CN111792005A - Multi-towed-body full-navigation depth-keeping and vector distribution technology - Google Patents
Multi-towed-body full-navigation depth-keeping and vector distribution technology Download PDFInfo
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- CN111792005A CN111792005A CN202010673054.XA CN202010673054A CN111792005A CN 111792005 A CN111792005 A CN 111792005A CN 202010673054 A CN202010673054 A CN 202010673054A CN 111792005 A CN111792005 A CN 111792005A
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- towed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- Ocean & Marine Engineering (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a multi-towed-body full-navigation state depth setting and vector distribution technology, which comprises a towed-body subsystem, a towing-cable subsystem and a master control subsystem: the towed body subsystem comprises 2 or more than 2 towed body structures, the towed body structures comprise a water surface floating body, an underwater towed body and a connecting cable, wherein at least 2 towed body structures comprise propulsion devices; the underwater towing body can realize suspension, towing and external communication through a connecting cable between the underwater towing body and the water surface floating body; the towed body subsystem can be towed behind by a ship to implement monitoring operation, when the main cable is cut off, the propelling device can push the towed body subsystem to do horizontal motion and complete the laying of the underwater towed body according to the designated shape, and can also assist the attached underwater towed body to carry out depth control in the high-speed towing process. The system can carry out high-resolution synchronous real-time monitoring on the wide-area near-field strip-shaped water body in a full-navigation state, and can meet the requirements of short-distance self-navigation and vector arrangement in a special scene.
Description
Technical Field
The invention relates to underwater monitoring response, in particular to underwater monitoring response based on a multi-towed-body full-navigation depth setting and vector distribution technology, which can be used in the field of marine scientific investigation or underwater security.
Background
In the field of offshore scientific research or underwater security, near-field and wide-area synchronous monitoring and response are sometimes required to be carried out on an upper-layer strip-shaped water body with the depth of less than 60 meters. The method is characterized in that a ship-borne towing device is adopted to implement mobile monitoring, the traditional operation mode is adopted, most of the existing towing monitoring devices are of single-towed-body structures, the existing towing monitoring devices are influenced by the particularity of an underwater environment, the single-towed-body structures are limited in action range and poor in resolution, and the requirements for implementing full-flight and fine synchronous mobile monitoring and response on a strip-shaped water body with large length and diameter within tens of meters cannot be met. Moreover, under the conditions of high ship speed and short towing cable length of the existing towing equipment, the underwater towed body easily floats out of the water surface, and the requirement of fixed-depth monitoring response at high ship speed cannot be met. In addition, when monitoring operation is carried out on a special water area into which a carrier is difficult to drive, such as a submerged reef water area, a cavern body water area, a shallow sea water area and the like, the carrier can not enter the special water area only by means of shipborne towing, monitoring response requirements under corresponding conditions can not be met, and although the problem can be solved by adopting small-sized self-propelled single-towed-body towing, a multi-towed-body structure can not be arranged according to an appointed shape under special conditions. In view of the above, there is a need to develop a multi-towed-body full-navigation depthkeeping and vector deployment technology around underwater monitoring response equipment.
The marine towed linear array depth control device disclosed in the Chinese invention patent 201610399273.7 adopts a wing-shaped towed body to realize depth control, and can realize depth monitoring and remote identification in a towed state after being combined with a towed linear array, but cannot realize synchronous depth monitoring response on an upper-layer strip water body of a near field and a wide area in a low-speed or static state, and also has the depth monitoring response capability of performing self-navigation operation and vector distribution on the special water area.
The utility model discloses a chinese utility model patent 201420175771, the "controllable electric current source of initiative navigation formula ocean towed body device under water" that X disclosed aims seabed monitoring, controls the depthkeeping of neutral buoyancy antenna when realizing high-speed removal through adopting single towed body initiative propulsive mode, nevertheless can't realize depthkeeping control to the towing equipment of great burden buoyancy under static or low-speed state of a ship, rely on the carrier power supply in addition, do not possess independent self-navigation and put the ability of towed body according to complicated shape vector distribution.
The multi-towed-body underwater depth-fixed monitoring response system disclosed in the Chinese patent 201710050119.3 realizes synchronous monitoring response operation on near-field and wide-area upper-layer strip-shaped water bodies by using the multi-towed bodies, but only adopts suspension towing, self-balance weights and wing structures as depth-fixed control means, so that the underwater towed bodies still float up to a water meter under the conditions that the length of a connecting cable is limited to be short and the towing speed of a ship is high, full-navigation and refined depth-fixed monitoring and response cannot be implemented on a water depth environment of 3-60 meters, and towed body subsystems do not have the capability of carrying out vector self-navigation and distribution operation according to complex shapes.
Disclosure of Invention
In order to overcome the defects, the invention provides a multi-towed-body full-navigation state depth setting and vector distribution technology, which aims to meet the requirements of synchronous, real-time and high-resolution monitoring response operation on an upper-layer strip-shaped water body in a near field and a wide area under different navigation states and form short-distance self-navigation and vector distribution monitoring response capability for a special water area operation environment.
The technical scheme adopted by the invention is as follows:
the multi-towed-body full-navigation depth-keeping and vector distribution technology comprises a towed-body subsystem (1), a towing-cable subsystem and a master control subsystem (2), wherein the towing-cable subsystem comprises a main cable (3) and a winch (4), the towed-body subsystem (1) is towed behind a carrier by the main cable (3), and the other end of the main cable (3) is directly or indirectly connected with the master control subsystem (2).
The towed body subsystem (1) comprises 2 or more towed body structures (5), and the towed body structures (5) all comprise water surface floating bodies (6), underwater towed bodies (7) and connecting cables (8).
2 or more than 2 towed body structures (5) in the towed body subsystem (1) comprise a propulsion device (9).
The underwater towed body (7) is negative buoyancy and can be kept in a fastening state with the water surface floating body (6), and after the water surface floating body (6) is separated from the underwater towed body (7), the underwater towed body (7) can realize suspension, towing and communication through a connecting cable (8) connected with the water surface floating body (6).
The propulsion device (9) can drive the towed body subsystem (1) to do horizontal movement after the main cable (3) is cut off by a carrier, and horizontal vector arrangement of a plurality of towed body structures (5) is completed according to a specified shape.
The heading control of the towed body structure (5) can be achieved using forms including, but not limited to, vector thrusters, multiple main thrusters, lateral thrusters, water jet thrusters, wing structures (10), the wing structures (10) including, but not limited to, vertical wings, horizontal wings.
The total mass of the single set of equipment of the towed body structure (5), including the water surface floating body (6), the underwater towed body (7) and the connecting cable (8), is more than 50 kilograms, and the distance between two adjacent towed body structures (5) is more than 10 meters.
The propulsion device (9) can assist the connected underwater towed body (7) to realize the depth control of more than 3 meters in the process of being towed by the ship at high speed.
The towed body subsystem (1) comprises a standby energy device (12), and when the main cable (3) is cut off or the power supply is interrupted, the towed body subsystem (1) can be maintained to operate independently for a period of time.
The master control subsystem (2) monitors and controls the state of the towed body subsystem (1) in a wired communication or wireless communication mode.
The towing body structure (5) comprises a connecting cable breaking device (11) which can automatically break the connecting cable (8) between the water surface floating body (6) and the underwater towing body (7) according to requirements.
The water surface floating body (6) can be made of self-inflating materials or light solid materials, and can provide positive buoyancy for the depth-fixed suspension of the underwater towed body (7) after being separated from the underwater towed body (7).
The working process of the invention is as follows:
a multi-towed-body full-navigation state depth setting and vector distribution technical device is characterized in that a carrier determines the total towed length and the number of towed body structures (5) according to the operation requirements of a sea area and finishes towing and distribution; the water surface floating body (6) and the underwater towed body (7) of the towed body structure (5) are usually kept in a fastening state, and the water surface floating body (6) and the underwater towed body (7) of part or all of the towed body structure (5) are separated according to requirements when the operation is carried out; when a carrier is parked or sails at low speed, the underwater towed body (7) is towed with the connecting cable (8) through the water surface floating body (6), and the self counterweight and wing structure (10) are designed to realize the depth control of more than 3 meters; when the ship is sailing at high speed, the function of a propelling device (9) is additionally added to assist in realizing the depth control of the underwater towed body (7) which is more than 3 meters; when the main cable (3) is cut off, the towed body subsystem (1) can realize short-distance self-navigation under the control of the master control subsystem (2), and the operation of unfolding and laying in a specified shape is completed through a plurality of propelling devices (9) according to actual requirements.
The invention has the beneficial effects that:
the utility model provides a many towed bodies are full navigation attitude depthkeeping and vector cloth put technique, can carry out high resolution synchronous monitoring response to near field, the banded water of wide area through carrying a plurality of towed body structure (5) modes of towing by ship, can realize full navigation attitude depthkeeping monitoring operation through advancing device (9), surface of water body (6), connecting cable (8), towed body counter weight and wing structure's (10) mode under water, can realize the short distance self-navigation and the vector cloth monitoring operation to special scene through a plurality of advancing device (9).
Drawings
FIG. 1 is a schematic of the overall structure of the present invention.
FIG. 2 is a schematic diagram of the first embodiment.
FIG. 3 is a second embodiment.
FIG. 4 is a third embodiment.
Wherein:
1. towed body subsystem 11, connecting cable interrupting device
2. Master control subsystem 12 and standby energy device
3. Main cable 13 and wireless communication device
4. Winch 14, route for navigation
5. Towed body structure 15, horizontal force
6. Water surface floating body 16, vertical downward force
7. Underwater towed body 17 and water surface floating body slide block
8. Connecting cable 18, spare connecting wire
9. Propelling device 19, wire storage space and pay-off device
10. A wing structure.
Detailed Description
The present application is further described below with reference to the accompanying drawings and examples. The specific embodiments described herein are merely illustrative of the relevant invention and are not intended to be limiting of the invention.
Example 1:
fig. 2 shows the main components and connection schematic of the towed body subsystem (1), which comprises a water surface floating body (6), an underwater towed body (7), a connecting cable (8), a propulsion device (9), a standby connecting line (18), a standby energy device (12), a connecting cable disconnecting device (11), a wire storage space and a wire releasing device (19).
A plurality of towed body structures (9) of the towed body subsystem (1) are towed on the water surface or underwater by a carrier, and all towed body structures are fixedly connected with a water surface floating body (6) and an underwater towed body (7) in an initial state. According to the actual sea area operation requirement, 1 or more water surface floating bodies (6) of the towed body structures and underwater towed bodies (7) are instructed to be unfolded and separated and enter a depth-fixing operation state. The separated underwater towed body (7) is suspended, towed and communicated with the outside through a connecting cable (8) between the towed body and the water surface floating body (6). The water surface floating body (6) or the underwater towed body (7) comprises a connecting cable breaking device (11), and the connecting cable (8) between the water surface floating body (6) and the underwater towed body (7) can be automatically broken as required, and the underwater towed body (7) is abandoned.
Besides the connection of the main cable (3), the towed body subsystem (1) and the carrier can be additionally provided with a standby connecting wire (18) according to actual needs. When the main cable (3) is cut off, the carrier can continue to provide power supply for the towed body subsystem (1) or ensure wired communication through the spare connection (18). In order to ensure that the relative movement of the carrier and the towed body subsystem (1) does not break the spare connecting line (18), a line storage space and a line releasing device (19) of the spare connecting line (18) are additionally arranged on the towed body subsystem (1) and the carrier.
Example 2:
fig. 3 shows the structural connection, self-navigation and vector arrangement of the towed body subsystem (1) after the main cable (3) is cut off.
After the main cable (3) is cut off, the main control subsystem (2) on the carrier can monitor and control the towed body subsystem (1) in a wireless communication device (13) or a standby connection line (18) mode. The towed body subsystem (1) can realize self-navigation of a certain distance under the action of the propelling device (9), and the water surface floating body (6) and the underwater towed body (7) in the self-navigation process are both kept in a fastening state so as to reduce navigation resistance. When the towed body subsystem (1) reaches a designated position according to a specified navigation route (14), a plurality of propelling devices (9) are adjusted into a designated vector shape according to actual requirements, and then the underwater towed body (7) is released for unfolding operation.
Example 3:
fig. 4 shows several typical connection situations of the main cable (3), the surface float (6), the underwater towed body (7), the connecting cable (8) and the propulsion device (9).
In order to meet the operation requirements under different conditions, the propelling device (9) in the towed body structure can be only arranged on the water surface floating body (6) or the underwater towed body (7), or both the propelling device and the underwater towed body can be arranged. When a certain towed body structure is required to keep the depth of the underwater towed body (7) to be more than 3 meters under the high-speed towing state, the underwater towed body (7) is required to be provided with a propelling device (9), and the length adjustment and towing of a connecting cable (8) are matched, so that the depth control is realized under the comprehensive action of the self balance weight of the underwater towed body (7) and the design of a wing structure (10).
The propelling device (9) can provide horizontal force (15) or vertical downward force (16) to assist the underwater towed body (7) to keep a fixed depth. The connecting cable (8) can keep fixed length after being released, or the length can be adjusted by a water surface floating body sliding block (17) or a small winch.
The scope of protection of the present invention is not limited to the above embodiments, nor to the field of maritime scientific research and underwater security, but also covers other solutions formed by any combination of the above technical features or their equivalents, without departing from the inventive concept. In conclusion, all changes and modifications that come within the spirit and scope of the invention are desired to be protected by the present disclosure.
Claims (8)
1. The utility model provides a technique is put with vector to full navigation attitude depthkeeping of many towed bodies, includes towed body subsystem (1), towline subsystem, total control subsystem (2), the towline subsystem includes main push-towing rope (3), winch (4), towed behind the carrier by main push-towing rope (3) towed body subsystem (1), the main push-towing rope (3) other end is direct or indirect and is linked to each other with total control subsystem (2), its characterized in that:
the towed body subsystem (1) comprises 2 or more towed body structures (5), the towed body structures (5) all comprise a water surface floating body (6), an underwater towed body (7) and a connecting cable (8),
2 or more than 2 towed body structures (5) in the towed body subsystem (1) comprise a propulsion device (9),
the underwater towed body (7) is negative buoyancy and can be kept in a fastening state with the water surface floating body (6), and after the water surface floating body (6) is separated from the underwater towed body (7), the underwater towed body (7) can be suspended and towed through a connecting cable (8) connected with the water surface floating body (6).
2. The multi-towed-body full-navigation attitude depthkeeping and vector laying technology according to claim 1, characterized in that: the propulsion device (9) can drive the towed body subsystem (1) to do horizontal movement after the main cable (3) is cut off by a carrier, and horizontal vector arrangement of a plurality of towed body structures (5) is completed according to a specified shape.
3. The multi-towed-body full-navigation depthkeeping and vector laying technology according to claim 1 or 2, characterized in that: heading control of the towed body structure (5) may be accomplished using forms including, but not limited to, vector thrusters, multiple main thrusters, lateral thrusters, water jet thrusters, wing structures (10).
4. The multi-towed-body full-navigation depthkeeping and vector laying technology according to any one of claims 1 to 3, wherein: the total mass of the single set of equipment of the towed body structure (5), including the water surface floating body (6), the underwater towed body (7) and the connecting cable (8), is more than 50 kilograms, and the distance between two adjacent towed body structures (5) is more than 10 meters.
5. The multi-towed-body full-navigation depthkeeping and vector laying technology according to any one of claims 1 to 3, wherein: the propulsion device (9) can assist the connected underwater towed body (7) to realize the depth control of more than 3 meters in the process of being towed by the ship at high speed.
6. The multi-towed-body full-navigation depthkeeping and vector laying technology according to claim 1 or 2, characterized in that: the towed body subsystem (1) comprises a standby energy device (12), and when the main cable (3) is cut off or the power supply is interrupted, the towed body subsystem (1) can be maintained to operate independently for a period of time.
7. The multi-towed-body full-navigation attitude depthkeeping and vector laying technology according to claim 1, characterized in that: the master control subsystem (2) monitors and controls the state of the towed body subsystem (1) in a wired communication or wireless communication mode.
8. The multi-towed-body full-navigation attitude depthkeeping and vector laying technology as claimed in claims 1-4, wherein: the towing body structure (5) comprises a connecting cable breaking device (11) which can automatically break the connecting cable (8) between the water surface floating body (6) and the underwater towing body (7) according to requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010673054.XA CN111792005A (en) | 2020-07-14 | 2020-07-14 | Multi-towed-body full-navigation depth-keeping and vector distribution technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010673054.XA CN111792005A (en) | 2020-07-14 | 2020-07-14 | Multi-towed-body full-navigation depth-keeping and vector distribution technology |
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| CN111792005A true CN111792005A (en) | 2020-10-20 |
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| CN202010673054.XA Withdrawn CN111792005A (en) | 2020-07-14 | 2020-07-14 | Multi-towed-body full-navigation depth-keeping and vector distribution technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357020A (en) * | 2020-11-19 | 2021-02-12 | 中国舰船研究设计中心 | Unmanned underwater vehicle formation and control method based on' underwater train |
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| CN102887214A (en) * | 2012-10-08 | 2013-01-23 | 大连理工大学 | Pull-type self-adaption posture-controlled underwater navigation device |
| CN102923283A (en) * | 2012-11-22 | 2013-02-13 | 刘雁春 | Underwater fixed-depth and fixed-height towing device |
| CN203975193U (en) * | 2014-04-11 | 2014-12-03 | 中国石油集团东方地球物理勘探有限责任公司 | Active homing formula ocean controllable current source underwater towed-body device |
| WO2016014926A1 (en) * | 2014-07-24 | 2016-01-28 | Ion Geophysical Corporation | Marine seismic surveying with towed components below water's surface |
| WO2017063634A1 (en) * | 2015-10-14 | 2017-04-20 | Atlas Elektronik Gmbh | Trailing body for trailing in water, trailing antenna, trailing sonar, reeling device and ship having a trailing body |
| CN106741752A (en) * | 2017-01-23 | 2017-05-31 | 陈颜辉 | A kind of many towed body underwater fixed depth monitoring response systems |
| CN110576954A (en) * | 2019-08-29 | 2019-12-17 | 自然资源部第二海洋研究所 | A drag formula system for water horizontal and longitudinal section chemical parameter observation |
| CN111137413A (en) * | 2019-12-27 | 2020-05-12 | 中国船舶重工集团有限公司第七一0研究所 | Deep sea high-speed towing safety control system |
-
2020
- 2020-07-14 CN CN202010673054.XA patent/CN111792005A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102887214A (en) * | 2012-10-08 | 2013-01-23 | 大连理工大学 | Pull-type self-adaption posture-controlled underwater navigation device |
| CN102923283A (en) * | 2012-11-22 | 2013-02-13 | 刘雁春 | Underwater fixed-depth and fixed-height towing device |
| CN203975193U (en) * | 2014-04-11 | 2014-12-03 | 中国石油集团东方地球物理勘探有限责任公司 | Active homing formula ocean controllable current source underwater towed-body device |
| WO2016014926A1 (en) * | 2014-07-24 | 2016-01-28 | Ion Geophysical Corporation | Marine seismic surveying with towed components below water's surface |
| WO2017063634A1 (en) * | 2015-10-14 | 2017-04-20 | Atlas Elektronik Gmbh | Trailing body for trailing in water, trailing antenna, trailing sonar, reeling device and ship having a trailing body |
| CN106741752A (en) * | 2017-01-23 | 2017-05-31 | 陈颜辉 | A kind of many towed body underwater fixed depth monitoring response systems |
| CN110576954A (en) * | 2019-08-29 | 2019-12-17 | 自然资源部第二海洋研究所 | A drag formula system for water horizontal and longitudinal section chemical parameter observation |
| CN111137413A (en) * | 2019-12-27 | 2020-05-12 | 中国船舶重工集团有限公司第七一0研究所 | Deep sea high-speed towing safety control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357020A (en) * | 2020-11-19 | 2021-02-12 | 中国舰船研究设计中心 | Unmanned underwater vehicle formation and control method based on' underwater train |
| CN112357020B (en) * | 2020-11-19 | 2022-12-13 | 中国舰船研究设计中心 | Unmanned underwater vehicle formation and control method based on' underwater train |
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Application publication date: 20201020 |