A device and method for measuring cable tension and dry end angle.

Abstract

This invention provides a device and method for measuring tow cable tension and dry-end angle, enabling automatic, high-precision, real-time monitoring of tow cable tension and dry-end angle under all underwater towing conditions. In this measuring device, a fixed frame II is fixed to the towing platform. The fixed frame II has a stepped interface at a predetermined angle to the horizontal plane, and a tension sensor is installed between the stepped interface and the fixed frame I. A guide wheel for guiding the tow cable is installed on the fixed frame I. A guide port with a vertical opening is provided at the cable exit position of the guide wheel on the fixed frame II, through which the tow cable passes after passing the guide wheel. A measuring bracket is located below the fixed frame II, and an image acquisition unit and a wireless communication module are mounted on the measuring bracket. The image acquisition unit captures images of the tow cable in the corresponding direction. The wireless communication module is connected to the tension sensor and each camera point.

Description

Technical Field

[0001] This invention relates to a tension and angle measuring device, specifically a towed cable tension and angle measuring device, belonging to the field of underwater towed detection technology. Background Technology

[0002] The towing system mainly consists of a towing platform, a tow cable, and a tow body. The tow cable enters the water and connects to the tow body after passing through the guide wheel at the stern of the towing platform, and is responsible for transmitting electrical power, signals, and towing force between the towing platform and the tow body. During actual towing, the tow cable forms a towing angle with the horizontal plane and a sideslip angle with the vertical plane of the towing platform under the combined action of the underwater tow body and its own forces. By measuring the tension, towing angle, and sideslip angle at the towing platform, the experimental data can be further refined, providing support for towing performance analysis and design accuracy verification, and effectively guiding the optimized design of the towing system.

[0003] Currently, tension measurement generally employs a mechanism that adds a dedicated pulley system between the guide sheave and the winch to measure tension. This mechanism is relatively complex and requires a certain amount of installation space.

[0004] For towing angle measurement, existing methods use tilt sensors or magnetic induction devices directly connected to the towing cable to collect and analyze towing angle data. However, the eddy-induced vibration of the towing cable under the influence of current leads to poor measurement accuracy, placing high demands on sensor accuracy and data processing. In actual towing tests, some surveyors hold a digital level against the upper edge of the towing cable outside the hull and visually read the value to measure the dry-end towing angle. This method suffers from low measurement frequency, poor measurement accuracy, and high safety risks, and cannot effectively monitor the dry-end towing angle under unstable towing conditions such as cable reeling, acceleration, deceleration, and turning.

[0005] For measuring the lateral deflection angle, a level cannot be used, and there is currently no good method.

[0006] Therefore, it is necessary to develop a cable tension and dry end angle measuring device that is easy to install and disassemble, integrates measurement, can automatically monitor with high precision in real time, and can be used in all working conditions. Summary of the Invention

[0007] In view of this, the present invention provides a tow cable tension and dry end angle measuring device, which can automatically and accurately monitor the tow cable tension and dry end angle (including towing angle and sideslip angle) in real time under all underwater towing conditions.

[0008] The technical solution of the present invention is: a tow cable tension and dry end angle measuring device, comprising: a fixed frame I, a tension sensor, a fixed frame II, a measuring bracket, an image acquisition unit, a wireless communication module, and a cable guide wheel;

[0009] The fixing frame II is fixed on the towing platform. The fixing frame II is provided with a stepped interface that forms a set angle with the horizontal plane. The tension sensor is installed between the stepped interface and the fixing frame I.

[0010] The fixed frame I is equipped with a cable guide wheel for guiding the tow cable; the cable guide wheel on the fixed frame II is provided with a cable guide port with a vertical opening at the cable exit position, and the tow cable passes through the cable guide port after entering the cable guide wheel parallel to the surface of the fixed frame II.

[0011] A measuring bracket is provided below the fixed frame II, and the image acquisition unit and the wireless communication module are mounted on the measuring bracket; the image acquisition unit includes a camera set in the towing direction and a camera set in the horizontal plane perpendicular to the towing direction; the camera is used to capture images of the tow cable in the corresponding direction;

[0012] The wireless communication module is connected to the tension sensor and each camera point respectively, and is used for power supply and data acquisition.

[0013] In a preferred embodiment of the present invention, the lower ends of the left and right sides of the measuring bracket are provided with guide rollers that can rotate around their own axes, and the axis of the guide rollers is along the towing direction.

[0014] As a preferred embodiment of the present invention, the relative position of the measuring bracket and the fixed frame II in the towing heading direction is adjustable.

[0015] In a preferred embodiment of the present invention, the lower ends of the left and right sides of the measuring bracket are in an arc-shaped outward-curving form.

[0016] In a preferred embodiment of the present invention, the cable guide port is detachably mounted on the fixing frame II.

[0017] In a preferred embodiment of the present invention, the central hole of the cable guide is trumpet-shaped.

[0018] In a preferred embodiment of the present invention, the step interface has an angle of 45° with the horizontal plane.

[0019] In a preferred embodiment of the present invention, the tension sensor is a disc-type tension sensor, the tension sensor having a through threaded hole at its center, one end of the threaded hole at the center of the tension sensor being connected to screw I, and the other end being connected to screw II; screw I is connected to the fixing frame I, and screw II is connected to the stepped interface on the fixing frame II;

[0020] The tension sensor has several through holes centered around threaded holes at both ends, which are used to cooperate with the guide rod to guide the tension sensor.

[0021] In a preferred embodiment of the present invention, the cable guide opening is formed by connecting cable guide block I and cable guide block II with identical structures. Cable guide block I and cable guide block II are provided with strip grooves. After cable guide block I and cable guide block II are connected, the two strip grooves are connected to form a central hole along the vertical direction.

[0022] Furthermore, based on the aforementioned measuring device, the present invention also provides a method for measuring tow cable tension and trunk end angle.

[0023] During the towing process, the wireless communication module acquires in real time photos of the towing cable taken by the image acquisition unit and tension values ​​measured by the tension sensor, and calculates the towing cable drag angle, side slip angle and tension according to the following method;

[0024] The formula for calculating the drag angle α at the tow cable trunk end is:

[0025]

[0026] In the photos taken by the camera in the horizontal plane perpendicular to the towing direction: the distance from the top of the towing cable to the rear edge of the photo is S2, the distance from the bottom of the towing cable to the rear edge of the photo is S1, and the height of the towing cable in the water depth direction is H.

[0027] The formula for calculating the side deflection angle β at the tow cable trunk end is:

[0028]

[0029] In the photos taken by the camera along the towing direction: the distance from the top of the towing cable to the front edge of the photo is L2, the distance from the bottom of the towing cable to the edge of the photo is L1, and the height of the towing cable in the water depth direction is H;

[0030] The formula for calculating the towing cable tension F is:

[0031] F = F1sinδ

[0032] Wherein: F1 is the tension measured by the tension sensor, and δ is the angle between the step interface on the fixed frame II and the horizontal plane.

[0033] Beneficial effects:

[0034] (1) The measuring device of the present invention can simultaneously measure the towing angle, sideslip angle and tension of the towing cable on one device; a tension sensor is directly arranged between the fixed frame I and the fixed frame II to directly measure the tension of the towing cable; a high-speed camera in the left and right directions measures the towing angle between the towing cable and the horizontal plane; and a high-speed camera in the front and rear directions measures the sideslip angle between the towing cable and the vertical plane of the measuring device; it can automatically monitor the tension and dry end angle of the towing cable in real time under all underwater towing conditions (cable retrieval and deployment, stable towing, acceleration and deceleration, and turning, etc.). The measuring device is not affected by the attitude of the towing platform and can be used under all towing conditions, making it highly applicable.

[0035] (2) The measuring device of the present invention does not require personnel to participate in the measurement process. It can measure and upload the tension of the tow cable and the angle of the dry end in real time. It uses a high-speed camera to directly photograph the shape of the tow cable and then calculates the angle of the dry end of the tow cable without physical contact with the tow cable. The installation of the high-speed camera reduces the influence of the eddy-induced vibration of the tow cable. In addition, the high-speed camera base is equipped with vibration isolation pads, which further reduces vibration and greatly improves the measurement accuracy.

[0036] (3) The cable guide port in the measuring device of the present invention is detachable. By replacing the cable guide port with a different inner diameter, the tension and dry end angle of the tow cable with different diameters can be measured.

[0037] (4) In the measuring device of the present invention, the measuring bracket and the fixed frame II are in variable positions in the towing navigation direction, which can adapt to a wide range of towing cable towing angle measurements and improve the versatility of the measuring device.

[0038] (5) The arc-shaped outward-curving design of the lower end of the measuring bracket in the measuring device of the present invention avoids bending of the towing cable when the towing platform turns.

[0039] (6) In the measuring device of the present invention, the lower end of the measuring bracket is equipped with a guide roller in the direction perpendicular to the towing direction, which avoids wear on the towing cable when the towing platform turns, and improves the usability and safety of the entire measuring device. Attached Figure Description

[0040] Figure 1 This is an overall assembly structure diagram of the cable tension and dry end angle measuring device of the present invention;

[0041] Figure 2 Connection diagram of fixture I, tension sensor and fixture II;

[0042] Figure 3 Diagram showing the connection between the cable guide port and the mounting bracket II;

[0043] Figure 4 This is a schematic diagram illustrating the calculation principle of the cable trunk end drag angle.

[0044] Figure 5 This is a schematic diagram illustrating the calculation principle of the side deflection angle at the trunk end of the tow cable.

[0045] The components are: 1-towing cable, 2-fixed frame I, 3-tension sensor, 4-fixed frame II, 5-measuring bracket, 6-guide roller, 7-shaft I, 8-camera, 9-guide cable opening, 10-wireless communication module, 11-guide wheel, 12-stop block, 13-shaft II, 14-guide wheel mounting base, 15-base, 16-guide rod, 17-screw II, 18-top plate, 19-nut, 20-step mounting plate, 21-screw I, 24-top mounting plate, 25-bottom plane, 26-slide groove, 27-guide block I, 28-guide block II, 29-horn structure. Detailed Implementation

[0046] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0047] This embodiment provides a tow cable tension and dry-end angle measuring device, which has the function of automatically and accurately monitoring the tow cable tension and dry-end angle in real time under all underwater towing conditions. The dry-end angle here includes the tow angle and the sideslip angle of the tow cable. The tow angle is the angle between the tow cable 1 and the horizontal plane, and the sideslip angle is the angle between the tow cable 1 and the vertical plane of the measuring device, that is, the angle of deviation from the vertical plane of the measuring device.

[0048] The measuring device is used in conjunction with the towing platform and the towing cable 1 that enters the water via the guide wheel 11. That is, the measuring device is set on the towing platform at the position of the towing cable 1 that enters the water via the guide wheel 11.

[0049] For ease of description, let the towing direction be the forward and backward direction, and the direction perpendicular to the towing direction in the horizontal plane be the left and right direction.

[0050] As shown in Figure 1, the measuring device includes: a fixed frame I2, a tension sensor 3, a fixed frame II4, a measuring bracket 5, a cable guide roller 6, a shaft I7, an image acquisition unit, a cable guide opening 9, a wireless communication module 10, a cable guide wheel 11, a stop block 12, and a shaft II13.

[0051] The mounting bracket I2 provides an installation platform for the cable guide wheel 11 and connects it to the tension sensor 3. The tension sensor 3 connects to both mounting bracket I2 and mounting bracket II4 to measure the tension at the towing cable's dry end. Guide rods 16 are arranged around the connection points of the tension sensor 3 with mounting bracket I2 and with mounting bracket II4 to ensure that the tension sensor 3 can move freely along its axis, ensuring the accuracy of tension measurement. Mounting bracket II4 is used for rigid fixation to the towing platform. Mounting bracket II4 has a stepped interface at a set angle to the horizontal plane for connecting the tension sensor 3. Correspondingly, the bottom of mounting bracket I2 is parallel to the stepped interface on mounting bracket II4 and also forms a set angle with the horizontal plane. As an example, for ease of processing and calculation, the angle between the stepped interface and the horizontal plane is 45°. Mounting bracket II4 has an interface for connecting to the cable guide port 9 to ensure that the tension measured by the tension sensor 3 forms a 45° angle with the actual towing cable tension. In addition, mounting bracket II4 has an interface for installing the wireless communication module 10.

[0052] The cable guide wheel 11 guides the tow cable 1. The cable guide wheel 11 is mounted on the fixed frame I2 via the shaft II 13. The cable guide wheel 11 can rotate freely around the axis of the shaft II 13. The shaft II 13 is provided with stop blocks 12 at both ends. The stop blocks 12 are mounted on the fixed frame I2 by fasteners to prevent the shaft II 13 from rotating and moving axially.

[0053] A measuring bracket 5 is installed at the lower end of the fixed frame II 4. The measuring bracket 5 provides an installation platform for the image acquisition unit and the guide roller 6. The measuring bracket 5 is connected to the fixed frame II 4 by fasteners, that is, the measuring bracket 5 is fixed below the fixed frame II 4. To accommodate towing angle measurements in different ranges, the relative position of the measuring bracket 5 and the fixed frame II 4 in the towing direction is variable. As an example, the fixed frame II 4 has multiple fastening positions along the towing direction. The measuring bracket 5 connects to the fastening positions at different locations to achieve a variable relative position with the fixed frame II 4 in the towing direction. The lower ends of the left and right sides of the measuring bracket 5 are designed in an arc-shaped outward-facing form to reduce the bending of the towing cable 1 when the towing platform turns. To reduce the wear of the towing cable 1 when the towing platform turns and improve the usability and safety of the entire measuring device, guide rollers 6 are installed at the lower ends of the left and right sides of the measuring bracket 5. The axis of the guide rollers 6 is along the towing direction. The guide roller 6 is connected to the lower end of the measuring bracket 5 via a shaft I7 coaxially arranged therewith. The guide roller 6 can rotate freely around the axis of shaft I7. Shaft end retaining rings are provided at both ends of shaft I7 to prevent shaft I7 from coming off the measuring bracket 5.

[0054] The image acquisition unit includes at least one camera positioned in the front-to-back direction and at least one camera positioned in the left-to-right direction. Images acquired by the cameras in the front-to-back direction are used to calculate the lateral deflection angle of the tow cable 1; images acquired by the cameras in the left-to-right direction are used to calculate the drag angle of the tow cable 1. As an example, the image acquisition unit includes four cameras 8, which are high-speed cameras. During installation, vibration isolation pads are added, and the cameras are mounted on the measuring bracket 5 using fasteners. One camera is arranged in each of the left-to-right and front-to-back directions. Specifically, a rectangular support frame is provided in the middle of the measuring bracket 5. The tow cable 1 passes through the support frame after passing through the cable guide 9. A camera 8 is installed at the middle position of each of the four sides of the support frame, and the camera lens of each camera 8 faces the tow cable 1.

[0055] The cable guide opening 9 is used to fix the relative position of the tow cable 1 and the fixed frame II 4, ensuring that the tow cable 1 passes vertically through the fixed frame II 4 after passing the cable guide wheel 11. Based on this, a cable guide opening 9 with a vertical opening is provided at the cable exit position of the cable guide wheel 11 on the fixed frame II 4, and the tow cable 1 passes through the cable guide opening 9 after passing the cable guide wheel 11.

[0056] The wireless communication module 10 is connected to the tension sensor 3 and each camera 8 via cables for power supply and data acquisition. Specifically, it acquires the data measured by the tension sensor 3 and the images captured by each camera 8, and then calculates and uploads the cable tension, the dry end drag angle, and the side slip angle.

[0057] like Figure 2 As shown, the fixing frame I2 includes a base 15 and a cable guide wheel mounting seat 14 disposed on the upper end face of the base 15. The upper end of the screw I21 is welded and fixed to the lower end face of the base 15. Four threaded holes are evenly arranged on the lower end face of the base 15 with the screw I21 as the center, for installing the guide rod 16. The lower end of the screw I21 is connected to the central threaded hole of the corresponding end of the tension sensor 3. The guide rod 16 is a stepped shaft with an external thread at the large diameter and a smooth rod at the small diameter. The guide rod 16 is screwed into the threaded hole of the base 15 through the external thread at the large diameter, and the smooth rod at the front end is inserted into the four through holes of the corresponding end of the tension sensor 3 to achieve the guiding function of the tension sensor 3.

[0058] like Figure 2 As shown, the tension sensor 3 is a disc-type tension sensor, which can measure both axial tension and pressure. The tension sensor 3 has a through threaded hole in the center, and the tension can be measured by connecting screws to both ends. In this scheme, one end of the threaded hole in the center of the tension sensor 3 is connected to screw I 21, and the other end is connected to screw II 17. There are four through holes around both ends of the tension sensor 3, centered on the threaded hole, for cooperating with the smooth rods at the front end of the guide rods 16 at both ends.

[0059] like Figure 2As shown, the mounting bracket II4 includes a top plate 18 and a stepped mounting plate 20. The stepped mounting plate 20 provides a stepped interface for the tension sensor 3 at a 45° angle to the horizontal plane. The stepped mounting plate 20 is welded to the top plate 18 as a whole. The stepped mounting plate 20 has an inclined surface at a 45° angle to the top plate 18 as a stepped interface. A through hole is left in the stepped interface, and four threaded holes are evenly arranged around the through hole. The screw II 17 passes through the central through hole of the stepped mounting plate 20 and is screwed into the central threaded hole at the corresponding end of the tension sensor 3. The distance between the tension sensor 3 and the stepped interface is adjusted by the nuts 19 on both sides of the screw II 17. Then, the guide rod 16 is screwed into the threaded hole of the stepped interface, and the smooth front end rod is inserted into the through holes around the corresponding end of the tension sensor 3 to guide the tension sensor 3.

[0060] like Figure 3 As shown, a sliding groove 26 is installed on the lower end face (bottom plane 25) of the fixing frame II4. The sliding groove 26 is welded to the fixing frame II4 to form a whole, and an installation hole is left on the lower end face of the sliding groove 26. The cable guide opening 9 is divided into two parts to facilitate the passage of the load-bearing joint of the tow cable 1. That is, the cable guide opening 9 is formed by the butt joint of the cable guide block I 27 and the cable guide block II 28 with the same structure. The cable guide block I 27 and the cable guide block II 28 are connected by fasteners to form the cable guide opening 9 as a whole. The cable guide block I 27 and the cable guide block II 28 are provided with a horn structure 29 slot inside. After the cable guide block I 27 and the cable guide block II 28 are butt joint to form the cable guide opening 9, the two horn structures 29 are butt joint to form a horn hole in the vertical direction, which serves as the cable guide hole for the tow cable 1 to pass through. This type of cable guide hole structure avoids the tow cable 1 from bending and being damaged. The cable guide port 9 has a top mounting plate 24 at its top. The top mounting plate 24 is inserted into the fixing frame II 4 via a slide groove 26, with a tight clearance fit between the two. This design helps to improve the stress state of the cable guide port 9 during towing operations. When the threaded hole on the top mounting plate 24 of the cable guide port 9 is aligned with the mounting hole at the bottom of the slide groove 26, the towing cable 1 is perpendicularly passed through the fixing frame II 4. The top mounting plate 24 and the slide groove 26 are then fixed with fasteners. The cable guide port 9 is detachable, and by replacing the cable guide port 9 with different inner diameters, the tension and dry end angle of towing cables 1 with different diameters can be measured.

[0061] The installation steps for this measuring device are as follows:

[0062] Step 1: Pass the shaft II 13 through the center of the cable guide wheel mounting seat 14 and the cable guide wheel 11 in sequence. After passing through, the stop block 12 is installed on the cable guide wheel mounting seat 14 by fasteners to restrict the rotation and axial movement of the shaft II 13. The cable guide wheel 11 and the shaft II 13 are clearance fit and can rotate around it.

[0063] Step 2: Align the center threaded hole of the tension sensor 3 with the screw I21 of the fixing frame I2 and screw it in. Screw the guide rod 16 into the threaded hole of the base 15 of the fixing frame I2. Insert the smooth rod at the front end into the through holes around the tension sensor 3 to guide the tension sensor 3. This completes the connection between the tension sensor 3 and the fixing frame I2.

[0064] Step 3: First, insert one end of screw II 17 into nut 19, then screw it into the center threaded hole of tension sensor 3. Pass the other end through the stepped mounting plate 20 of the fixing frame II 4, and then insert nut 19 into the back of screw II 17. After adjusting the distance between the stepped mounting plate 20 and tension sensor 3, tighten nut 19 to lock screw II 17. Then, screw guide rod 16 into the threaded hole of stepped mounting plate 20, and insert the smooth front end rod into the through holes around tension sensor 3 to guide tension sensor 3. This completes the connection between tension sensor 3 and fixing frame II 4.

[0065] Step 4: Place the tow cable 1 into the horn structure 29 of the cable guide block I 27 and the cable guide block II 28, and assemble the cable guide block I 27 and the cable guide block II 28 into the cable guide opening 9 using fasteners; insert the top plate 24 of the cable guide opening 9 into the slide groove 26 of the fixing frame II 4 and slide it in. When the threaded hole of the top plate 24 is aligned with the mounting hole at the bottom of the slide groove 26, fix it with fasteners. This position is where the tow cable 1 passes vertically through the fixing frame II 4.

[0066] Step 5: Pass the tow cable 1 through the measuring bracket 5, then connect the measuring bracket 5 to the fixing frame II 4 and secure it with fasteners. Connect the guide roller 6 to the measuring bracket 5 through the shaft I 7. Install shaft end retaining rings at both ends of the shaft I 7, allowing the guide roller 6 to rotate freely around the shaft I 7.

[0067] Step 6: Pass the towing cable 1 around the guide wheel 11 so that its dry end connector is connected to the winch or other load-bearing equipment. Adjust the height of this measuring device so that the towing cable 1 is parallel to the top plane of the fixed frame II4 and passes through the guide wheel 11. Finally, rigidly fix the fixed frame II4 to the towing platform.

[0068] Step 7: Secure the wireless communication module 10 to the mounting bracket II 4, install vibration isolation pads on the four high-speed cameras 8, and secure them to the measuring bracket 5. Finally, connect the cables of the high-speed cameras 8 and the tension sensor 3 to the wireless communication module 10. The entire cable tension and dry end angle measuring device is now installed.

[0069] This measuring device can reduce the impact of cable vibration on the measurement of cable drag angle and sideslip angle, and has high measurement accuracy. Moreover, this measuring device optimizes and integrates cable tension measurement, drag angle and sideslip angle measurement into one measuring device. The measurement principle is simple and reliable, the device structure is small and easy to disassemble and assemble.

[0070] The method for measuring cable tension and trunk-end angle using this device is as follows:

[0071] During towing, the wireless communication module 10 acquires photos taken by the image acquisition unit and tension values ​​measured by the tension sensor 3 in real time; the wireless communication module 10 calculates the towing angle, sideslip angle, and tension of the towing cable 1 based on these parameters as follows:

[0072] Under the influence of water flow, the tow cable 1 forms a tow angle α with the horizontal plane, and a side deflection angle β between the tow cable 1 and the vertical plane of the measuring device. For example... Figure 4 As shown, this is a photograph of tow cable 1 taken by camera 8 arranged in a left-right direction at a certain moment. The distance from the top of tow cable 1 to the rear edge of the photograph in the towing direction is measured to be S2, and the distance from the bottom of tow cable 1 to the rear edge of the photograph in the towing direction is measured to be S1. The height of tow cable 1 in the water depth direction in the photograph is H. The towing angle α of the dry end of tow cable 1 can be calculated by the following formula:

[0073]

[0074] When two cameras are arranged in the left and right directions, the drag angle can be calculated by taking photos taken at the same time, and the average of the two calculated values ​​can be used as the drag angle for the final measurement.

[0075] like Figure 5 The image shown is a photograph of tow cable 1 taken by a high-speed camera 8 positioned in a forward-backward direction at a certain moment. The distance from the top of tow cable 1 to the front edge of the photograph in the direction perpendicular to the towing direction is measured to be L2, and the distance from the bottom of tow cable 1 to the front edge of the photograph in the direction perpendicular to the towing direction is measured to be L1. The height of tow cable 1 in the water depth direction within the photograph is H. The side slip angle β of the dry end of tow cable 1 can be calculated using the following formula:

[0076]

[0077] When two cameras are positioned in the front and back directions, the drag angle can be calculated using photos taken at the same time, and the average of the two calculated values ​​can be used as the final measured sideslip angle.

[0078] Let the tension measured by tension sensor 3 be F1, where F1 is the resultant force. The actual tension F of tow cable 1 is the horizontal component of tension F1. Therefore, the actual tension F of tow cable 1 is:

[0079] F = F1 sinδ

[0080] Where δ is the angle between the step interface on the fixed frame II4 and the horizontal plane, when δ is 45°

[0081] After the wireless communication module 10 completes the calculation of the tension and towing angle of the tow cable 1, it uploads the data to the host computer via the antenna, thus completing one measurement. As the measuring device continuously samples, calculates, and uploads data, it realizes the function of automatically and in real time monitoring the tension and angle of the tow cable under all underwater towing conditions (cable retrieval and deployment, stable towing, acceleration and deceleration, and turning, etc.).

[0082] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for measuring the tension and the dry end angle of a streamer, characterized in that: include: Fixture I (2), tension sensor (3), fixture II (4), measuring bracket (5), image acquisition unit, wireless communication module (10), and cable guide wheel (11); The fixed frame II (4) is fixed on the towing platform. The fixed frame II (4) is provided with a step interface that forms a set angle with the horizontal plane. The tension sensor (3) is installed between the step interface and the fixed frame I (2). The fixed frame I (2) is equipped with a cable guide wheel (11) for guiding the tow cable (1); the cable guide wheel (11) on the fixed frame II (4) is provided with a cable guide port (9) with a vertical opening at the cable exit position. The tow cable (1) passes through the cable guide wheel (11) parallel to the surface of the fixed frame II (4) and then passes through the cable guide port (9). A measuring bracket (5) is provided below the fixed frame II (4), and an image acquisition unit and a wireless communication module (10) are installed on the measuring bracket (5); the image acquisition unit includes a camera set in the towing direction and a camera set in the horizontal plane perpendicular to the towing direction; the camera is used to capture images of the towing cable in the corresponding direction. The wireless communication module (10) is electrically connected to the tension sensor (3) and each camera (8) for power supply and data acquisition.

2. A streamer tension and heel angle measurement device as claimed in claim 1, characterized in that: The lower ends of the left and right sides of the measuring bracket (5) are provided with guide rollers (6) that can rotate around their own axis, and the axis of the guide rollers (6) is along the towing direction.

3. A streamer tension and heel angle measurement device as claimed in claim 1, characterized in that: The relative positions of the measuring bracket (5) and the fixed frame II (4) in the towing heading direction are adjustable.

4. A streamer tension and heel angle measurement device as claimed in claim 3, characterized in that: The lower ends of the left and right sides of the measuring bracket (5) are in an arc-shaped outward-turned form.

5. A streamer tension and heel angle measurement device as claimed in claim 1, characterized in that: The cable guide (9) is detachably mounted on the fixing frame II (4).

6. A streamer tension and heel angle measurement device as claimed in claim 5, characterized in that: The central hole of the cable guide (9) is trumpet-shaped.

7. A streamer tension and dry end angle measurement device as claimed in any of claims 1 to 6, characterized in that: The angle between the step interface and the horizontal plane is 45°.

8. A streamer tension and heel angle measurement device as claimed in any of claims 1 to 6, characterized in that: The tension sensor (3) is a disc-type tension sensor. The tension sensor (3) has a through threaded hole in the center. One end of the threaded hole in the center of the tension sensor (3) is connected to screw I (21), and the other end is connected to screw II (17). Screw I (21) is connected to the fixing frame I (2), and screw II (17) is connected to the step interface on the fixing frame II (4). The tension sensor (3) has several through holes around its two ends, centered on the threaded hole, which are used to cooperate with the guide rod (16) to guide the tension sensor (3). Guide rods (16) are arranged around the connection end of the tension sensor (3) with the fixed frame I (2) and around the connection end with the fixed frame II (4). The fixing frame I (2) includes a base (15) and a cable guide wheel mounting seat (14) set on the upper end face of the base (15). The upper end of the screw I (21) is welded and fixed to the lower end face of the base (15). The lower end face of the base (15) has four threaded holes evenly arranged with the screw I (21) as the center, which are used to install the guide rod (16). The lower end of the screw I (21) is connected to the center threaded hole of the corresponding end of the tension sensor (3). The guide rod (16) is a stepped shaft with an external thread at the large diameter and a smooth rod at the small diameter. The guide rod (16) is screwed into the threaded hole of the base (15) through the external thread at the large diameter, and the smooth rod at the front end is inserted into the four through holes of the corresponding end of the tension sensor (3). The fixing frame II (4) includes: a top plate (18) and a step mounting plate (20), the step mounting plate (20) is used to provide a step interface for the tension sensor (3); the step mounting plate (20) is welded to the top plate (18) as a whole; a through hole is left in the step interface, and four threaded holes are evenly arranged with the through hole as the center; the screw II (17) passes through the central through hole of the step mounting plate (20) and is screwed into the central threaded hole of the corresponding end of the tension sensor (3); the distance between the tension sensor (3) and the step interface is adjusted by the nuts (19) on both sides of the screw II (17), and then the guide rod (16) is screwed into the threaded hole of the step interface, and the front smooth rod is inserted into the through hole around the corresponding end of the tension sensor (3).

9. A streamer tension and heel angle measurement device as claimed in any of claims 1 to 6, characterized in that: The cable guide opening (9) is formed by connecting cable guide block I (27) and cable guide block II (28) with the same structure. The cable guide block I (27) and cable guide block II (28) are provided with strip grooves. After the cable guide block I (27) and cable guide block II (28) are connected, the two strip grooves are connected to form a central hole in the vertical direction.

10. A method of measuring the tension and the dry end angle of a streamer, characterized by: The tow cable tension and dry end angle measuring device described in any one of claims 1-9 is used; During the towing process, the wireless communication module (10) collects in real time the photos of the towing cable image taken by the image acquisition unit and the tension value measured by the tension sensor (3), and calculates the towing angle, side slip angle and tension of the towing cable (1) in the following way; The formula for calculating the drag angle α at the dry end of the tow cable (1) is: In the photos taken by the camera in the horizontal plane perpendicular to the towing direction: the distance from the top of the towing cable (1) to the rear edge of the photo is S2, the distance from the bottom of the towing cable (1) to the rear edge of the photo is S1, and the height of the towing cable (1) in the water depth direction is H. The formula for calculating the side deflection angle β at the trunk end of the tow cable (1) is as follows: In the photos taken by the camera in the towing direction: the top of the towing cable (1) is L2 from the front edge of the photo, the bottom is L1 from the edge of the photo, and the height of the towing cable (1) in the water depth direction is H; The formula for calculating the tension F of the tow cable (1) is: Where: F1 is the tension measured by the tension sensor (3), The angle between the step interface on the fixed frame II (4) and the horizontal plane.

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