A high-speed camera-based underwater vehicle synchronous ventilation testing device and method

Abstract

The application provides a kind of underwater vehicle synchronous ventilation testing device and method based on high-speed camera, belongs to underwater vehicle synchronous testing field.The problem that traditional testing equipment cannot measure the key time point of gas production and the motion characteristics of test object synchronously is solved.A kind of underwater vehicle synchronous ventilation testing device based on high-speed camera, comprising: airtight water storage cabin, a certain amount of water is arranged inside;Towing platform is arranged in airtight water storage cabin, wherein, slide ruler is arranged on towing slide, and display component is arranged on the shell of measured equipment to display the time of gas production control signal sending;High-speed camera is provided with several, wherein, several high-speed cameras cover the whole range of slide ruler in shooting area and there is overlap in shooting area, which is used for recording optical image of measured equipment in full range and multiple angles.It is mainly used for underwater vehicle synchronous ventilation testing.

Description

Technical Field

[0001] This invention belongs to the field of underwater synchronous testing of underwater vehicles, and in particular relates to a device and method for testing the synchronous ventilation of underwater vehicles based on high-speed photography. Background Technology

[0002] With the development of science and technology and the proposal of the maritime power strategy, cross-medium vehicles play an indispensable role in my country's national defense, political security, and scientific and technological construction and development. The generation and control of surrounding gases during cross-medium flight are crucial for studying surface cavitation phenomena. The generation of gases on the surface during the flight of a cross-medium vehicle, with controllable time and flow rate, has played a vital role in conducting scaled-down water exit experiments in the laboratory, and is also significant in guiding the development of actual cross-medium vehicles and other marine equipment. However, regardless of whether the gas source is propellant or high-pressure gas, the energy release process of the gas has a certain degree of randomness, and a certain time is required from the start of energy release to meeting experimental requirements. This time includes both the energy release time of the gas source itself and the time delay within the gas generation system. To fully study and understand the impact of aeration during the vehicle's water exit process on the development process and laws of surface cavitation, it is necessary to conduct synchronous testing of gas generation to assess the timing accuracy of gas generation and thus achieve more precise control.

[0003] To study and establish the relationship between gas production control time and the time required to meet the gas volume requirements for testing, thereby providing support for in-depth research on the mechanism of water venting of scaled-down models, it is urgent to establish a synchronous ventilation test method for underwater vehicles. Patent publication CN118945311A discloses a high-speed underwater camera synchronous test system applied to negative pressure deep-sea applications. This system deploys multiple high-speed cameras with sealed shells in the underwater depth direction to achieve synchronous testing of multiple high-speed cameras. However, this system can only synchronously measure the shape and motion state of the test object, and cannot test key time points of gas generation, including the initial moment of gas production and the positioning of the test object's trajectory when gas production begins. Therefore, it cannot effectively perform joint synchronous testing of gas generation and corresponding motion state. The patent with publication number CN116626220A discloses a gunpowder combustion characteristic testing device. This device can only perform optical testing of the characteristics of gunpowder combustion itself through high-speed imaging. It cannot simultaneously test the key time points of combustion with the motion characteristics of the test object, and cannot meet the research needs of the surface cavitation development process and law in the scaled-down model water discharge test. Summary of the Invention

[0004] In view of this, the present invention aims to propose a test device and method for synchronous ventilation of underwater vehicles based on high-speed photography, so as to solve the problem that traditional test equipment cannot simultaneously measure the key time points of gas production and the motion characteristics of the test object.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: According to a first aspect of the present invention, an underwater vehicle synchronous ventilation testing device based on high-speed photography is provided, comprising: A sealed water storage tank, containing a certain amount of water; A towing platform, set inside a sealed water tank, is used to clamp the device under test and slide it on a predetermined towing track. The towing track is equipped with a track scale, and the housing of the device under test is equipped with a display component to display the time when the gas generation control signal is emitted. A number of high-speed cameras are provided, wherein the shooting areas of the high-speed cameras cover the entire range of the slide scale and the shooting areas overlap, for recording the optical images of the device under test from multiple angles across the entire range.

[0006] Furthermore, the sealed water storage tank is provided with a communication through-tank plate for communication wiring and a power supply through-tank plate for power supply wiring on the side wall.

[0007] Furthermore, the towing platform also includes a towing platform base and an equipment clamping mechanism. The towing platform base is set on the bottom wall of the sealed water storage tank, and the towing slide is vertically arranged on the towing platform base. The slide scale is connected to the towing slide.

[0008] Furthermore, the high-speed camera is provided with three cameras: a first high-speed camera, a second high-speed camera, and a third high-speed camera. The center of the lens of the first high-speed camera is directly opposite the O mark of the slide scale. The center of the lens of the second high-speed camera is directly opposite the maximum range of the slide scale, and its field of view at least partially overlaps with that of the first high-speed camera. Its axis is parallel to that of the first high-speed camera. The third high-speed camera has the same height as the first high-speed camera, and its axis forms a 45° angle with the slide scale.

[0009] Furthermore, each of the high-speed cameras is equipped with a green light.

[0010] Furthermore, each of the green light lamps is positioned on the light-facing side of the device under test.

[0011] Furthermore, the device under test includes a sealed outer shell, a perforated panel, a gas channel, an inertial navigation system (INS), a power supply, a control circuit, a gas generator, a stroke calculation module, and a data acquisition system. An INS is installed at the center of mass of the device under test to output 3-axis acceleration and 3-axis angular velocity. The data acquisition system and the stroke calculation module are connected to the INS. The device under test contains a power supply to collect the output data from the INS and calculate the stroke of the device under test, while also providing power to all internal sub-devices. The control circuit receives the stroke arrival indicator from the stroke calculation module and can issue control commands. The gas generator contains gas-generating materials and initiates the gas generation process after receiving control commands from the control circuit. A gas channel is provided between the gas generator and the sealed outer shell, allowing the gas generated by the gas generator to exit the sealed outer shell for easy observation of the gas state. The perforated panel provides perforation support for communication lines, which transmit external control signals to the control circuit.

[0012] Furthermore, the display component is a high-brightness indicator light and is disposed on the outer wall of the sealed housing.

[0013] According to a second aspect of the present invention, an installation and commissioning method for an underwater vehicle synchronous ventilation test device based on a high-speed camera is provided. In the preparation stage, a waterproof and pressure-resistant outer shell is installed on the outside of the high-speed camera, and a green light is used for waterproofing. An equipment platform is fixed above the waterline of a sealed water tank for fixing the switch and timing equipment. The method includes the following steps: S1, set the absolute stroke of the device clamping mechanism to 0, and after the device under test is fully charged, fix it on the device clamping mechanism; S2, Install the first high-speed camera, ensuring it is level and that the center of the lens is aligned with the 0 mark on the slide scale; S3, Install a second high-speed camera so that its field of view partially overlaps with that of the first high-speed camera, and ensure that the center of the lens of the second high-speed camera is directly facing the maximum scale of the slide scale, and that its axis is parallel to that of the first high-speed camera. S4, Install the third high-speed camera, which is at the same height as the first high-speed camera, and make its lens center axis at a 45° angle to the slide scale; S5. Install a green light on the light-facing side of each high-speed camera on the device under test. S6, a fixed switch on the equipment platform, internally connects to high-speed camera, timing equipment, towing station, and device under test, and externally connects to the communication through-board of the sealed water tank. S7, fix the timing equipment on the equipment platform and connect the high-speed camera, the drag table and the device under test respectively; S8 is connected to the switch, timing equipment, high-speed camera, green light and towing platform respectively through the power supply through-tank plate on the sealed water tank; S9, the host computer is connected to the outside of the communication tunnel panel, each device is powered on and its status is ensured to be normal; S10, turn on all high-speed cameras, rotate the device under test left and right to ensure that the high-brightness indicator light and the gas generator's air passage are within the field of view of the high-speed cameras, focus on the device under test and the slide gauge to ensure that both have a clear image in the high-speed cameras, and the installation is complete.

[0014] According to a third aspect of the present invention, a test method for a synchronous ventilation test device for underwater vehicles based on high-speed photography is provided, comprising the following steps: S1, the host computer controls the power-on of the device under test, and then sets the parameters, including the gas generator start stroke, the duration of the gas generation trigger signal, and the actual slide stroke compensation; S2 uses the host computer to set parameters for the high-speed camera, including resolution, sampling rate, exposure time, exposure index, shooting duration and recording time zero point, and turns on the green light illumination as needed to obtain a clear and bright image; S3 uses the host computer to set parameters for the towing platform, including total towing distance, towing acceleration during acceleration, towing speed during constant speed, and towing acceleration during deceleration. S4, Set the high-speed camera to the ready-to-trigger state; S5, the host computer sends a start command to the timing device. After receiving the command, the timing device sends a synchronization trigger command to all high-speed cameras, the data acquisition unit in the device under test, the travel calculation module and the towing table. S6, the experiment proceeds. When the towing table has been towed to a certain distance, the travel calculation module in the device under test calculates the specified travel distance, starts the gas generator, and simultaneously lights up the high-brightness indicator light. The high-speed camera captures images at different heights and angles, including the process of the indicator light turning on and off, the gas discharge and development status, and the position of the device under test on the slide scale. S7: Obtain experimental data, store and export the data; S8. Perform data processing, compare and analyze experimental results to draw conclusions.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. The scale on the towing slide in this device can be used as a reference for measuring the absolute stroke, and can be used to calibrate the stroke calculation in the tested equipment, as well as to calibrate the towing stroke of the towing table. 2. This device is equipped with a high-speed camera array at different heights and angles. Under the premise of synchronous triggering, the experimental status of the device under test can be observed from multiple positions and angles at the same time. This can effectively avoid the problem of not being able to clearly record all key points due to the small depth of field of the camera, and effectively reduce the scale reading error caused by the edge distortion effect of the camera lens. 3. In this device, the gas generator and the display component are connected in parallel to receive the same control command, which can effectively test the time difference between the triggering gas generation time and the actual gas ejection time; it provides a method for synchronously testing the motion and internal gas generation of an underwater object, and provides support for the study of the influence of aeration on the development process and law of surface cavitation during the water exit process of cross-medium navigation bodies, which has high practical engineering significance. Attached Figure Description

[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the structure of an underwater vehicle synchronous ventilation test device based on high-speed camera according to the present invention; Figure 2 This is a schematic diagram of the structure of the device under test described in this invention; Figure 3 This is a schematic diagram of a synchronous ventilation test device for underwater vehicles based on high-speed cameras, as described in this invention. Figure 4 This is a flowchart of a test method for a high-speed camera-based underwater vehicle synchronous ventilation test device according to the present invention.

[0017] 1. Sealed water tank; 2. Communication through-tank plate; 3. Power supply through-tank plate; 4. Towing platform; 5. Towing platform base; 6. Equipment clamping mechanism; 7. Towing slide; 8. Equipment under test; 9. Slide scale; 10. High-speed camera; 10-1 first high-speed camera; 10-2 second high-speed camera; 10-3 third high-speed camera; 11. Green light; 12. Sealed outer shell; 13. Through-tank plate; 14. Air duct; 15. High-brightness indicator light. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0019] It should be noted that the descriptions of "left," "right," "left side," "right side," "upper part," "lower part," "top," and "bottom" in this invention are defined based on the orientation or positional relationships shown in the accompanying drawings. They are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the described structure must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] In the description of this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Referring to the accompanying drawings, this embodiment, according to a first aspect of the present invention, provides an underwater vehicle synchronous ventilation testing device based on high-speed photography, comprising: The sealed water storage tank 1 contains a certain amount of water to provide an underwater environment for testing; the sealed water storage tank 1 specifically adopts a chamber that can provide a sealed space and a specified pressure.

[0022] A towing platform 4, installed within a sealed water tank 1, is used to clamp the device under test 8 and slide it along a predetermined towing track 7. The towing track 7 is equipped with a track scale 9, which serves as a reference for measuring the absolute travel distance. This scale can be used to calibrate the travel calculations within the device under test and to calibrate the towing travel of the towing platform. The outer casing of the device under test 8 is equipped with a display component to show the time of the gas generation control signal. Specifically, the display component is a high-brightness indicator light 15, located on the outer wall of the sealed casing 12. The high-brightness indicator light 15 is a highly visible indicator light, providing sufficient brightness for recording by the high-speed camera 10 under underwater and gas generation conditions.

[0023] Several high-speed cameras 10 are configured, with their shooting areas covering the entire range of the slide scale 9 and overlapping. These cameras are used to record the optical images of the tested device 8 from multiple angles across the entire range. The arrangement of the high-speed cameras 10 and the display of gas generation time points by high-brightness indicator lights 15 allow for observation of the experimental status of the tested device at the same time from multiple positions and angles, under the premise of synchronous triggering. This effectively avoids the problem of not being able to clearly record all key points due to insufficient camera depth of field, and effectively reduces scale reading errors caused by edge distortion of the camera lens. The gas generating device and the high-brightness indicator lights are connected in parallel to receive the same control command, effectively measuring the time difference between the trigger gas generation time and the actual gas ejection time. This provides support for research on the impact of aeration on the development process and laws of surface cavitation during the water exit process of cross-medium navigation bodies.

[0024] In this embodiment, a communication through-cabin plate 2 for communication wiring and a power supply through-cabin plate 3 for power supply wiring are provided on the side wall of the sealed water storage tank 1. These provide through-cabin support for the communication lines and power supply lines, respectively.

[0025] In this embodiment, the towing table 4 further includes a towing table base 5 and an equipment clamping mechanism 6. The towing table base 5 is disposed on the bottom wall of the sealed water tank 1, and the towing slide 7 is vertically arranged on the towing table base 5. The slide scale 9 is connected to the towing slide 7. The equipment clamping mechanism 6 can be any clamping mechanism capable of effectively clamping the device under test 8, such as a ball screw-driven slider clamping type or other clamping mechanisms. Any clamping mechanism that meets the test requirements can be used in this application. The towing table base 5 is specifically a flat base that can be fixed to the bottom wall of the sealed water tank 1 by bolts. The towing slide 7 provides a preset track for the sliding of the device under test 8 and is specifically fixed vertically on the towing table base 5. The sliding method between the device under test 8 and the towing slide 7 can be reasonably set according to the existing technology. The slide scale 9 is fixed on the towing slide 7 to provide a calibration basis for the stroke.

[0026] In this embodiment, the high-speed camera 10 comprises three cameras: a first high-speed camera 10-1, a second high-speed camera 10-2, and a third high-speed camera 10-3. The center of the lens of the first high-speed camera 10-1 is aligned with the 90-degree mark on the slide scale. The center of the lens of the second high-speed camera 10-2 is aligned with the maximum range of the slide scale 9, its field of view at least partially overlaps with that of the first high-speed camera 10-1, and its axis is parallel to that of the first high-speed camera 10-1. The third high-speed camera 10-3 has the same height as the first high-speed camera 10-1, and its axis forms a 45° angle with the slide scale 9. All high-speed cameras 10 require waterproofing, and the fixing method is selected appropriately based on actual conditions. This arrangement of the high-speed camera 10 allows for recording the entire experimental process from multiple angles, while avoiding the problem of insufficient depth of field that prevents clear recording of all key points. It also effectively reduces scale reading errors caused by edge distortion of the camera lens. With the addition of high-brightness indicator lights and a scale, it can calibrate the stroke calculation in the tested equipment and the towing stroke of the towing platform. It can effectively test the time difference between the moment the trigger gas is generated and the moment the gas is actually ejected. This overcomes the problems of inaccurate swaying stroke, unclear images, and distortion caused by simply setting up multiple high-speed cameras without targeted optimization in traditional methods. It provides support for the study of the impact of aeration on the development process and laws of surface cavitation during the water exit process of cross-medium vehicles, and has high practical engineering significance.

[0027] In this embodiment, each high-speed camera 10 is equipped with a green illuminator 11, and each green illuminator 11 is located on the light-facing side of the device under test 8. This avoids reflections from affecting the shooting results. At the same time, each high-speed camera 10 is equipped with a green illuminator 11 to provide sufficient illumination and ensure the shooting effect.

[0028] In this embodiment, the device under test (DUT) 8 includes a sealed outer shell 12, a penetration plate 13, a gas channel 14, an inertial navigation system (INS), a power supply device, a control circuit, a gas generator, a stroke calculation module, and a data acquisition system. An INS is installed at the center of mass of the DUT 8 to output 3-axis acceleration and 3-axis angular velocity. The data acquisition system and the stroke calculation module are connected to the INS. The DUT 8 contains a power supply device for collecting the output data from the INS and calculating the stroke of the DUT 8, while also providing power to all internal sub-devices. The control circuit receives the stroke arrival flag from the stroke calculation module and can issue control commands. The gas generator contains gas-generating materials and initiates the gas generation process after receiving control commands from the control circuit. A gas channel 14 is provided between the gas generator and the sealed outer shell 12, allowing the gas generated by the gas generator to exit the sealed outer shell 12 for easy observation of the gas state. The penetration plate 13 provides penetration support for the communication line, which transmits external control signals to the control circuit. The sealed housing 12 needs to meet the watertight requirements as a whole, and the through-panel 13 provides a wiring foundation while ensuring watertightness.

[0029] According to a second aspect of the present invention, an installation and debugging method for an underwater vehicle synchronous ventilation test device based on a high-speed camera is provided. In the preparation stage, a waterproof and pressure-resistant outer shell is added to the outside of the high-speed camera 10, the green light illuminator 11 is waterproofed, and an equipment platform is fixed above the waterline of the sealed water tank 1 for fixing the switch and timing equipment. The method includes the following steps: S1, set the absolute stroke of the device clamping mechanism 6 to 0, and after the device under test 8 is fully charged, fix it on the device clamping mechanism 6; S2, Install the first high-speed camera 10-1, ensuring it is level and that the center of the lens is aligned with the 90 mark on the slide scale; S3, Install the second high-speed camera 10-2 so that its field of view partially overlaps with that of the first high-speed camera 10-1, and ensure that the center of the lens of the second high-speed camera 10-2 is directly facing the maximum scale of the slide scale, and that its axis is parallel to that of the first high-speed camera 10-1; S4, install the third high-speed camera 10-3, which is at the same height as the first high-speed camera 10-1, and make its lens center axis form a 45° angle with the slide scale 9; S5, Install a green light lamp 11 on the light-facing side of the device under test 8 for each high-speed camera 10; S6, a switch is fixed on the equipment platform, which internally connects to the high-speed camera 10, the timing device, the towing platform 4, and the device under test 8, and externally connects to the communication through-board 2 of the sealed water tank 1. S7. Fix the timing device on the equipment platform and connect the high-speed camera 10, the tow table 4 and the device under test 8 respectively. S8, through the power supply through-tank plate 3 on the sealed water storage tank 1, connects to the switch, timing equipment, high-speed camera 10, green light 11 and towing platform 4 respectively, and provides them with power; S9, the host computer connects to the outside of the communication through-panel 2, and each device is powered on and its status is ensured to be normal; S10, turn on all high-speed cameras 10, rotate the device under test 8 left and right to ensure that the high-brightness indicator light 15 and the gas generator guide channel 14 are both within the shooting field of the high-speed cameras, focus on the device under test 8 and the slide scale 9 so that the device under test 8 and the slide scale 9 have clear images in the high-speed cameras 10, and the installation is complete.

[0030] According to a third aspect of the present invention, a test method for a synchronous ventilation test device for underwater vehicles based on high-speed photography is provided, comprising the following steps: S1, the host computer controls the power-on of the device under test 8, and then sets the parameters, including the gas generator start stroke, the duration of the gas generation trigger signal, and the actual slide stroke compensation; S2, use the host computer to set parameters for the high-speed camera 10, including resolution, sampling rate, exposure time, exposure index, shooting duration and recording time zero point, and turn on the green light 11 as needed to obtain a clear and bright image; S3, use the host computer to set parameters for the towing platform 4, including total towing distance, towing acceleration during acceleration, towing speed during constant speed, and towing acceleration during deceleration. S4, Set the high-speed camera 10 to the ready-to-trigger state; S5, the host computer sends a start command to the timing device. After receiving the command, the timing device sends a synchronization trigger command to all high-speed cameras 10, the data acquisition unit, the travel calculation module and the towing table 4 in the device under test 8. S6, the experiment is carried out. When the towing table 4 is towed to a certain stroke, the stroke calculation module in the device under test 8 calculates the specified stroke, starts the gas generator, and at the same time lights up the high-brightness indicator light 15. The high-speed camera 10 captures images at different heights and angles, including the process of the indicator light turning on and off, the gas discharge and development status, and the position of the device under test 8 on the slide scale 9. S7: Obtain experimental data, store and export the data; S8. Perform data processing, compare and analyze experimental results to draw conclusions.

[0031] The controllers, sensors, and control programs mentioned above are all existing technologies and will not be elaborated upon.

[0032] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A synchronous ventilation testing device for underwater vehicles based on high-speed cameras, characterized in that, include: A sealed water storage tank (1) is filled with a certain amount of water; The towing platform (4) is set inside the sealed water tank (1) and is used to clamp the device under test (8) and make the device under test (8) slide on the predetermined towing slide (7). The towing slide (7) is provided with a slide scale (9). The outer shell of the device under test (8) is provided with a display component to display the time of gas generation control signal. The device under test (8) includes a gas generator, a data acquisition unit, and a stroke calculation module. A number of high-speed cameras (10) are provided, wherein the shooting area of ​​the high-speed cameras (10) covers the entire range of the slide scale (9) and the shooting areas overlap, for recording the optical image of the device under test (8) from multiple angles across the entire range. The host computer and the timing device; the host computer is used to send a start command to the timing device; the timing device is used to send a synchronous trigger command to all high-speed cameras (10), the data acquisition unit, the travel calculation module and the drag table (4) in the device under test (8) after receiving the start command; the gas generating device and the display component are connected in parallel to receive the same control command, which is used to test the time difference between the trigger gas generation time and the actual gas ejection time.

2. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 1, characterized in that: The sealed water storage tank (1) is provided with a communication through-tank plate (2) for communication wiring and a power supply through-tank plate (3) for power supply wiring on its side wall.

3. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 1, characterized in that: The towing platform (4) also includes a towing platform base (5) and an equipment clamping mechanism (6). The towing platform base (5) is set on the bottom wall of the sealed water storage tank (1). The towing slide (7) is arranged vertically on the towing platform base (5). The slide scale (9) is connected to the towing slide (7).

4. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 1, characterized in that: The high-speed camera (10) is provided with three cameras: a first high-speed camera (10-1), a second high-speed camera (10-2), and a third high-speed camera (10-3). The center of the lens of the first high-speed camera (10-1) is directly opposite the 0 mark of the slide scale (9). The center of the lens of the second high-speed camera (10-2) is directly opposite the maximum mark of the slide scale (9), and its field of view is at least partially overlapping with that of the first high-speed camera (10-1). Its axis is parallel to that of the first high-speed camera (10-1). The height of the third high-speed camera (10-3) is the same as that of the first high-speed camera (10-1), and the central axis of the lens of the third high-speed camera (10-3) forms a 45° angle with the slide scale (9).

5. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 4, characterized in that: Each of the high-speed cameras (10) is equipped with a green light lamp (11).

6. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 5, characterized in that: Each of the green light lamps (11) is placed on the light-facing side of the device under test (8).

7. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 1, characterized in that: The device under test (8) also includes a sealed shell (12), a through-cabin plate (13), a gas guide channel (14), an inertial navigation system (INS), a power supply device, and a control circuit. An INS is installed at the center of mass of the device under test (8) to output three-axis acceleration and three-axis angular velocity. The data acquisition unit and the travel calculation module are connected to the INS. The device under test (8) is equipped with a power supply device to collect the output data of the INS and calculate the travel of the device under test (8), and to provide power to all sub-devices inside the device under test (8). The control circuit is used to receive the travel arrival mark given by the travel calculation module and can send control commands to the outside. The gas generator is filled with gas generating material and is used to start the gas generating process after receiving the control command sent by the control circuit. A gas guide channel (14) is opened between the gas generator and the sealed shell (12). The gas generated by the gas generator is discharged from the sealed shell (12) through the gas guide channel (14) to facilitate observation of the gas state. The through-cabin plate (13) is used to provide through-cabin support for the communication line. The communication line is used to transmit external control signals to the control circuit.

8. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 7, characterized in that: The display component is a high-brightness indicator light (15) and is located on the outer wall of the sealed housing (12).

9. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 4, characterized in that, Each of the high-speed cameras (10) is equipped with a green light lamp (11), the towing platform (4) also includes a device clamping mechanism (6), the sealed water tank (1) is provided with a communication through-tank plate (2) for communication wiring and a power supply through-tank plate (3) for power supply wiring, the display component is a high-brightness indicator light (15), and the device under test (8) also includes an air duct (14).

10. The underwater vehicle synchronous ventilation test device based on high-speed camera according to claim 1, characterized in that, Each of the high-speed cameras (10) is equipped with a green light lamp (11), and the display component is a high-brightness indicator light (15).

11. An installation and debugging method for an underwater vehicle synchronous ventilation test device based on high-speed camera, wherein the device is the underwater vehicle synchronous ventilation test device based on high-speed camera as described in claim 9, wherein in the preparation stage, a waterproof and pressure-resistant shell is installed on the outside of the high-speed camera (10), the green light lamp (11) is waterproofed, and an equipment platform is fixed above the waterline of the sealed water tank (1) for fixing the switch and timing equipment, characterized in that, Includes the following steps: S1, set the absolute stroke of the equipment clamping mechanism (6) to 0, and after the tested equipment (8) is fully charged, fix it on the equipment clamping mechanism (6); S2, install the first high-speed camera (10-1), ensure it is level and that the center of the lens is aligned with the 0 mark on the slide scale (9); S3, Install the second high-speed camera (10-2) so that the field of view overlaps with that of the first high-speed camera (10-1), and ensure that the center of the lens of the second high-speed camera (10-2) is directly facing the maximum scale of the slide scale, and that the axis is parallel to that of the first high-speed camera (10-1); S4, install the third high-speed camera (10-3) at the same height as the first high-speed camera (10-1), and make the central axis of the lens of the third high-speed camera (10-3) form a 45° angle with the slide scale (9); S5, install a green light lamp (11) on the light-facing side of the device under test (8) for each high-speed camera (10); S6, fix the switch on the equipment platform, and connect the high-speed camera (10), time synchronization equipment, towing platform (4) and the device under test (8) to the inside, and connect the communication through-cabin plate (2) of the sealed water tank (1) to the outside. S7. Fix the timing device on the equipment platform and connect the high-speed camera (10), the tow table (4) and the device under test (8) respectively. S8, through the power supply through-tank plate (3) on the sealed water tank (1), connects to the switch, time synchronization equipment, high-speed camera (10), green light lamp (11) and towing platform (4) respectively. S9, the host computer is connected to the outside of the communication through-panel (2), each device is powered on and its status is ensured to be normal; S10, turn on all high-speed cameras (10), rotate the device under test (8) left and right to ensure that the high-brightness indicator (15) and the gas generator guide channel (14) are within the shooting field of the high-speed camera, focus on the device under test (8) and the slide scale (9) so that the device under test (8) and the slide scale (9) have clear images in the high-speed camera (10), and the installation is complete.

12. A test method for an underwater vehicle synchronous ventilation test device based on high-speed camera, wherein the device is the underwater vehicle synchronous ventilation test device based on high-speed camera as described in claim 10, characterized in that... Includes the following steps: S1, the host computer controls the device under test (8) to power on, and then sets the parameters, including the gas generator start stroke, the duration of the gas generation trigger signal, and the actual slide stroke compensation; S2, use the host computer to set parameters for the high-speed camera (10), including resolution, sampling rate, exposure time, exposure index, shooting duration and recording time zero point, and turn on the green light lamp (11) as needed, so as to obtain a clear and bright image; S3, use the host computer to set parameters for the towing platform (4), including total towing distance, towing acceleration during acceleration, towing speed during constant speed and towing acceleration during deceleration; S4, set the high-speed camera (10) to the ready-to-trigger state; S5, the host computer sends a start command to the timing device. After receiving the command, the timing device sends a synchronization trigger command to all high-speed cameras (10), the data acquisition unit, the travel calculation module and the drag table (4) in the device under test (8); S6, the experiment is carried out. When the towing table (4) is towed to a certain distance, the travel calculation module in the device under test (8) calculates the specified distance and starts the gas generator. At the same time, the high-brightness indicator light (15) is lit. The high-speed camera (10) captures images at different heights and angles, including the process of the indicator light turning on and off, the gas discharge and development status, and the position of the device under test (8) on the slide scale (9). S7: Obtain experimental data, store and export the data; S8. Perform data processing, compare and analyze experimental results to draw conclusions.

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