Auxiliary laying system for underwater test and test method

Abstract

The invention relates to an auxiliary laying system for an underwater test and a test method, the auxiliary laying system comprises an underwater ballasting body, the underwater ballasting body comprises a ballasting counterweight and a buoyancy tank group which are connected with each other and used for sinking to the water bottom, the buoyancy tank group is provided with a water inlet / outlet and an air inlet / outlet, the water inlet / outlet is connected with a water inlet / outlet valve, and the water inlet / outlet valve is connected with a water inlet / outlet valve; the air inlet / outlet is connected with an air compressor unit through an air pipeline; the sinking traction machine comprises a pulley block fixed on the underwater pressure carrier, a traction rope is wound on the pulley block, one end of the traction rope is connected with a traction power mechanism, and the other end of the traction rope is used for being connected with the tested self-floating model. According to the invention, ballast is provided for the tested self-floating model to carry out an underwater experiment by using the ballast counterweight sinking to the water bottom and the buoyancy tank group, and the tested self-floating model and the traction power mechanism are connected by using the traction rope; and the traction power mechanism is used for enabling the tested self-floating model without the sinking and floating power to sink into a water area with a set depth for underwater testing by pulling the traction rope.

Description

Technical Field

[0001] This application relates to the field of underwater operation testing technology, and in particular to an auxiliary deployment system and testing method for underwater testing. Background Technology

[0002] As underwater exploration continues to advance, underwater vehicles and diving equipment are playing an increasingly important role. To ensure they possess good maneuverability, stability, stealth, and adaptability, researchers need to conduct reliable underwater tests and research.

[0003] Traditional underwater vehicles and diving equipment mainly rely on their own sinking and surfacing to conduct underwater tests (such as underwater acoustic tests). This usually requires a lot of installation and debugging work in the early stage to meet the conditions for underwater self-sinking and floating tests, which makes the test work difficult, costly and risky. Summary of the Invention

[0004] This application provides an auxiliary deployment system and testing method for underwater testing, in order to solve the problem that underwater vehicles and diving equipment mainly rely on their own sinking and surfacing to carry out underwater testing experiments in related technologies. This usually requires a lot of installation and debugging work in the early stage to meet the underwater self-sinking and floating test conditions, resulting in high difficulty, high cost and high risk of testing.

[0005] The first aspect of this application provides an auxiliary deployment system for underwater testing, comprising: The underwater ballast carrier includes ballast counterweights and buoyancy tanks connected to each other for submerging on the bottom of the water. The buoyancy tanks are provided with inlet and outlet ports and inlet and outlet ports. The inlet and outlet ports are connected to inlet and outlet valves, and the inlet and outlet ports are connected to an air compressor unit through gas pipelines. The sinking traction machine includes a pulley block fixed on the underwater pressure carrier, a traction rope wound on the pulley block, one end of the traction rope being connected to a traction power mechanism, and the other end of the traction rope being used to connect to the self-floating model under test.

[0006] In some embodiments, the sinking traction machine further includes a float connected to the other end of the traction rope, the float being connected to a release mechanism for connecting or releasing the self-floating model under test, the float being used to float the other end of the traction rope and the release mechanism to the surface of the water.

[0007] In some embodiments: the buoyancy tank assembly includes an intermediate tank and a plurality of side tanks surrounding and fixed to the periphery of the intermediate tank, the intermediate tank and the plurality of side tanks being interconnected by venting pipes and liquid pipes; The ballast counterweight includes an intermediate counterweight block connected to the bottom of the intermediate tank, a plurality of side counterweight blocks surrounding and fixed to the outer periphery of the intermediate counterweight block, and a plurality of crossbeams connecting the intermediate counterweight block and the side counterweight blocks, wherein the plurality of side counterweight blocks are connected to the bottom of the plurality of side tanks.

[0008] In some embodiments: the intermediate tank and the side tank each include an upper tank and a lower skirt connected to each other, the upper tank is a hollow sealed tank, the lower skirt is a hollow tubular structure that runs through the top and bottom, and the lower skirt is located at the bottom of the upper tank and is fixedly connected to each other; The intermediate counterweight is fixed to the bottom of the lower skirt of the intermediate tank and forms a first water chamber with each other; the side counterweight is fixed to the bottom of the lower skirt of the side tank and forms a second water chamber with each other. The side counterweight has a drainage and silt flushing channel, the top opening of which is connected to the second water tank.

[0009] In some embodiments: the intermediate counterweight and the plurality of side counterweights are all cylindrical structures, and the drainage and silt flushing channel includes a first inlet and outlet channel located in the middle of the side counterweight and extending vertically, and a plurality of second inlet and outlet channels located on the outer periphery of the first inlet and outlet channel; Each of the second inlet and outlet channels includes a vertical channel that runs vertically through the side counterweight and a horizontal channel that connects to the vertical channel and extends toward the side wall of the side counterweight.

[0010] In some embodiments: the upper tank of the intermediate tank and the upper tank of the side tank are both provided with the air inlet and exhaust port, and the ventilation pipeline includes an annular ventilation pipe fixed to the top of the upper tank of the intermediate tank, and the annular ventilation pipe is connected to the air inlet and exhaust port of the upper tank through branch air pipes; The liquid pipeline includes multiple water supply pipelines connecting the upper tank of the intermediate tank and the upper tanks of each of the side tanks, and multiple return water pipelines connecting the lower skirt of the intermediate tank and the lower skirt of each of the side tanks.

[0011] In some embodiments: the inlet and outlet include a first inlet and outlet provided on the upper tank body of the intermediate tank body, and a second inlet and outlet provided on the lower skirt of the intermediate tank body; The liquid pipeline also includes a first inlet / outlet pipeline connected to the first inlet / outlet port, and a second inlet / outlet pipeline connected to the second inlet / outlet port; The inlet and outlet valve is connected between the first inlet and outlet pipeline and the second inlet and outlet pipeline. The inlet and outlet valve is an electrically controlled valve or a pneumatically controlled valve.

[0012] In some embodiments, the system further includes a control valve platform, which includes a first control valve or a first controller for controlling the on / off state of the inlet and outlet valves, and a gas pipeline connected to the annular vent pipe for controlling the intake or exhaust of the plurality of upper tanks. The gas pipeline is equipped with a second control valve for filling the multiple upper tanks with gas, an exhaust valve connected to the gas pipeline for discharging the gas from each of the upper tanks, and a third control valve and a back pressure valve connected to the gas pipeline for controlling the gas pressure in each of the upper tanks.

[0013] In some embodiments: the outer periphery of the intermediate counterweight is provided with a crossbeam connecting multiple side counterweights, and the intermediate counterweight, the crossbeam and the side counterweights are integrally cast reinforced concrete structures; The top of the intermediate counterweight and the multiple side counterweights are all pre-embedded with flange seats. The intermediate counterweight is detachably connected to the intermediate tank body through the flange seats, and the side counterweights are detachably connected to the side tank bodies through the flange seats.

[0014] The second aspect of this application provides a test method for an auxiliary deployment system for underwater testing, the method using the auxiliary deployment system for underwater testing described in any of the above embodiments, the method including a sinking step and a surfacing step; The sinking step includes: The interconnected ballast counterweights and buoyancy tanks, which are intended to be submerged in water, will be floated to the designated location in the test water area. Open the inlet and outlet valves to allow the water from the test area to flow into the buoyancy tank assembly by the set weight of water. Once the water entering the buoyancy tank reaches the set weight, close the inlet and outlet valves, open the second control valve, and start the air compressor unit to fill the buoyancy tank with compressed air at the set pressure through the inlet and outlet ports. When the sum of the weight of the buoyancy tank assembly and the ballast counterweight and the weight of the high-pressure air in the buoyancy tank assembly exceeds the buoyancy, the underwater pressure carrier is released, and the second control valve gradually sinks the underwater pressure carrier to the bottom of the test water area. When the underwater pressure vessel sinks to the bottom of the water, open the inlet and outlet valves to allow water from the test area to flow into the buoyancy tank group through the inlet and outlet ports, expel the air from the buoyancy tank group, and fill the buoyancy tank group with water. The ascent step includes: Open the second control valve to fill the buoyancy tank with compressed air at the set pressure through the inlet and outlet ports, and open the inlet and outlet valves on the buoyancy tank to drain the water in the buoyancy tank. When the buoyancy of the buoyancy tank group is greater than the weight of the ballast counterweight, the buoyancy tank group begins to drive the ballast counterweight to gradually float automatically. When the buoyancy tank group floats to the surface, the second control valve is closed to stop the inflation and the inlet and outlet valves are closed to stop the drainage. Once the buoyancy tank assembly floats to the surface, the buoyancy tank assembly and ballast counterweight are floated to the shore, and the third control valve is opened to purge the air from the buoyancy tank assembly.

[0015] A third aspect of this application provides a test method for an auxiliary deployment system for underwater testing. The method uses the auxiliary deployment system for underwater testing described in any of the above embodiments, and includes underwater testing steps: After the underwater pressure vessel sinks to the designated position at the bottom of the water, the traction power mechanism is activated, the traction cable is released, the float drives the release mechanism to float to the surface, and the traction power mechanism is stopped. Use a small boat to float the self-floating model to the vicinity of the release mechanism that has surfaced. Connect the self-floating model to the release mechanism and move the small boat a certain distance away from the sinking point to ensure safety. Start the traction power mechanism, tighten the traction cable, and pull the self-floating model under test to the specified water depth, then stop the traction power mechanism; After receiving the command signal, the release mechanism automatically disconnects the physical connection between the sinking tractor and the self-floating model under test, so that the self-floating model under test floats freely under its own buoyancy. While the self-floating model under test floats freely, test data and signals are collected in real time to complete an underwater test. After towing the self-floating model to be tested away from the buoyancy point by a small boat to a certain safe distance, the traction power mechanism is restarted to release the traction cable. The buoy then drives the release mechanism to rise to the surface. The above steps are repeated for the next underwater test.

[0016] The beneficial effects of the technical solution provided in this application include: This application provides an auxiliary deployment system and testing method for underwater testing. The auxiliary deployment system includes an underwater ballast carrier, comprising ballast counterweights and buoyancy tanks connected to each other for sinking to the bottom. The buoyancy tanks have inlet / outlet and outlet / ventilation ports. The inlet / outlet is connected to an inlet / outlet valve, and the outlet / ventilation port is connected to an air compressor unit via a gas pipeline. A sinking traction machine is also included, comprising a pulley system fixed to the underwater ballast carrier. A traction rope is wound around the pulley system, one end of which is connected to a traction power mechanism, and the other end is used to connect to the self-floating model under test.

[0017] Therefore, the auxiliary deployment system for underwater testing in this application utilizes ballast counterweights and buoyancy tanks submerged on the seabed to provide ballast for the self-floating model under test during underwater testing. A traction rope connects the self-floating model under test to the traction power mechanism, and a pulley system fixed to the underwater ballast provides guidance. The traction power mechanism pulls the traction rope to sink the self-floating model under test, which has no buoyancy, to a set depth for underwater testing. The self-floating model under test does not require the installation of buoyancy control equipment, thereby reducing the extensive installation and commissioning work required for underwater vehicles and diving equipment, lowering the difficulty and cost of testing, eliminating the need for personnel to conduct underwater testing, and reducing the risks associated with underwater testing.

[0018] Furthermore, the underwater ballast carrier of this application includes a ballast counterweight and a buoyancy tank assembly connected to each other for sinking to the bottom of the water. When the buoyancy tank assembly is filled with water, it, together with the ballast counterweight, provides a sinking pull fulcrum for the self-floating model under test to sink to a set depth. When the buoyancy tank assembly is inflated and deflated, it provides buoyancy for the ballast counterweight. This not only facilitates the floating of the buoyancy tank assembly and the ballast counterweight to a set position in the predetermined water area, but also provides precise buoyancy control for the sinking action of the ballast counterweight. This facilitates the safe and precise deployment of the underwater ballast carrier using small vessels and lightweight lifting equipment. In addition, through the drainage channel design, the water discharged from the buoyancy tank assembly is used to flush away the silt at the bottom and around the ballast counterweight, reducing the silt adhesion force and facilitating the automatic silt removal, floating, and recovery of the ballast counterweight by relying on the buoyancy of the buoyancy tank assembly. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment of this application; Figure 2 This is a front view of the underwater pressure carrier and pulley system according to an embodiment of this application; Figure 3 This is a top view of the underwater pressure vessel and pulley system according to an embodiment of this application; Figure 4 This is a cross-sectional view of the underwater pressure carrier and pulley system according to an embodiment of this application; Figure 5 This is a three-dimensional structural view of the underwater pressure carrier and pulley system according to an embodiment of this application; Figure 6 This is a three-dimensional structural view of the underwater pressure carrier and pulley system from another perspective, according to an embodiment of this application. Figure 7This is a three-dimensional structural view of the ballast counterweight in an embodiment of this application; Figure 8 This is a schematic diagram showing the connection between the control valve platform and the buoyancy tank assembly in an embodiment of this application.

[0021] Figure label: 10. Underwater ballast; 11. Buoyancy tank assembly; 12. Ballast counterweight; 13. Ventilation pipeline; 14. Liquid pipeline; 15. Control valve platform; 16. Air compressor unit; 20. Submersion traction machine; 21. Pulley block; 22. Traction rope; 23. Traction power mechanism; 24. Buoy; 25. Release mechanism; 30. Self-floating model under test; 111. Intermediate tank; 112. Side tank; 113. Upper tank; 114. Lower skirt; 115. First water tank; 116. Second water tank; 117. Connecting flange; 118. Cable connection seat; 119. Lifting lug; 120. Inlet and outlet valves; 121. Central counterweight; 122. Side counterweight; 123. Drainage and silt flushing channel; 124. Crossbeam; 125. Steel mesh; 126. Flange seat; 127. First inlet and outlet channel; 128. Vertical channel; 129. Horizontal channel; 131. Annular vent pipe; 132. Branch vent pipe; 133. Inlet and outlet vents; 141. Water supply pipe; 142. Return water pipe; 143. First inlet and outlet pipe; 144. Second inlet and outlet pipe; 151. First control valve; 152. Second control valve; 153. Third control valve; 154. Back pressure valve; 155. Exhaust valve; 156. Gas pipeline. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] This application provides an auxiliary deployment system and testing method for underwater testing, which can solve the problem that underwater vehicles and diving equipment mainly rely on their own sinking and surfacing to carry out underwater testing experiments in related technologies. This usually requires a lot of installation and debugging work in the early stage to meet the underwater self-sinking and floating test conditions, resulting in high test difficulty, high test cost and high test risk.

[0024] See Figures 1 to 8 As shown, the first aspect of this application provides an auxiliary deployment system for underwater testing, comprising: The underwater ballast 10 includes a ballast counterweight 12 and a buoyancy tank assembly 11 connected to each other for submersion on the water bottom. The buoyancy tank assembly 11 is provided with an inlet / outlet and an outlet / vent 133. The inlet / outlet is connected to an inlet / outlet valve 120, and the outlet / vent 133 is connected to an air compressor unit 16 through a gas pipeline 156. The inlet / outlet valve 120 controls the filling or draining of the buoyancy tank assembly 11 by opening or closing the inlet / outlet. When the outlet / vent 133 is opened, the air compressor unit 16 fills the buoyancy tank assembly 11 with air through the gas pipeline 156, thereby controlling the buoyancy of the buoyancy tank assembly 11. When the outlet / vent 133 is open, the air inside the buoyancy tank assembly 11 can be directly discharged.

[0025] The submersible traction machine 20 includes a pulley assembly 21 fixed to the underwater pressure vessel 10, preferably fixedly connected to the top of the buoyancy tank assembly 11. A traction rope 22 is wound around the pulley assembly 21, and the traction rope 22 is slidably connected to the buoyancy tank assembly 11 through the pulley assembly 21, which also serves to change the traction direction of the traction rope 22. One end of the traction rope 22 is connected to a traction power mechanism 23, and the other end is used to connect to the self-buoyancy model 30 under test. The traction power mechanism 23 is preferably, but not limited to, a winch installed on shore, which pulls the self-buoyancy model 30 under test into the water for underwater testing by winding or unwinding the traction rope 22.

[0026] The auxiliary deployment system for underwater testing in this embodiment utilizes a ballast counterweight 12 and a buoyancy tank assembly 11 submerged on the seabed to provide ballast for the self-floating model 30 under test. A traction rope 22 connects the self-floating model 30 to the traction power mechanism 23, and a pulley system 21 fixed to the underwater ballast carrier 10 provides guidance. The traction power mechanism 23 pulls the traction rope 22 to lower the self-floating model 30, which has no buoyancy, to a set depth for underwater testing. The self-floating model 30 does not require the installation of buoyancy control equipment, thereby reducing the extensive installation and debugging work required for underwater vehicles and diving equipment, lowering the difficulty and cost of testing, eliminating the need for personnel to perform underwater testing, and reducing the risks associated with underwater testing.

[0027] Furthermore, the underwater ballast carrier in this embodiment includes a ballast counterweight 12 and a buoyancy tank assembly 11 connected to each other for sinking to the bottom of the water. When the buoyancy tank assembly 11 is filled with water, it, together with the ballast counterweight 12, provides a sinking pull fulcrum for the self-floating model under test to sink to a set depth. When the buoyancy tank assembly 11 is inflated and deflated, it provides buoyancy for the ballast counterweight 12. This not only facilitates the floating of the buoyancy tank assembly 11 and the ballast counterweight 12 to a set position in a predetermined water area, but also provides precise buoyancy control for the sinking action of the ballast counterweight 12. This facilitates the safe and precise deployment of the underwater ballast carrier using small vessels and lightweight lifting equipment. In addition, through the drainage channel design, the buoyancy tank assembly 11 drains water to flush the bottom and periphery of the side ballast counterweight 122, reducing the silt adhesion force and facilitating the automatic sludge removal, floating, and recovery of the ballast counterweight 12 by relying on the buoyancy of the buoyancy tank assembly 11.

[0028] In some alternative embodiments: see Figure 1 As shown in the illustration, this application provides an auxiliary deployment system for underwater testing. The sinking traction machine 20 of the auxiliary deployment system further includes a float 24 connected to the other end of the traction rope 22. The float 24 is used to float the traction rope 22, which is located in the water, to the surface, facilitating the connection and separation of the traction rope 22 and the self-floating model 30 under test on the water surface. A release mechanism 25 for connecting or releasing the self-floating model 30 under test is connected to the float 24. After the traction power mechanism 23 releases the traction rope 22, the float 24 is used to float the other end of the traction rope 22 and the release mechanism 25 to the surface.

[0029] In this embodiment, a float 24 and a release mechanism 25 are provided at the free end of the traction rope 22 (i.e., the end connected to the self-floating model 30 under test). The traction rope 22, the float 24, and the release mechanism 25 are connected in sequence. The float 24 itself can float on the water surface, thereby placing the free end of the traction rope 22, which is located in the water, on the water surface, making it convenient for operators to connect the free end of the traction rope 22 to the self-floating model 30 under test from the water surface.

[0030] The release mechanism 25 is connected between the float 24 and the self-floating model 30 under test. The release mechanism 25 is preferably, but not limited to, an acoustic release mechanism. When the acoustic release mechanism receives a specific acoustic command signal, it automatically performs a mechanical action to release the physical connection between the sinking traction machine 20 and the self-floating model 30 under test, so that the self-floating model 30 under test can float up or be recovered.

[0031] In some alternative embodiments: see Figures 2 to 6As shown, this application provides an auxiliary deployment system for underwater testing. The buoyancy tank group 11 of the auxiliary deployment system includes an intermediate tank 111 and a plurality of side tanks 112 surrounding and fixed to the outer periphery of the intermediate tank 111. The intermediate tank 111 and the plurality of side tanks 112 are interconnected through a venting pipe 13 and a liquid pipe 14.

[0032] The intermediate tank 111 and multiple side tanks 112 are interconnected via a venting pipe 13 and a liquid pipe 14. The venting pipe 13 connects the intermediate tank 111 and the multiple side tanks 112 to enable synchronous inflation and deflation, thereby maintaining a consistent gas pressure within the intermediate tank 111 and the multiple side tanks 112. The liquid pipe 14 connects the intermediate tank 111 and the multiple side tanks 112 to enable synchronous water filling and drainage, thereby maintaining a consistent liquid level within the intermediate tank 111 and the multiple side tanks 112.

[0033] The ballast counterweight 12 includes a central counterweight block 121 connected to the bottom of the intermediate tank 111, and multiple side counterweight blocks 122 surrounding and fixed to the outer periphery of the central counterweight block 121. The multiple side counterweight blocks 122 are connected to the bottom of multiple side tanks 112. The central counterweight block 121 and the multiple side counterweight blocks 122 of the ballast counterweight 12 are made of high-density materials such as concrete, cast iron, or marble, so as to provide ballast anchoring force for the self-floating model 30 under test in underwater tests after it sinks to the bottom of the water.

[0034] In some alternative embodiments: see Figures 2 to 6 As shown in the embodiment of this application, an auxiliary deployment system for underwater testing is provided. The intermediate tank 111 and the side tank 112 of the auxiliary deployment system each include an upper tank 113 and a lower skirt 114 that are connected to each other. The upper tank 113 is a hollow sealed tank, and the lower skirt 114 is a hollow tubular structure that runs through the upper and lower parts of the tank. The lower skirt 114 is located at the bottom of the upper tank 113 and is fixedly connected to it.

[0035] The intermediate counterweight 121 is fixed to the bottom of the lower skirt 114 of the intermediate tank 111 and forms a first water tank 115. The side counterweight 122 is fixed to the bottom of the lower skirt 114 of the side tank 112 and forms a second water tank 116. A drainage and sludge flushing channel 123 is provided on the side counterweight 122, and the top opening of the drainage and sludge flushing channel 123 communicates with the second water tank 116.

[0036] In this embodiment, both the intermediate tank 111 and the side tank 112 include an upper tank 113 and a lower skirt 114 connected to each other. The upper tank 113 is used for storing gas or water. When the upper tank 113 stores gas, it is used to increase the buoyancy of the underwater ballast 10 to achieve automatic floating to the water surface. When the upper tank 113 stores part gas and part water, it is used to reduce the buoyancy of the buoyancy tank group 11 to achieve the ballast 10 sinking to the bottom of the water with a controllable small negative buoyancy. When the upper tank 113 stores water, it forms a stable underwater ballast.

[0037] In some alternative embodiments: see Figures 2 to 6 As shown in the figure, this application embodiment provides an auxiliary deployment system for underwater testing. The upper tank 113 of the intermediate tank 111 of the auxiliary deployment system is fixedly connected to a pulley seat, which is used to connect a pulley group 21. The upper tank 113 of the intermediate tank 111 and the upper tanks 113 of multiple side tanks 112 are fixedly connected to each other through connecting flanges 117.

[0038] Lifting lugs 119 are connected to the upper tank 113 of the intermediate tank 111 and the upper tank 113 of the multiple side tanks 112. Among the multiple side tanks 112, at least two circumferentially symmetrical side tanks 112 have cable connecting seats 118 fixedly connected to the top of their upper tank 113. The cable connecting seats 118 at the top of at least two circumferentially symmetrical side tanks 112 are used to thread ropes through each other to adjust the sinking attitude and sinking position of the underwater pressure vessel 10.

[0039] In some alternative embodiments: see Figures 2 to 7 As shown, this application provides an auxiliary deployment system for underwater testing. The central counterweight 121 and multiple side counterweights 122 of the auxiliary deployment system are both cylindrical structures. The drainage and silt flushing channel 123 includes a first drainage channel 127 located in the middle of the side counterweights 122 and extending vertically, and multiple second drainage channels located around the first drainage channel 127.

[0040] Each second inlet / outlet channel includes a vertical channel 128 that runs vertically through the side counterweight 122, and a horizontal channel 129 that connects to the vertical channel 128 and extends towards the side wall of the side counterweight 122. The bottom of the side counterweight 122 is a truncated cone, wider at the top and narrower at the bottom. Multiple vertical channels 128 pass through the conical surface of the truncated cone. The bottom of the middle counterweight 121 is higher than the bottom of the side counterweight 122. A steel mesh 125 is provided at the openings of the first inlet / outlet channel 127, the vertical channel 128, and the horizontal channel 129 of each side counterweight 122.

[0041] The outer periphery of the intermediate counterweight 121 is provided with a crossbeam 124 connecting multiple side counterweights. The intermediate counterweight 121, the crossbeam 124, and the side counterweights 122 are integrally cast reinforced concrete structures. Flange seats 126 are pre-embedded on the top of the intermediate counterweight 121 and the multiple side counterweights 122. The intermediate counterweight 121 is detachably connected to the intermediate tank body 111 through the flange seat 126, and the side counterweights 122 are detachably connected to the side tank bodies 112 through the flange seats 126.

[0042] In this embodiment, the ballast counterweight 12 consists of a central counterweight block 121 and six side counterweight blocks 122, all cast in reinforced concrete. The six side counterweight blocks 122 are connected (cast) to the central counterweight block 121 as a whole via crossbeams 124. Each central counterweight block 121 and side counterweight block 122 has a pre-embedded steel flange seat 126 on its top for supporting and connecting the upper central tank 111 and the side tanks 112.

[0043] Each side counterweight 122 has a first inlet / outlet channel 127 and multiple second inlet / outlet channels; the multiple second inlet / outlet channels are evenly distributed around the first inlet / outlet channel 127, and each second inlet / outlet channel is further divided into a vertical channel 128 and a horizontal channel 129.

[0044] The bottom of the side counterweight 122 is a conical truncated cone, wider at the top and narrower at the bottom. Multiple vertical channels 128 pass through the conical surface of the truncated cone. The bottom of the middle counterweight 121 is higher than the bottom of the side counterweight 122. A steel mesh 125 is installed at the opening of each of the first inlet / outlet channel 127, vertical channel 128, and horizontal channel 129 to prevent foreign objects from clogging the openings of these channels.

[0045] The bottom surface of the six side counterweights 122 is 1.0m higher than the bottom surface of the middle counterweight 121. When the ballast counterweight 12 sinks to the bottom, the small annular surface of the six side counterweights 122 is grounded, which can break through the silt layer and be pressed into the soil layer at the bottom of the silt, thereby providing sufficient lateral force to ensure the stability of the ballast counterweight 12 during the towing of the hull of underwater vehicles and diving equipment or large-scale models.

[0046] In some alternative embodiments: see Figures 2 to 6 As shown in the embodiment of this application, an auxiliary deployment system for underwater testing is provided. The upper tank 113 of the intermediate tank 111 and the upper tank 113 of the side tank 112 of the auxiliary deployment system are provided with air inlet and exhaust ports 133. The ventilation pipeline 13 includes an annular ventilation pipe 131 fixed to the top of the upper tank 113 of the intermediate tank 111. The annular ventilation pipe 131 is connected to the air inlet and exhaust ports 133 of multiple upper tanks 113 through branch air pipes 132.

[0047] The liquid pipeline 14 includes multiple water inlet pipes 141 connecting the upper tank 113 of the intermediate tank 111 and the upper tank 113 of each side tank 112, and multiple water return pipes 142 connecting the lower skirt seat 114 of the intermediate tank 111 and the lower skirt seat 114 of each side tank 112. The inlet and outlet include a first inlet and outlet on the upper tank 113 of the intermediate tank 111, and a second inlet and outlet on the lower skirt seat 114 of the intermediate tank 111.

[0048] The liquid pipeline 14 also includes a first inlet / outlet pipeline 143 connected to the first inlet / outlet port and a second inlet / outlet pipeline 144 connected to the second inlet / outlet port. An inlet / outlet valve 120 is connected between the first inlet / outlet pipeline 143 and the second inlet / outlet pipeline 144, which is preferably, but not limited to, an electrically controlled valve or a pneumatically controlled valve.

[0049] In this embodiment, the annular vent pipe 131 is used to introduce compressed air provided by the air compressor unit 16 into multiple upper tanks 113 through branch pipes 132 and inlet / outlet ports 133, thereby simultaneously filling the multiple upper tanks 113 with compressed air. The annular vent pipe 131 is connected to the air compressor unit 16 via a gas pipeline 156. The air compressor unit 16 delivers compressed air to the annular vent pipe 131 through the gas pipeline 156 and then simultaneously fills the multiple upper tanks 113 with air.

[0050] The upper tank 113 of the intermediate tank 111 is interconnected with the upper tank 113 of each side tank 112 through multiple water pipes 141. When water is being filled and the tank sinks, the inlet and outlet valves 120 are opened, and the water entering the upper tank 113 of the intermediate tank 111 through the first inlet and outlet pipe 143 enters the upper tank 113 of each side tank 112 through multiple water pipes 141, thereby making the liquid level in the upper tank 113 of each side tank 112 consistent.

[0051] The lower skirt 114 of the intermediate tank 111 is connected to the lower skirt 114 of each side tank 112 through multiple return water pipes 142. When filling and draining, the inlet and outlet valves 120 are opened, and the water in the upper tank 113 of each side tank 112 flows into the upper tank 113 of the intermediate tank 111 through multiple water pipes 141. The water entering the upper tank 113 of the intermediate tank 111 enters the first water chamber 115 formed by the lower skirt 114 of the intermediate tank 111 and the intermediate counterweight 121 through the first inlet and outlet pipe 143, the inlet and outlet valve 120 and the second inlet and outlet pipe 144.

[0052] Water entering the first water tank 115 enters the second water tank 116 formed by the lower skirt seat 114 and the side counterweight 122 of each side tank 112 through multiple return water pipes 142. Water entering each second water tank 116 is jetted out through the drainage and sludge flushing channel 123 of the side counterweight 122 to flush the bottom of the water, reducing the sludge adsorption force on the side counterweight 122, thereby facilitating the ballast counterweight 12 to detach from the sludge and float to the surface for recovery.

[0053] In some alternative embodiments: see Figures 2 to 7 As shown, this application provides an auxiliary deployment system for underwater testing. The auxiliary deployment system also includes a control valve platform 15. The control valve platform 15 includes a first control valve 151 or a first controller for controlling the opening and closing of the inlet and outlet valves 120, and a gas pipeline 156 connected to an annular vent pipe 131 for controlling the intake or exhaust of multiple upper tanks 113.

[0054] The gas pipeline 156 is provided with a second control valve 152 for filling multiple upper tanks 113 with gas, an exhaust valve 155 connected to the gas pipeline 156 for discharging gas from each upper tank 113, and a third control valve 153 and a back pressure valve 154 connected to the gas pipeline 156 for controlling the gas pressure in each upper tank 113.

[0055] In this embodiment of the application, after the underwater pressure carrier 10 sinks to the bottom of the water (200m), the air compressor unit 16 is started, the first control valve 151 is opened to supply air to the pneumatic device of the inlet and outlet valve 120 to open the inlet and outlet valve 120, and at the same time the back pressure valve 154 is set to a back pressure of 2.0MPa (the actual back pressure is determined according to the depth of the bottom point), and the third control valve 153 is opened.

[0056] Water from the water body is poured into multiple upper tanks 113 through inlet and outlet valves 120. When the air pressure in the multiple upper tanks 113 rises to the set pressure of the back pressure valve 154, the exhaust valve automatically opens. At the same time, the third control valve 153 is closed and the exhaust valve 155 is opened. The high-pressure air in the multiple upper tanks 113 is gradually emptied through the exhaust valve 155. When the multiple upper tanks 113 are filled with water.

[0057] When the underwater pressure vessel 10 needs to float, the back pressure valve 154 is set to 1.0 MPa. The air compressor unit 16 is started, the first control valve 151 supplies air to the pneumatic device of the inlet and outlet valve 120 to open the inlet and outlet valve 120, and the second control valve 152 is opened to fill the multiple upper tanks 113 with 2.4 MPa of air. The water stored in the multiple upper tanks 113 is discharged into the water area through the inlet and outlet valves 120 (the third control valve 153 and the exhaust valve 155 are both in the closed state).

[0058] When the water in the multiple upper tanks 113 is nearly emptied, the underwater pressure carrier 10 gains positive buoyancy, which is greater than the sludge adsorption force, and begins to float freely. When the underwater pressure carrier 10 floats to the surface, the second control valve 152 is closed to stop inflation, and air is supplied to the pneumatic device of the inlet and outlet valves 120 through the first control valve 151 to close the inlet and outlet valves 120. The third control valve 153 is opened, and the air in the multiple upper tanks 113 is discharged through the back pressure valve 154. When the exhaust pressure is lower than the set pressure of the back pressure valve 154, the third control valve 153 is closed, and the exhaust valve 155 is opened until the air in the multiple upper tanks 113 is emptied.

[0059] See Figures 1 to 8 As shown, a second aspect of this application provides a test method for an auxiliary deployment system for underwater testing. The method uses the auxiliary deployment system for underwater testing described in any of the above embodiments, and the method includes a sinking step and a surfacing step. The sinking step includes: Step 101: The ballast counterweight 12 and the buoyancy tank assembly 11, which are connected to each other and are used to sink to the bottom of the water, are floated to the predetermined position in the test water area.

[0060] Step 102: Open the inlet and outlet valves 120 to allow the water from the test water area to be poured into the buoyancy tank group 11 by the set weight of water through the inlet and outlet ports.

[0061] Step 103: When the water entering the buoyancy tank group 11 reaches the set weight, close the inlet and outlet valves 120, open the second control valve 152, and start the air compressor unit 16 to fill the buoyancy tank group 11 with compressed air at the set pressure through the inlet and outlet ports 133.

[0062] Step 104: When the sum of the weight of the buoyancy tank group 11 and the ballast counterweight 12 and the weight of the high-pressure air in the buoyancy tank group 11 is greater than the buoyancy, the underwater pressure carrier 10 is released, and the second control valve 152 gradually sinks the underwater pressure carrier 10 to the bottom of the test water area.

[0063] Step 105: When the underwater pressure carrier 10 sinks to the bottom of the water, open the inlet and outlet valve 120 to allow the water in the test water area to flow into the buoyancy tank group 11 through the inlet and outlet, empty the air in the buoyancy tank group 11, and fill the buoyancy tank group 11 with water.

[0064] The ascent step includes: Step 201: Open the second control valve 152, and fill the buoyancy tank group 11 with compressed air at a set pressure through the inlet and outlet ports 133. Open the inlet and outlet valves 120 on the buoyancy tank group 11 to discharge the water in the buoyancy tank group 11. Step 202: When the buoyancy of the buoyancy tank group 11 is greater than the weight of the ballast counterweight 12, the buoyancy tank group 11 begins to drive the ballast counterweight 12 to gradually float automatically. When the buoyancy tank group 11 floats out of the water, the second control valve 152 is closed to stop air inflation, and the inlet and outlet valves 120 are closed to stop drainage. Step 203: After the buoyancy tank group 11 floats to the surface, float the buoyancy tank group 11 and the ballast counterweight 12 to the shore and open the third control valve 153 to purge the air from the buoyancy tank group (11).

[0065] See Figures 1 to 8 As shown, a third aspect of this application provides a test method for an auxiliary deployment system for underwater testing. The method uses the auxiliary deployment system for underwater testing described in any of the above embodiments, and includes underwater testing steps: Step 301: After the underwater pressure carrier 10 sinks to the bottom of the designated position, the traction power mechanism 23 is started, the traction cable 22 is released, the float 24 drives the release mechanism 25 to float to the surface, and the traction power mechanism 23 is stopped. Step 302: Use a small boat to float the self-floating model 30 to the vicinity of the release mechanism 25 that has emerged from the water, connect the self-floating model 30 to the release mechanism 25, and sail the small boat a certain distance away from the sinking point to ensure safety. Step 303: Start the traction power mechanism 23, tighten the traction cable 22, pull the self-floating model 30 to be tested to the specified water depth, and stop the traction power mechanism 23. Step 304: After receiving the command signal, the release mechanism 25 automatically disconnects the physical connection between the sinking tractor 20 and the self-floating model 30 under test, so that the self-floating model 30 under test floats freely under its own buoyancy. While the self-floating model under test floats freely, test data and signals are collected in real time to complete an underwater test. Step 305: After the self-floating model 30 under test is towed away from the floating point by a small boat to a certain safe distance, the traction power mechanism 23 is started again to release the traction cable 22. The buoy 24 drives the release mechanism 25 to float to the surface of the water. Repeat the above steps 303 and 304 to conduct the next underwater test.

[0066] Working principle This application provides an auxiliary deployment system and testing method for underwater testing. The auxiliary deployment system for underwater testing in this application is equipped with an underwater ballast carrier 10, which includes a ballast counterweight 12 and a buoyancy tank group 11 connected to each other for sinking to the bottom of the water. The buoyancy tank group 11 is provided with an inlet / outlet and an outlet / vent 133. The inlet / outlet is connected to an inlet / outlet valve 120, and the outlet / vent 133 is connected to an air compressor group 16 through a gas pipeline 156. A sinking traction machine 20 is also provided. The sinking traction machine 20 includes a pulley group 21 fixed on the underwater ballast carrier 10. A traction rope 22 is wound on the pulley group 21. One end of the traction rope 22 is connected to a traction power mechanism 23, and the other end of the traction rope 22 is used to connect to the self-floating model 30 under test.

[0067] Therefore, the auxiliary deployment system for underwater testing in this application utilizes ballast counterweights 12 and buoyancy tanks 11 submerged on the seabed to provide ballast for the self-floating model 30 under test during underwater testing. A traction rope 22 connects the self-floating model 30 to the traction power mechanism 23, and a pulley system 21 fixed to the underwater ballast 10 provides guidance. The traction power mechanism 23 pulls the traction rope 22 to lower the self-floating model 30, which has no buoyancy, to a set depth for underwater testing. The self-floating model 30 does not require the installation of buoyancy control equipment, thereby reducing the extensive installation and debugging work required for underwater vehicles and diving equipment, lowering the difficulty and cost of testing, eliminating the need for personnel to perform underwater testing, and reducing the risks associated with underwater testing.

[0068] Furthermore, the underwater ballast 10 of this application includes a ballast counterweight 12 and a buoyancy tank assembly 11 connected to each other for sinking to the bottom of the water. The ballast counterweight 12 provides a sinking pull fulcrum for the self-buoyant model 30 to sink to a set depth. When the buoyancy tank assembly 11 is filled with water, it, together with the ballast counterweight 12, provides a sinking pull fulcrum for the self-buoyant model to sink to the set depth. When the buoyancy tank assembly 11 is inflated and deflated, it provides buoyancy for the ballast counterweight 12. This not only facilitates the floating of the buoyancy tank assembly 11 and the ballast counterweight 12 to the designated position in the predetermined water area, but also provides precise buoyancy control for the sinking action of the ballast counterweight 12. This makes it easier to safely and accurately deploy the underwater ballast carrier 10 using small boats and light lifting equipment. In addition, through the drainage channel design, the buoyancy tank assembly 11 drains water to flush the bottom and periphery of the side ballast counterweight 122, reducing the silt adhesion force and facilitating the automatic sludge removal, floating, and recovery of the ballast counterweight 12 by relying on the buoyancy of the buoyancy tank assembly 11.

[0069] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0070] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0071] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An auxiliary deployment system for underwater testing, characterized in that, include: The underwater ballast carrier (10) includes a ballast counterweight (12) and a buoyancy tank assembly (11) connected to each other for sinking to the bottom of the water. The buoyancy tank assembly (11) is provided with an inlet / outlet and an outlet / vent (133). The inlet / outlet is connected to an inlet / outlet valve (120). The outlet / vent (133) is connected to an air compressor unit (16) through a gas pipeline (156). The sinking traction machine (20) includes a pulley block (21) fixed on the underwater pressure carrier (10), a traction rope (22) is wound on the pulley block (21), one end of the traction rope (22) is connected to the traction power mechanism (23), and the other end of the traction rope (22) is used to connect to the self-floating model under test (30).

2. The auxiliary deployment system for underwater testing as described in claim 1, characterized in that: The sinking traction machine (20) also includes a float (24) connected to the other end of the traction rope (22). The float (24) is connected to a release mechanism (25) for connecting or releasing the self-floating model (30) under test. The float (24) is used to float the other end of the traction rope (22) and the release mechanism (25) to the surface.

3. The auxiliary deployment system for underwater testing as described in claim 1, characterized in that: The buoyancy tank assembly (11) includes an intermediate tank (111) and a plurality of side tanks (112) surrounding and fixed to the outer periphery of the intermediate tank (111). The intermediate tank (111) and the plurality of side tanks (112) are interconnected by a venting pipe (13) and a liquid pipe (14). The ballast counterweight (12) includes an intermediate counterweight block (121) connected to the bottom of the intermediate tank (111), a plurality of side counterweight blocks (122) surrounding and fixed to the outer periphery of the intermediate counterweight block (121), and a plurality of crossbeams (124) connecting the intermediate counterweight block (121) and the side counterweight blocks (122), wherein the plurality of side counterweight blocks (122) are connected to the bottom of the plurality of side tanks (112).

4. The auxiliary deployment system for underwater testing as described in claim 3, characterized in that: The intermediate tank (111) and the side tank (112) each include an upper tank (113) and a lower skirt (114) connected to each other. The upper tank (113) is a hollow sealed tank, and the lower skirt (114) is a hollow tubular structure that runs through the top and bottom. The lower skirt (114) is located at the bottom of the upper tank (113) and is fixedly connected to each other. The intermediate counterweight (121) is fixed to the bottom of the lower skirt (114) of the intermediate tank (111) and forms a first water tank (115) with each other. The side counterweight (122) is fixed to the bottom of the lower skirt (114) of the side tank (112) and forms a second water tank (116) with each other. The side counterweight (122) has a drainage and silt flushing channel (123) with the top opening of the drainage and silt flushing channel (123) connected to the second water tank (116).

5. The auxiliary deployment system for underwater testing as described in claim 4, characterized in that: The intermediate counterweight (121) and the multiple side counterweights (122) are all cylindrical structures. The drainage and silt flushing channel (123) includes a first drainage channel (127) located in the middle of the side counterweight (122) and extending vertically, and multiple second drainage channels located on the outer periphery of the first drainage channel (127). Each of the second inlet and outlet channels includes a vertical channel (128) that runs vertically through the side counterweight (122), and a horizontal channel (129) that connects to the vertical channel (128) and extends toward the side wall of the side counterweight (122).

6. The auxiliary deployment system for underwater testing as described in claim 4, characterized in that: The upper tank (113) of the intermediate tank (111) and the upper tank (113) of the side tank (112) are both provided with the air inlet and outlet (133). The ventilation pipe (13) includes an annular ventilation pipe (131) fixed to the top of the upper tank (113) of the intermediate tank (111). The annular ventilation pipe (131) is connected to the air inlet and outlet (133) of multiple upper tanks (113) through branch air pipes (132). The liquid pipeline (14) includes multiple water inlet pipelines (141) connecting the upper tank (113) of the intermediate tank (111) and the upper tank (113) of each of the side tanks (112), and multiple water return pipelines (142) connecting the lower skirt seat (114) of the intermediate tank (111) and the lower skirt seat (114) of each of the side tanks (112).

7. The auxiliary deployment system for underwater testing as described in claim 6, characterized in that: The inlet and outlet include a first inlet and outlet on the upper tank (113) of the intermediate tank (111), and a second inlet and outlet on the lower skirt (114) of the intermediate tank (111). The liquid pipeline (14) further includes a first inlet and outlet pipeline (143) connected to the first inlet and outlet, and a second inlet and outlet pipeline (144) connected to the second inlet and outlet. The inlet and outlet valve (120) is connected between the first inlet and outlet pipe (143) and the second inlet and outlet pipe (144). The inlet and outlet valve (120) is an electrically controlled valve or a pneumatically controlled valve.

8. An auxiliary deployment system for underwater testing as described in claim 6 or 7, characterized in that: It also includes a control valve platform (15), which includes a first control valve (151) or a first controller for controlling the opening and closing of the inlet and outlet valves (120), and a gas pipeline (156) connected to the annular vent pipe (131) for controlling the intake or exhaust of the multiple upper tanks (113). The gas pipeline (156) is provided with a second control valve (152) for filling the multiple upper tanks (113) with gas, an exhaust valve (155) connected to the gas pipeline (156) for discharging the gas in each of the upper tanks (113), and a third control valve (153) and a back pressure valve (154) connected to the gas pipeline (156) for controlling the gas pressure in each of the upper tanks (113).

9. The auxiliary deployment system for underwater testing as described in claim 3, characterized in that: The outer periphery of the intermediate counterweight (121) is provided with a crossbeam (124) connecting multiple side counterweights (122). The intermediate counterweight (121), the crossbeam (124) and the side counterweights (122) are integrally cast reinforced concrete structures. The top of the intermediate counterweight (121) and the multiple side counterweights (122) are all pre-embedded with flange seats (126). The intermediate counterweight (121) is detachably connected to the intermediate tank (111) through the flange seats (126), and the side counterweights (122) are detachably connected to the side tanks (112) through the flange seats (126).

10. A test method for an auxiliary deployment system used in underwater testing, characterized in that, The method uses the auxiliary deployment system for underwater testing as described in any one of claims 1 to 9, and the method includes a sinking step and a surfacing step; The sinking step includes: The ballast counterweight (12) and buoyancy tank assembly (11) connected to each other for sinking to the bottom of the water were floated to the predetermined position in the test water area; Open the inlet and outlet valves (120) to allow the water from the test water area to be poured into the buoyancy tank group (11) by the inlet and outlet ports, and the water weight is set. When the water entering the buoyancy tank group (11) reaches the set weight, close the inlet and outlet valves (120), open the second control valve (152), and start the air compressor unit (16) to fill the buoyancy tank group (11) with compressed air at the set pressure through the inlet and outlet ports (133); When the sum of the weight of the buoyancy tank group (11) and the ballast counterweight (12) and the weight of the high-pressure air in the buoyancy tank group (11) is greater than the buoyancy, the underwater pressure carrier (10) is released, and the second control valve (152) gradually sinks the underwater pressure carrier (10) to the bottom of the test water area. When the underwater pressure vessel (10) sinks to the bottom of the water, the inlet and outlet valves (120) are opened to allow the water in the test water area to be poured into the buoyancy tank group (11) through the inlet and outlet ports, the air in the buoyancy tank group (11) is emptied, and the buoyancy tank group (11) is filled with water. The ascent step includes: Open the second control valve (152) and fill the buoyancy tank group (11) with compressed air at a set pressure through the inlet and outlet (133). Open the inlet and outlet valves (120) on the buoyancy tank group (11) to drain the water in the buoyancy tank group (11). When the buoyancy of the buoyancy tank group (11) is greater than the weight of the ballast counterweight (12), the buoyancy tank group (11) begins to drive the ballast counterweight (12) to gradually float automatically. When the buoyancy tank group (11) floats out of the water, the second control valve (152) is closed to stop the inflation and the inlet and outlet valves (120) are closed to stop the drainage. After the buoyancy tank assembly (11) floats to the surface, the buoyancy tank assembly (11) and the ballast counterweight (12) are floated to the shore and the third control valve (153) is opened to purge the air from the buoyancy tank assembly (11).

11. A test method for an auxiliary deployment system used in underwater testing, characterized in that, The method uses the auxiliary deployment system for underwater testing as described in any one of claims 1 to 9, and the method includes underwater testing steps: After the underwater pressure vessel (10) sinks to the bottom of the designated position, the traction power mechanism (23) is started, the traction cable (22) is released, the float (24) drives the release mechanism (25) to float to the surface, and the traction power mechanism (23) is stopped. The self-floating model (30) to be tested is floated to the vicinity of the release mechanism (25) that has emerged from the water surface using a small boat. The self-floating model (30) to be tested is connected to the release mechanism (25). The small boat is driven a certain distance away from the sinking point to ensure safety. Start the traction power mechanism (23), tighten the traction cable (22), pull the self-floating model (30) to the specified water depth, and stop the traction power mechanism (23). After receiving the command signal, the release mechanism (25) automatically disconnects the physical connection between the sinking tractor (20) and the self-floating model (30) under test, so that the self-floating model (30) under test can float freely under its own buoyancy. While the self-floating model under test is floating freely, test data and signals are collected in real time to complete an underwater test. After towing the self-floating model (30) to be tested away from the floating point by a small boat to a certain safe distance, start the traction power mechanism (23) again, release the traction cable (22), and the float (24) drives the release mechanism (25) to float to the surface. Repeat the above steps to conduct the next underwater test.

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