CN114035596A - Novel comprehensive control system and control method for underwater unmanned integrated test platform - Google Patents
Novel comprehensive control system and control method for underwater unmanned integrated test platform Download PDFInfo
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- CN114035596A CN114035596A CN202111270923.5A CN202111270923A CN114035596A CN 114035596 A CN114035596 A CN 114035596A CN 202111270923 A CN202111270923 A CN 202111270923A CN 114035596 A CN114035596 A CN 114035596A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
Abstract
The invention provides a novel comprehensive control system and a control method for an underwater unmanned integrated test platform, wherein a land comprehensive control display and control platform is arranged on a shore base to serve as an upper computer, so that the output of a remote control instruction of the underwater unmanned integrated test platform and the real-time monitoring and display of state information in the test platform are completed; the field control cabinet is arranged in the platform and used as a lower computer to finish the forwarding of remote control instructions, data processing and state information data acquisition of equipment in the test platform, so that the difficulties of remote control of an underwater unmanned platform and remote transmission of signals underwater are overcome; the functions of remotely monitoring and controlling the underwater test platform are realized, and the functions of remotely controlling the starting and stopping of the equipment, acquiring the state of the equipment, controlling the submergence of the test platform and adjusting the posture are realized.
Description
Technical Field
The invention belongs to the technical field of comprehensive control of underwater test platforms, and particularly relates to a novel comprehensive control system and a control method of an underwater unmanned integrated test platform.
Background
Because the underwater integrated verification platform is an unpowered and unmanned test platform, and an operator is inconvenient to control on site, a comprehensive control system needs to be designed to complete remote monitoring and control on the test platform, and the requirement of an integrated test verification function is met.
In order to meet the requirements of integrated test verification tests, the comprehensive control system needs to have a remote control function on equipment in a test platform, and can remotely start and stop the test equipment and acquire the working state of the equipment. The 'manual' control of the submergence and the longitudinal adjustment of the test platform is realized by the logic control of the buoyancy adjusting water pump, the longitudinal adjusting water pump and the related electro-hydraulic ball valves, and the 'automatic' control of the buoyancy adjustment and the longitudinal adjustment is completed by the calculation of the water injection displacement and the fore-aft water adjustment, so that the submergence and the attitude adjustment of the test platform are realized. By collecting information of each sensor in the platform, the underwater state of the test platform can be monitored in real time, and fault alarm is carried out.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a novel comprehensive control system and a control method for an underwater unmanned integrated test platform are provided, and are used for remotely monitoring and controlling the underwater test platform.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a novel unmanned integrated test platform integrated control system under water which characterized in that: the system comprises an upper land computer, a lower underwater computer, a network communication module, an image video sensor and an uninterruptible power supply; the land upper computer is arranged on a shore base and used for sending control instructions including a diving instruction, a posture adjusting instruction and an equipment remote control instruction to the underwater unmanned test platform and displaying the state information of the underwater unmanned test platform in real time according to received data; the underwater lower computer is arranged on the site where the underwater unmanned test platform is located and used for receiving a control instruction of the land upper computer and carrying out remote control, information acquisition, data processing and fault alarm on equipment of the underwater unmanned test platform; the network communication modules are respectively arranged in the upper land computer and the lower underwater computer, and the upper land computer and the lower underwater computer are connected with the underwater unmanned test platform through watertight optical fiber cables and are used for underwater remote information transmission; the watertight optical fiber cable penetrates through a shell of the underwater unmanned test platform by adopting a special sealing process and is used for preventing the watertight optical fiber from being excessively extruded and deformed; the image video sensor is arranged near the key equipment of the underwater unmanned test platform, and a signal sending end of the image video sensor is connected with a signal receiving end of an underwater lower computer and used for monitoring and uploading the running condition of the key equipment in real time; the onshore upper computer and the underwater lower computer are respectively provided with an uninterrupted power supply on the sites where the shore-based unmanned test platform and the underwater unmanned test platform are located, and the onshore upper computer and the underwater lower computer are used for ensuring that the onshore upper computer sends an emergency control instruction to control the unmanned test platform to float upwards under the condition of power failure and ensuring that the underwater unmanned test platform and the underwater lower computer are uninterruptedly and emergently supplied under the condition of shore-based power failure or remote power failure.
According to the scheme, the onshore upper computer comprises a display operation module which is used for inputting a remote control instruction and displaying the state of the unmanned test platform; the display operation module comprises a video monitoring display module, a comprehensive monitoring display module, an emergency control module, a power supply control module and an instruction input module; the video monitoring display module is used for displaying images and videos acquired by the image video sensor; the comprehensive monitoring display module comprises a guarantee interface, an acoustic stealth/fuel cell interface, a seawater cooling interface, a fresh water cooling interface, an electric power interface, an alarm list interface and a state interface and is used for displaying state information of the comprehensive control system and the unmanned test platform; the emergency control module comprises an emergency blow-off valve knob, an emergency stop self-locking button and an indicator light and is used for manually and emergently blowing off the ballast water tank to enable the unmanned test platform to emergently float; the power supply control module comprises a power supply switch and a power supply indicator light and is used for controlling the on or off of a power supply and displaying the on-off state; the instruction input module is used for an operator to input a control instruction.
Further, the guarantee interface comprises a floating adjustment and drainage system interface, a trim balance system interface, a fire alarm interface and other equipment interfaces; the floating adjustment and drainage system interface is used for controlling the starting and stopping of a buoyancy adjustment water pump, the opening and closing of a two-way ball valve at a floating adjustment inlet and an outlet, the opening and closing of inlet ball valves of a port and a starboard adjustment water tank, the opening and closing of a drainage ball valve at the bottom of the tank, the opening and closing of a ventilation stop valve of the port and starboard adjustment water tank, displaying the conditions of the opening, the closing, the operation and the fault of the pumps and the valves, and also displaying the flow of a filling and discharging pipe of the port and starboard adjustment water tank and the liquid level of the port and starboard adjustment water tank; the trim balance system interface is used for controlling the start and stop of a trim adjusting water pump, the opening and closing of a bow and stern trim balance water tank ball valve, the opening and closing of a bow-to-stern pump inlet and outlet ball valve, and the opening and closing of a stern-to-bow pump inlet and outlet ball valve, displaying the conditions of the in-place opening, in-place closing, operation and failure of the pumps and valves, and further displaying trim adjusting water flow, bow trim balance water tank liquid level and stern trim balance water tank liquid level.
According to the scheme, the uninterruptible power supply comprises the storage battery and the power supply control module, and is used for automatically switching to the emergency power supply mode under the condition that the underwater unmanned test platform is out of power, ensuring that the underwater lower computer receives a control command of the upper computer on the ground in an emergency state, controlling the underwater unmanned test platform to complete emergency floating operation, and ensuring the safety of the underwater unmanned test platform.
A novel comprehensive control method for an underwater unmanned integrated test platform comprises the following steps:
s1: building a novel integrated control system of an underwater unmanned integrated test platform, which comprises an upper land computer, a lower underwater computer, a network communication module, an image video sensor and an uninterrupted power supply; the upper land computer is arranged on a shore base; the underwater lower computer is arranged on the site where the underwater unmanned test platform is located; the network communication modules are respectively arranged in the upper land computer and the lower underwater computer, and the upper land computer and the lower underwater computer are connected with the underwater unmanned test platform through watertight optical fiber cables; the watertight optical fiber cable penetrates through a shell of the underwater unmanned test platform by adopting a special sealing process; the image video sensor is arranged near key equipment of the underwater unmanned test platform, and a signal sending end of the image video sensor is connected with a signal receiving end of an underwater lower computer; an uninterruptible power supply is respectively configured for the onshore upper computer and the underwater lower computer on the sites where the shore-based unmanned test platform and the underwater unmanned test platform are located, and the uninterruptible power supply comprises a storage battery and a power supply control module; the onshore upper computer comprises a display operation module, wherein the display operation module comprises a video monitoring display module, a comprehensive monitoring display module, an emergency control module, a power control module and a command input module;
s2: the method comprises the steps that a power switch system is powered on, an operator inputs a remote control command through an instruction input module of an upper land computer, an underwater lower computer and an image video sensor acquire and upload state information and video image information of an underwater unmanned test platform, the upper land computer displays the state information of the underwater unmanned test platform and each device through a comprehensive monitoring display module, and a monitoring picture and sound information acquired by the image video sensor are displayed through a video monitoring display module;
s3: controlling a buoyancy adjusting water pump, a pitch adjusting water pump and related electro-hydraulic ball valves, and manually controlling the underwater unmanned test platform to submerge and adjust the posture; or the underwater unmanned test platform is automatically controlled to dive and adjust the attitude by resolving the water injection displacement and fore-aft water regulation;
s4: under the condition of shore-based power failure, a display operation module of an upper computer on the land is operated to output an emergency control instruction, and an emergency blow-off valve of the unmanned test platform blows off a ballast water tank to enable the test platform to float upwards emergently.
Further, in step S3, the specific steps of the dive control for the unmanned test platform are as follows:
s31: recording the liquid level A1 of the port and starboard adjusting water tank, inputting the required water injection amount B1, and calculating the liquid level C1 of the port and starboard adjusting water tank after water injection by the onshore upper computer; if C1 is greater than or equal to the alarm value for adjusting the high liquid level in the water tank, the integrated monitoring display module displays that the liquid level in the water tank is too high! "; if C1 is less than the alarm value of the high liquid level of the adjusting water tank, executing step S32;
s32: confirming that the second ball valve at the float adjusting outlet and the bilge drain ball valve are in a closed state, and operating a float adjusting and drain system interface of the comprehensive monitoring display module to issue a closing instruction if the second ball valve and the bilge drain ball valve are in an open state;
s33: operating a float adjusting and drainage system interface of the comprehensive monitoring display module, and opening a port and starboard adjusting water tank ventilation stop valve and a port and starboard adjusting water tank inlet ball valve;
s34: opening a second ball valve at the buoyancy adjusting inlet to enable seawater to enter the buoyancy adjusting water tank, so that the weight of the unmanned test platform is increased; in the water injection process, if the liquid level of the port or starboard adjusting water tank is more than or equal to the high liquid level alarm value of the adjusting water tank, the comprehensive monitoring display module displays that the liquid level of the adjusting water tank exceeds the limit! If yes, closing a second ball valve at the float adjusting inlet; and if the liquid level of the port or starboard adjusting water tank is smaller than the high liquid level alarm value of the adjusting water tank, closing the floating adjusting inlet two-way ball valve after the liquid level of the adjusting water tank reaches C1 or the accumulated flow of the flow meter reaches B1.
Further, in step S3, the specific steps of the attitude adjustment control of the unmanned test platform include:
s35: recording a stem tank liquid level A2 and a stern tank liquid level B2, inputting the required water regulating amount C2, and calculating a stem tank liquid level D2 and a stern tank liquid level E2 after water regulation by an onshore upper computer; if D2 is less than the warning value of low liquid level in fore hold or E2 is greater than the warning value of high liquid level in stern hold, the comprehensive monitoring display module displays the condition that the water regulation amount exceeds the limit! "; otherwise, executing step S36;
s36: confirming that the ball valves from the inlet and the outlet of the stern-bow pump are in a closed state, and operating a trim balance system interface of the comprehensive monitoring display module to issue a closing instruction if the ball valves are in an open state;
s37: opening a bow and stern trim balance water tank ball valve, a bow-to-stern pump inlet and outlet ball valve;
s38: operating a trim balance system interface of the comprehensive monitoring display module, and starting a trim adjustment water pump; in the process of water injection, if the liquid level of the bow cabin is smaller than the warning value of the low liquid level of the bow cabin, the comprehensive monitoring display module displays that the liquid level of the bow trim balance water cabin is too low! If yes, the trim adjusting water pump is closed; if the liquid level of the stern cabin is greater than the warning value of the high liquid level of the stern cabin, the comprehensive monitoring display module displays that the liquid level of the stern trim balance water cabin is too high! If yes, the trim adjusting water pump is closed; if the liquid levels meet the requirements, the trim adjusting water pump is closed after the liquid level of the bow tank reaches D2 or the accumulated flow of the flow meter reaches C2.
Further, in step S4, the emergency control specifically includes:
s41: screwing the emergency blow-off valve knob to the left open valve position to output an emergency blow-off valve open valve control command;
s42: screwing the emergency blow-off valve knob to the right valve closing position to output an emergency blow-off valve closing control command;
s43: the emergency blow-off valve knob is screwed to a middle' position, and a control instruction is not output;
s44: when the emergency blow-off valve feeds back an on-position signal to the underwater lower computer, the comprehensive monitoring display module indicates S45: the lamp is on; and in an emergency, pressing the emergency stop self-locking button to send an emergency stop control command.
A computer storage medium stores a computer program executable by a computer processor, and the computer program executes a novel integrated control system and a control method of an underwater unmanned integrated test platform.
The invention has the beneficial effects that:
1. according to the novel integrated control system and the control method for the underwater unmanned integrated test platform, the onshore integrated control display and control platform is arranged on the shore base to serve as an upper computer, so that the output of remote control instructions of the underwater unmanned integrated test platform and the real-time monitoring and display of state information in the test platform are completed; the field control cabinet is arranged in the platform and used as a lower computer to finish the forwarding of remote control instructions, data processing and state information data acquisition of equipment in the test platform, so that the difficulties of remote control of an underwater unmanned platform and remote transmission of signals underwater are overcome; the functions of remotely monitoring and controlling the underwater test platform are realized, and the functions of remotely controlling the starting and stopping of the equipment, acquiring the state of the equipment, controlling the submergence of the test platform and adjusting the posture are realized.
2. Aiming at the characteristic that the test platform is an underwater unmanned platform, the invention is provided with the video monitoring equipment, thereby realizing the real-time monitoring of the internal state of the underwater platform by the tester on the shore base; the safety and the real-time performance of the underwater unmanned test platform are guaranteed.
3. The UPS is arranged in the shore-based and underwater platform, so that uninterrupted emergency power supply of the test platform under the condition of shore-based power failure or remote power failure is guaranteed, the onshore integrated control console can complete emergency control instruction output under the condition of power failure, and the safety of the underwater test platform is improved.
Drawings
FIG. 1 is a diagram of a land-based integrated control floor according to an embodiment of the present invention.
FIG. 2 is a diagram of a land-based integrated console display interface of an embodiment of the present invention.
FIG. 3 is a schematic block diagram of a terrestrial integration console according to an embodiment of the present invention.
FIG. 4 is a submergence control flow diagram of an embodiment of the present invention.
Fig. 5 is a flow chart of attitude adjustment control according to the embodiment of the present invention.
FIG. 6 is a functional block diagram of a field control cabinet according to an embodiment of the present invention.
FIG. 7 is a schematic block diagram of an external power supply for the integrated control system in accordance with an embodiment of the present invention.
Fig. 8 is a schematic block diagram of a UPS power supply of an integrated control system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention comprises a land integrated control platform, a field control cabinet, a UPS cabinet and video monitoring equipment; the video monitoring equipment comprises a camera and a network switch.
1) The shore-based land integrated control console is connected with a field control cabinet in the underwater platform through a watertight optical fiber configured by a network switch, is used for transmitting control instructions and collecting signals, and overcomes the difficulty of long-distance transmission of signals underwater and the difficulty of penetrating a pressure-resistant shell through a watertight optical fiber cable;
2) the onshore integrated console of the upper computer is used for completing control instruction input of equipment in the test platform and test platform state information display, and the lower computer is used for completing control instruction forwarding and information state acquisition;
3) the 'manual' control of the submergence and the longitudinal adjustment of the test platform is realized by the logic control of the buoyancy adjusting water pump, the longitudinal adjusting water pump and the related electro-hydraulic ball valves, and the 'automatic' control of the buoyancy adjustment and the longitudinal adjustment is completed by the calculation of the water injection displacement and the fore-aft water adjustment, so that the submergence and the attitude adjustment of the test platform are realized;
4) UPS is arranged in both the shore base and the underwater platform, uninterrupted emergency power supply of the test platform under the condition of shore base power failure or remote power supply failure is guaranteed, the onshore integrated control console can complete emergency control instruction output under the condition of power loss, the instruction directly reaches the electric control emergency blow-off valve, the ballast water tank is blown off, so that the test platform floats upwards in an emergency mode, and the safety of the underwater test platform is guaranteed.
The land integrated control console is shown in figure 3 and is characterized in that:
1) the onshore integrated console adopts configuration software, integrates a remote control output instruction and a state monitoring window through a visual interface (as shown in figure 2), can realize the remote control and the state display of equipment on the onshore integrated console (the principle is as shown in figure 3), and the visual interface can be optimized and adjusted according to the use requirement;
2) the on-land integrated control console is internally provided with a control algorithm, the 'manual' control of the submergence and the trim adjustment of the test platform is realized by logically controlling a buoyancy adjusting water pump, a trim adjusting water pump and related electro-hydraulic ball valves, and the 'automatic' control of the buoyancy adjustment and the trim adjustment is completed by calculating the water injection and discharge amount and the fore-aft water adjustment amount, so that the submergence and attitude adjustment of the test platform are realized, wherein the submergence control flow is shown in an attached figure 4, and the attitude adjustment control flow is shown in an attached figure 5;
3) the UPS is arranged in the land integrated control console, the operation panel is provided with the one-key blowing knob, and when the shore base is powered off, the emergency blowing instruction output can still be ensured by rotating the knob land integrated control console.
The field control cabinet is shown in a schematic block diagram in fig. 6, and is characterized in that:
1) the field control cabinet is the integrated control system brain, accomplishes integrated control system's information processing, includes: receiving and analyzing a control instruction of the onshore integrated console, and forwarding the control instruction to corresponding equipment;
2) the state information of the test platform is collected, and the fault alarming capability is achieved;
3) the external interfaces of the field control cabinet are all configured to be universal interfaces, and the expansibility of the system is guaranteed.
The UPS is internally provided with a storage battery, and the UPS automatically converts to an emergency power supply mode under the condition that the platform is out of power, so that the emergency state of the field control cabinet can receive a shore-based transmission control instruction, the emergency floating operation is completed, and the safety of the platform is ensured. The external power supply block diagram is shown in fig. 7, and the UPS power supply block diagram is shown in fig. 8.
1. System performance implementation requirements
The system is provided with an onshore integrated control display and control console upper computer on a shore base, and is used for finishing the output of the underwater unmanned test platform submergence control, the attitude control instruction and the equipment remote control instruction and the real-time display of the test platform state information; the field control cabinet lower computer is arranged in the platform, receives a control instruction of the land integrated control console, completes remote control, information acquisition and data processing of equipment in the test platform, meets the requirements of integrated verification tests, and is provided with the UPS in the platform to ensure emergency power supply of the test platform.
2. System installation implementation requirements
The system is characterized in that an upper computer of a land integrated control display and control console is arranged on a shore base, a lower computer of a field control cabinet is arranged in a platform, and UPS is arranged on the lower computer. The land integrated control console is connected with the field control cabinet through the watertight optical fiber cable, the difficulty of underwater remote information transmission is overcome, the watertight optical fiber cable penetrates through the underwater platform shell and needs to adopt a special sealing process, and the influence of excessive extrusion of the watertight optical fiber on information transmission is prevented. The video monitoring equipment is required to be installed at the accessory of the key equipment so as to monitor the running condition of the key equipment in real time.
3. Device operation implementation requirements
Referring to fig. 1, the operation display module of the onshore integrated console is as follows:
panel 1: video monitoring picture display screen. And starting the video monitoring software of the industrial personal computer, and displaying the monitoring picture and the sound information acquired by the camera.
Panel 2: and (5) comprehensively monitoring the picture display screen. The industrial personal computer configuration monitoring software is started, the state information of the equipment collected by the field control cabinet in the test platform and the state information of the test platform can be displayed, and the remote control instruction output can be carried out on the equipment on the configuration software.
Panel 3: and (5) standby.
Panel 4: emergency blow-off 1# valve, emergency blow-off 2# valve, and emergency stop manual emergency control panel. When the black knob is screwed to the left side valve opening position, the emergency blow-off valve opening valve control command is manually output. When the knob is screwed to the right-side valve closing position, the emergency blow-off valve closing control command is manually output. When the knob is screwed to the middle' position, no control instruction is given. And when the emergency blow-off valve feeds back an on-position signal, the corresponding indicator lamp is turned on. When the red self-locking button is pressed in emergency, an emergency stop control command can be sent out.
Panel 5: the power state indication and power switch control board.
Panel 6: the mouse and the keyboard are used for carrying out the operation of the control command.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (9)
1. The utility model provides a novel unmanned integrated test platform integrated control system under water which characterized in that: the system comprises an upper land computer, a lower underwater computer, a network communication module, an image video sensor and an uninterruptible power supply;
the land upper computer is arranged on a shore base and used for sending control instructions including a diving instruction, a posture adjusting instruction and an equipment remote control instruction to the underwater unmanned test platform and displaying the state information of the underwater unmanned test platform in real time according to received data;
the underwater lower computer is arranged on the site where the underwater unmanned test platform is located and used for receiving a control instruction of the land upper computer and carrying out remote control, information acquisition, data processing and fault alarm on equipment of the underwater unmanned test platform;
the network communication modules are respectively arranged in the upper land computer and the lower underwater computer, and the upper land computer and the lower underwater computer are connected with the underwater unmanned test platform through watertight optical fiber cables and are used for underwater remote information transmission; the watertight optical fiber cable penetrates through a shell of the underwater unmanned test platform by adopting a special sealing process and is used for preventing the watertight optical fiber from being excessively extruded and deformed;
the image video sensor is arranged near the key equipment of the underwater unmanned test platform, and a signal sending end of the image video sensor is connected with a signal receiving end of an underwater lower computer and used for monitoring and uploading the running condition of the key equipment in real time;
the onshore upper computer and the underwater lower computer are respectively provided with an uninterrupted power supply on the sites where the shore-based unmanned test platform and the underwater unmanned test platform are located, and the onshore upper computer and the underwater lower computer are used for ensuring that the onshore upper computer sends an emergency control instruction to control the unmanned test platform to float upwards under the condition of power failure and ensuring that the underwater unmanned test platform and the underwater lower computer are uninterruptedly and emergently supplied under the condition of shore-based power failure or remote power failure.
2. The novel integrated control system of the underwater unmanned integrated test platform as claimed in claim 1, wherein: the onshore upper computer comprises a display operation module used for inputting a remote control instruction and displaying the state of the unmanned test platform;
the display operation module comprises a video monitoring display module, a comprehensive monitoring display module, an emergency control module, a power supply control module and an instruction input module;
the video monitoring display module is used for displaying images and videos acquired by the image video sensor;
the comprehensive monitoring display module comprises a guarantee interface, an acoustic stealth/fuel cell interface, a seawater cooling interface, a fresh water cooling interface, an electric power interface, an alarm list interface and a state interface and is used for displaying state information of the comprehensive control system and the unmanned test platform;
the emergency control module comprises an emergency blow-off valve knob, an emergency stop self-locking button and an indicator light and is used for manually and emergently blowing off the ballast water tank to enable the unmanned test platform to emergently float;
the power supply control module comprises a power supply switch and a power supply indicator light and is used for controlling the on or off of a power supply and displaying the on-off state;
the instruction input module is used for an operator to input a control instruction.
3. The novel integrated control system of the underwater unmanned integrated test platform as claimed in claim 2, wherein:
the guarantee interface comprises a floating adjustment and drainage system interface, a trim balance system interface, a fire alarm interface and other equipment interfaces;
the floating adjustment and drainage system interface is used for controlling the starting and stopping of a buoyancy adjustment water pump, the opening and closing of a two-way ball valve at a floating adjustment inlet and an outlet, the opening and closing of inlet ball valves of a port and a starboard adjustment water tank, the opening and closing of a drainage ball valve at the bottom of the tank, the opening and closing of a ventilation stop valve of the port and starboard adjustment water tank, displaying the conditions of the opening, the closing, the operation and the fault of the pumps and the valves, and also displaying the flow of a filling and discharging pipe of the port and starboard adjustment water tank and the liquid level of the port and starboard adjustment water tank;
the trim balance system interface is used for controlling the start and stop of a trim adjusting water pump, the opening and closing of a bow and stern trim balance water tank ball valve, the opening and closing of a bow-to-stern pump inlet and outlet ball valve, and the opening and closing of a stern-to-bow pump inlet and outlet ball valve, displaying the conditions of the in-place opening, in-place closing, operation and failure of the pumps and valves, and further displaying trim adjusting water flow, bow trim balance water tank liquid level and stern trim balance water tank liquid level.
4. The novel integrated control system of the underwater unmanned integrated test platform as claimed in claim 1, wherein: the uninterrupted power source comprises a storage battery and a power supply control module, and is used for automatically converting to an emergency power supply mode under the condition that the underwater unmanned test platform is out of power, ensuring that the underwater lower computer receives a control instruction of the upper computer on the ground in an emergency state, controlling the underwater unmanned test platform to complete emergency floating operation, and ensuring the safety of the underwater unmanned test platform.
5. A control method of a novel integrated underwater unmanned test platform comprehensive control system based on any one of claims 1 to 4 is characterized in that: the method comprises the following steps:
s1: building a novel integrated control system of an underwater unmanned integrated test platform, which comprises an upper land computer, a lower underwater computer, a network communication module, an image video sensor and an uninterrupted power supply; the upper land computer is arranged on a shore base; the underwater lower computer is arranged on the site where the underwater unmanned test platform is located; the network communication modules are respectively arranged in the upper land computer and the lower underwater computer, and the upper land computer and the lower underwater computer are connected with the underwater unmanned test platform through watertight optical fiber cables; the watertight optical fiber cable penetrates through a shell of the underwater unmanned test platform by adopting a special sealing process; the image video sensor is arranged near key equipment of the underwater unmanned test platform, and a signal sending end of the image video sensor is connected with a signal receiving end of an underwater lower computer; an uninterruptible power supply is respectively configured for the onshore upper computer and the underwater lower computer on the sites where the shore-based unmanned test platform and the underwater unmanned test platform are located, and the uninterruptible power supply comprises a storage battery and a power supply control module; the onshore upper computer comprises a display operation module, wherein the display operation module comprises a video monitoring display module, a comprehensive monitoring display module, an emergency control module, a power control module and a command input module;
s2: the method comprises the steps that a power switch system is powered on, an operator inputs a remote control command through an instruction input module of an upper land computer, an underwater lower computer and an image video sensor acquire and upload state information and video image information of an underwater unmanned test platform, the upper land computer displays the state information of the underwater unmanned test platform and each device through a comprehensive monitoring display module, and a monitoring picture and sound information acquired by the image video sensor are displayed through a video monitoring display module;
s3: controlling a buoyancy adjusting water pump, a pitch adjusting water pump and related electro-hydraulic ball valves, and manually controlling the underwater unmanned test platform to submerge and adjust the posture; or the underwater unmanned test platform is automatically controlled to dive and adjust the attitude by resolving the water injection displacement and fore-aft water regulation;
s4: under the condition of shore-based power failure, a display operation module of an upper computer on the land is operated to output an emergency control instruction, and an emergency blow-off valve of the unmanned test platform blows off a ballast water tank to enable the test platform to float upwards emergently.
6. The control method according to claim 5, characterized in that: in the step S3, the specific steps of the dive control for the unmanned test platform are as follows:
s31: recording the liquid level A1 of the port and starboard adjusting water tank, inputting the required water injection amount B1, and calculating the liquid level C1 of the port and starboard adjusting water tank after water injection by the onshore upper computer; if C1 is greater than or equal to the alarm value for adjusting the high liquid level in the water tank, the integrated monitoring display module displays that the liquid level in the water tank is too high! "; if C1 is less than the alarm value of the high liquid level of the adjusting water tank, executing step S32;
s32: confirming that the second ball valve at the float adjusting outlet and the bilge drain ball valve are in a closed state, and operating a float adjusting and drain system interface of the comprehensive monitoring display module to issue a closing instruction if the second ball valve and the bilge drain ball valve are in an open state;
s33: operating a float adjusting and drainage system interface of the comprehensive monitoring display module, and opening a port and starboard adjusting water tank ventilation stop valve and a port and starboard adjusting water tank inlet ball valve;
s34: opening a second ball valve at the buoyancy adjusting inlet to enable seawater to enter the buoyancy adjusting water tank, so that the weight of the unmanned test platform is increased; in the water injection process, if the liquid level of the port or starboard adjusting water tank is more than or equal to the high liquid level alarm value of the adjusting water tank, the comprehensive monitoring display module displays that the liquid level of the adjusting water tank exceeds the limit! If yes, closing a second ball valve at the float adjusting inlet; and if the liquid level of the port or starboard adjusting water tank is smaller than the high liquid level alarm value of the adjusting water tank, closing the floating adjusting inlet two-way ball valve after the liquid level of the adjusting water tank reaches C1 or the accumulated flow of the flow meter reaches B1.
7. The control method according to claim 5, characterized in that: in step S3, the posture adjustment control of the unmanned test platform includes the specific steps of:
s35: recording a stem tank liquid level A2 and a stern tank liquid level B2, inputting the required water regulating amount C2, and calculating a stem tank liquid level D2 and a stern tank liquid level E2 after water regulation by an onshore upper computer; if D2 is less than the warning value of low liquid level in fore hold or E2 is greater than the warning value of high liquid level in stern hold, the comprehensive monitoring display module displays the condition that the water regulation amount exceeds the limit! "; otherwise, executing step S36;
s36: confirming that the ball valves from the inlet and the outlet of the stern-bow pump are in a closed state, and operating a trim balance system interface of the comprehensive monitoring display module to issue a closing instruction if the ball valves are in an open state;
s37: opening a bow and stern trim balance water tank ball valve, a bow-to-stern pump inlet and outlet ball valve;
s38: operating a trim balance system interface of the comprehensive monitoring display module, and starting a trim adjustment water pump; in the process of water injection, if the liquid level of the bow cabin is smaller than the warning value of the low liquid level of the bow cabin, the comprehensive monitoring display module displays that the liquid level of the bow trim balance water cabin is too low! If yes, the trim adjusting water pump is closed; if the liquid level of the stern cabin is greater than the warning value of the high liquid level of the stern cabin, the comprehensive monitoring display module displays that the liquid level of the stern trim balance water cabin is too high! If yes, the trim adjusting water pump is closed; if the liquid levels meet the requirements, the trim adjusting water pump is closed after the liquid level of the bow tank reaches D2 or the accumulated flow of the flow meter reaches C2.
8. The control method according to claim 5, characterized in that: in step S4, the emergency control specifically includes:
s41: screwing the emergency blow-off valve knob to the left open valve position to output an emergency blow-off valve open valve control command;
s42: screwing the emergency blow-off valve knob to the right valve closing position to output an emergency blow-off valve closing control command;
s43: the emergency blow-off valve knob is screwed to a middle' position, and a control instruction is not output;
s44: when the emergency blow-off valve feeds back an on-position signal to the underwater lower computer, the indication of the display module is comprehensively monitored
S45: the lamp is on; and in an emergency, pressing the emergency stop self-locking button to send an emergency stop control command.
9. A computer storage medium, characterized in that: the novel integrated underwater unmanned integrated test platform control system and the control method thereof are characterized in that a computer program which can be executed by a computer processor is stored in the integrated underwater unmanned integrated test platform control system and the control method thereof, and the computer program is used for executing the integrated underwater unmanned integrated test platform control system and the control method thereof.
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