A Multi-DOF Manipulated Underwater Tow Body

Abstract

The invention discloses an underwater towed body with multiple degrees of manipulation freedom. The underwater towed body includes torpedo shaped floating bodies, a controllable forced sinking hydrofoil, side boards, a fixed horizontal wing, fixed vertical tails, a controllable vertical tail and a main cavity. There are two torpedo shaped floating bodies arranged horizontally and separately, and the two torpedo shaped floating bodies are connected by the fixed horizontal wing. The main cavity is streamlined and is arranged at the middle part of the lower ends of the two torpedo shaped floating bodies, two ends of the main cavity are respectively supported by two airfoil members and are connected to the two torpedo shaped floating bodies respectively. The front ends of the outer surfaces of the two torpedo shaped floating bodies are respectively provided with a towing component in symmetry, and each towing component is equipped with a plurality of towing holes, by which towing ropes are connected to a ship body. Tail parts of the two torpedo shaped floating bodies are provided with the fixed vertical tails that are symmetrical airfoils. The underwater towed body provided in the invention has the advantages of concise appearance, good navigation stability, strong autonomous stabilizing capability, convenient attitude control, high manipulation efficiency, a lot of degrees of manipulable freedom, as well as simple control mechanism, thus having high practical value and commercial value.

Description

technical field [0001] The invention relates to a carrier of a marine underwater detection device, in particular to a multi-degree-of-freedom manipulative underwater towed body. Background technique [0002] The underwater towed system is an underwater detection device widely used in underwater environment investigation, marine environment monitoring and other fields. The system usually consists of a towed cable, a passive or steerable underwater towed body, and the underwater towed body is the key to the system. component. Various underwater chemical element detection sensors or physical detection sensors can be carried in the towed body according to different purposes. The operators on the workboat can control the trajectory and attitude of the towed body through certain control means. The working nature of the underwater towed system requires that the towed body has a stable attitude and flexible attitude and trajectory control capabilities. How to realize the simple a...

AI Technical Summary

Problems solved by technology

The main defects of this type of drag body in the form of a single cylindrical body are: the swing damping of the drag body is small, the autonomous stability is insufficient, and the control method is single.

On the other hand, some commercial light towed bodies on the market are difficult to be satisfactorily applied in actual towed observation operations due to single control action, difficulty in ensuring their attitude stability, and less control degrees of freedom.

Images