted to the main float control cabin 6 through the underwater acoustic communication machine 11, specifically, the first designated instruction is sent to the underwater acoustic communication machine 112 through the water surface machine 111 of the underwater acoustic communication machine 11, and the underwater acoustic communication machine 112 receives the first designated instruction information and transmits the information to the main float control cabin 6. Then, the main float control cabin 6 transmits the first designated instruction to the timed communication buoy 9 through the infrared module of the release mechanism 13, and after the transmission is completed, the main float 5 starts the release mechanism 13, the release mechanism 13 performs the separation action to make the timed communication buoy 9 and the release mechanism 13 disconnected, and the separated timed communication buoy 9 transmits the first designated instruction information to the data receiving and processing shore station through the second Beidou antenna 10.

[0063] In the S5 satellite communication buoy 2 communication step, after all the timing communication buoys 9 are released, the second designated instruction is transmitted to the main float control cabin 6 through the underwater acoustic communication machine 11, and then transmitted to the satellite communication buoy 2 through the communication cable 8. In this embodiment, the timing communication buoys 9 include #1-#6 timing communication buoys, after all the timing communication buoys are released, the second designated instruction is sent to the underwater acoustic communication machine 112 through the underwater acoustic communication machine 111, and then transmitted to the main float control cabin 6 after the underwater acoustic communication machine 112 receives the second designated instruction information. The main float control cabin 6 transmits the second designated instruction to the satellite communication buoy 2 through the communication cable 8. Then, the satellite communication buoy 2 sends a cable release instruction to the main float 5, and the underwater winch 7 executes the cable release. At the same time, the satellite communication buoy 2 starts to detect whether it is out of water. At the same time, the first pressurizing pump 1 and the signal shielding device 15 simulate the out-of-water state of the satellite communication buoy 2; after detecting that it is out of water, the cable release is stopped, and at the same time, the second designated instruction information is transmitted to the data receiving and processing shore station through the Beidou antenna of the satellite communication buoy 2; after the communication is completed, the underwater winch 7 executes the cable collection, and at the same time, the in-water state of the satellite communication buoy 2 is simulated.

[0064] In this embodiment, the simulated detection data and the designated instruction information are the same content, and only differ in expression due to different stages of the process: in the S4 timing communication buoy communication step, the simulated detection data transmitted through the underwater acoustic communication machine 11 is essentially the first designated instruction information transmitted by the main float control cabin 6 to the timing communication buoy 9 through the release mechanism 13 infrared module, and the second designated instruction information transmitted to the satellite communication buoy in the S5 step.

[0065] During the onshore joint debugging, in order to simulate the process of the detection data triggering the release of the communication buoy and returning the information in the actual work of the submersible, the signal triggering the release is called simulated detection data, and when the signal is returned through the Beidou antenna after being released, it is embodied as designated instruction information, and the content of the two is completely consistent, and only different expressions are used due to different links, so as to completely reproduce the verification logic of the actual communication link.

[0066] In the S1 preparation step, the equipment is powered on in the order of the timing communication buoy 9, the satellite communication buoy 2 and the main float 5. In the S2 submersible deployment step, the satellite communication buoy 2 starts to work after exceeding the set delay time T1, and the main float 5 starts to work after exceeding the set delay time T2, and T1 is less than T2. The actual power-on and start-up sequence is simulated.

[0067] The onshore joint debugging method of the real-time communication submersible based on the underwater winch further includes the step S6 of repeatedly executing the S5 satellite communication buoy 2 communication step to verify the communication function and the cable collection and release control function of the submersible in multiple rounds until the function verification is passed.

[0068] In the above-mentioned exemplary embodiment, the real-time communication submersible based on the winch effectively solves the problems existing in the traditional test: the small-depth pool cannot carry out the whole process test due to the length limitation of the winch cable, and the large-depth pool faces the dilemma of high use cost and low efficiency of frequent deployment and recovery. The method does not need to rely on the pool, and accurately reproduces the working state of the submersible through pressure simulation, signal control and other means, which not only is not limited by the site and is low in cost, but also can repeatedly carry out system function test, greatly reduces the tedious operation and improves the test efficiency. At the same time, the method clearly defines the required test device and specific debugging steps, which is not only suitable for this type of submersible, but also can be popularized to the debugging test of other submersibles, and provides an efficient and reliable solution for submersible function verification through pressure simulation to trigger system working conditions.

[0069] Finally, it should be noted that: the embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to.

[0070] The above embodiments are only used to illustrate the technical solutions of the present application rather than limit them; although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalent ones; without departing from the spirit of the technical solutions of the present application, they should be covered in the technical solution range of the present application.

Claims

1. A real-time communication subsea land integration method based on an underwater winch, characterized in that, The land-based joint debugging of a real-time communication submersible based on an underwater winch is carried out by using a submersible joint debugging test device, the submersible joint debugging test device comprises a first pressurizing pump for applying pressure to a pressure sensor of a satellite communication float, a second pressurizing pump for applying pressure to a pressure sensor of a main float, an underwater winch and a timing communication float arranged in the main float, a release mechanism for releasing the timing communication float, and an underwater acoustic communication machine for underwater and water surface communication; the land-based joint debugging method comprises: S1, preparation step The submersible joint debugging test device and the real-time communication submersible based on the underwater winch are transferred to an open area, the first pressurizing pump and the second pressurizing pump are connected to the corresponding pressure sensors, the communication cable of the underwater winch is connected to the satellite communication float, and the equipment is powered on; S2, submersible deployment step Pressure is applied to the corresponding pressure sensors by the first pressurizing pump and the second pressurizing pump to simulate the deployment of the satellite communication float and the main float into water, and then the satellite communication float and the main float are started to work; S3, system self-checking step After the satellite communication float and the main float establish communication, the underwater winch is controlled to release and take up the cable, the state information is returned after simulating the out-of-water state of the satellite communication float, and the system state is judged; S4, timing communication float communication step The simulated detection data triggers the release mechanism to execute the separation action to release the timing communication float, and after the release, the timing communication float communicates through its Beidou antenna; S5, satellite communication float communication step After all the timing communication floats are released, the underwater winch is controlled to release and take up the cable, and after simulating the out-of-water state of the satellite communication float, the satellite communication float communicates through its Beidou antenna.

2. The real-time communication subsea land integration method based on the underwater winch according to claim 1, characterized in that, The submersible joint debugging test device further comprises a signal shielding device; in the S2 submersible deployment step, pressure is applied to the pressure sensor of the satellite communication float by the first pressurizing pump to P1, and pressure is applied to the pressure sensor of the main float by the second pressurizing pump to P2 to simulate the pressure state of deployment into water; the Beidou antenna of the satellite communication float is shielded by the signal shielding device to simulate the no-signal state of deployment into water.

3. The real-time communication subsea land integration method based on the underwater winch according to claim 2, characterized in that, In the S3 system self-checking step and the S5 satellite communication float communication step, the underwater winch is controlled to execute the release and take-up operations of the cable: after the release, within a preset release and take-up delay, the pressure sensor of the satellite communication float is gradually depressurized to zero by the first pressurizing pump to simulate the out-of-water pressure state of the satellite communication float; the shielding of the signal shielding device is removed to simulate the out-of-water signal state of the satellite communication float; after detecting the out-of-water state, the release is stopped, the satellite communication float establishes a communication connection with a data receiving and processing shore station through its Beidou antenna, and after the communication is successful, the take-up is executed; the take-up simultaneously applies pressure to the pressure sensor of the satellite communication float by the first pressurizing pump and shields the Beidou antenna of the satellite communication float by the signal shielding device to simulate the pressure state and the no-signal state of deployment into water, and the pressure sensor of the satellite communication float is stopped when the pressure is restored to P1.

4. The real-time communication subsea land integration method based on the underwater winch according to claim 3, characterized in that, In the S3 system self-checking step and the S5 satellite communication buoy communication step, the judgment condition for stopping the cable releasing further includes a preset cable releasing timeout time, wherein the cable releasing timeout time of the satellite communication buoy is T3, the cable releasing timeout time of the main float is T4, and T3 is less than T4; when the pressure sensor or the communication cable of the satellite communication buoy is abnormal, the cable releasing time exceeds the corresponding cable releasing timeout time, and the cable releasing is stopped.

5. The real-time communication subsea land integration method based on the underwater winch according to claim 3, characterized in that, In the S3 system self-checking step and the S5 satellite communication buoy communication step, the judgment condition for stopping the cable releasing further includes a preset cable releasing timeout time, wherein the cable releasing timeout time of the satellite communication buoy is T3, the cable releasing timeout time of the main float is T4, and T3 is less than T4; when the pressure sensor or the communication cable of the satellite communication buoy is abnormal, the cable releasing time exceeds the corresponding cable releasing timeout time, and the cable releasing is stopped.

6. The real-time communication subsea winch based topside integration method of claim 1, wherein, In the S4 timing communication buoy communication step, the first designated instruction is transmitted to the main float control cabin through the underwater acoustic communication machine, the first designated instruction is transmitted to the timing communication buoy through the infrared module of the release mechanism, the release mechanism performs a separation action to make the timing communication buoy and the release mechanism disconnected, and the separated timing communication buoy transmits the first designated instruction information to the data receiving and processing shore station through the Beidou antenna.

7. The real-time communication subsea land integration method based on the underwater winch according to claim 1, characterized in that, In the S5 satellite communication buoy communication step, after all the timing communication buoys are released, the second designated instruction is transmitted to the main float control cabin through the underwater acoustic communication machine, and then transmitted to the satellite communication buoy through the communication cable; The underwater winch performs the cable releasing, and the satellite communication buoy is simulated to be in the out-of-water state; After the out-of-water state is detected, the cable releasing is stopped, and the second designated instruction information is transmitted to the data receiving and processing shore station through the Beidou antenna of the satellite communication buoy; After the communication is completed, the underwater winch performs the cable collecting, and the satellite communication buoy is simulated to be in the in-water state.

8. The real-time communication subsea land integration method based on the underwater winch according to claim 1, characterized in that, In the S1 preparation step, the equipment is powered on in the order of the timing communication buoy, the satellite communication buoy and the main float.

9. The real-time communication subsea land integration method based on the underwater winch according to claim 1, characterized in that, In the S2 submersible deployment step, the satellite communication buoy starts to work after a set delay time T1, the main float starts to work after a set delay time T2, and T1 is less than T2.

10. The real-time communication subsea winch based topside integration method of any one of claims 1-9, wherein, The step S6 is further included, the S5 satellite communication buoy communication step is repeatedly executed, the submersible communication function and the cable releasing and collecting control function are verified in multiple rounds until the verification is passed. The step S6 is further included, the S5 satellite communication buoy communication step is repeatedly executed, the submersible communication function and the cable releasing and collecting control function are verified in multiple rounds until the verification is passed.

Images