Towing safety control system and method based on helicopter platform

Abstract

The invention discloses a towing safety control system based on a helicopter platform. The towing safety control system comprises a central control module, a winch, a towing cable, a shear cutter and an altimeter, the towed body is located in water, one end of the towed cable is wound on the winch, and the other end is connected with the towed body; the cutting knife and the helicopter platform are relatively fixed, and the knife edge faces the towrope; the altimeter is located on the towed body and used for collecting the distance between the towed body and the bottom and transmitting the distance to the central control module. A tension sensor is arranged on the winch and used for collecting the tension of the towing cable in real time and transmitting the tension to the central control module; when the distance between the towed body and the bottom is smaller than a set value I or the decreasing speed of the distance between the towed body and the bottom is larger than a set value II and the tension of the towed cable is larger than a set value III, the central control module can control the shear cutter to cut the towed cable; and when the tension increasing speed of the towing cable is greater than a set value IV, the central control module can control the cutting knife to cut the towing cable. According to the invention, the towing safety of the helicopter platform can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ocean towing detection, and in particular relates to a towing safety control system and method based on a helicopter platform. Background Art

[0002] In offshore detection and disposal operations, the existing towing system is designed mainly for ship platforms. When the ship platform is equipped with a towing equipment for towing, the speed is generally low and the towing load is almost negligible compared to the weight of the ship of hundreds or thousands of tons. Therefore, when encountering abnormal towing force, the towing load poses little threat to the safety of the ship platform.

[0003] Helicopters can also be used as towing platforms. Helicopters have the advantages of fast response speed, high operating efficiency, and high safety in terms of external threats. In minesweeping operations, the flight speed of helicopters can easily reach more than 200km / h. Compared with ships, they can quickly reach the operating area and perform efficient minesweeping work in the target area. Secondly, compared with using ship platforms to sweep mines, helicopters work at tens or hundreds of meters in the air, which poses less threat to towing platforms due to underwater explosions during minesweeping or accidentally triggered mine explosions.

[0004] However, the current underwater detection operations using helicopters as platforms are mostly fixed-point hovering and shallow water detection, while large-scale high-speed (above 10kn) towing detection is rarely used both at home and abroad. This is mainly because if the towing system using helicopters as towing platforms does not take special towing safety control measures, its fault tolerance rate after failure is extremely low. Helicopters are very sensitive to changes in towing loads. Excessive loads or sudden changes in loads may instantly cause the helicopter flight control system to exceed the limit, resulting in a loss of control and a crash, causing huge losses of life and property. There is a risk of small faults causing major accidents, so the inherent safety design and control strategy of the helicopter platform's detection and towing system is very important. Summary of the invention

[0005] In view of this, the present invention provides a towing safety control system and method based on a helicopter platform, which can avoid threats to the helicopter platform caused by accidents such as accidental tripping, obstruction by foreign objects and bottoming of the underwater towing body, thereby improving the safety of helicopter towing.

[0006] The present invention is achieved through the following technical solutions:

[0007] A towing safety control system based on a helicopter platform, the helicopter platform is used to tow a towing body on water, including: a central control module, a winch, a towing cable, a shear cutter and an altimeter;

[0008] The towing body is located in the water, one end of the towing cable is wound on the winch, and the other end is connected to the towing body; the shear cutter is relatively fixed to the helicopter platform, and the blade faces the towing cable;

[0009] The altimeter is located on the towed body and is used to collect the distance between the towed body and the bottom and transmit it to the central control module;

[0010] The winch is equipped with a tension sensor to collect the towing cable tension in real time and transmit it to the central control module;

[0011] The central control module can set the set value I, set value II, set value III and set value IV;

[0012] When the distance between the towed body and the bottom is less than the set value I or the speed at which the distance between the towed body and the bottom decreases is greater than the set value II, and the towline tension is greater than the set value III, the central control module can control the shear cutter to cut the towline;

[0013] When the rate of increase of the towline tension is greater than the set value IV, the central control module can control the shear cutter to cut the towline.

[0014] Further, the safety control system also includes an overload clutch;

[0015] The overload clutch is arranged on the winch, and can clamp the towing cable under normal load and release the clamp of the towing cable when overloaded;

[0016] When the overload is restored to normal load, the overload clutch can resume clamping the towline.

[0017] Further, the central control module includes a retractable display console and a control cabinet;

[0018] The control cabinet is electrically connected to the retractable display console, winch, shear cutter, altimeter and tension sensor respectively; one end of the towing cable located on the winch is electrically and rotatably connected to the control cabinet;

[0019] The control cabinet includes a power module, a driver, a controller, an acquisition card and a signal conversion module;

[0020] The power module is used to supply power to the retractable display console, winch, shear cutter, altimeter, tension sensor and towing body;

[0021] The acquisition card is used to collect the corresponding data obtained by the altimeter, the corresponding data obtained by the tension sensor, the corresponding data of the winch status, and the corresponding data of the towing body capture status, and converts them into corresponding data types through the signal conversion module and transmits them to the controller and the retractable display console;

[0022] The controller can calculate the corresponding alarm status according to the corresponding data and transmit it to the retractable display console. The alarm status includes the height warning status, the towline tension warning status and the buffer release warning status;

[0023] The retractable display console can display information and input commands; the information includes the distance of the towed body from the bottom, the tension of the towline, the winch status, the towed body capture status and the alarm status; the commands include the winch control commands, the retractable mechanism control commands and the shear control commands;

[0024] The driver is used to receive corresponding instructions to drive the winch, the retracting and releasing mechanism and the shear cutting knife.

[0025] Furthermore, the pilot can input shear control instructions through the retractable display console to make the driver drive the shear cutter to move;

[0026] The controller can automatically control the driver to drive the shear cutting knife to move.

[0027] Furthermore, the safety control system comprises two scissor cutting knives, and the two scissor cutting knives are driven simultaneously.

[0028] Furthermore, the shear cutter adopts an explosive shearing device.

[0029] Furthermore, the safety control system also includes a towing device, which is arranged on the top of the rear end of the helicopter cabin and is used to guide the towing cable and bear the tension of the towing cable; the shear cutting knife is arranged on the towing device.

[0030] Furthermore, the safety control system also includes a retracting and releasing mechanism;

[0031] The retractable mechanism is arranged at the rear door of the helicopter and is used for deploying, controlling the motion posture, capturing, locking, recovering and storing the towing body.

[0032] Furthermore, the safety control system also includes an acoustic beacon; the acoustic beacon is arranged on the towing body and is used for acoustically positioning the towing body.

[0033] A towing safety control method based on a helicopter platform, based on a towing safety control system based on a helicopter platform, the method is:

[0034] Step 1: The altimeter collects the distance between the towed body and the bottom in real time and transmits it to the central control module; the tension sensor collects the tow cable tension in real time and transmits it to the central control module;

[0035] Step 2: The central control module calculates the change speed of the distance of the towed body from the bottom according to the real-time acquired distance of the towed body from the bottom and the sampling frequency; the central control module calculates the change speed of the tow cable tension according to the real-time acquired tow cable tension and the sampling frequency;

[0036] Step 3: The central control module compares the distance of the towed body from the bottom, the speed of change of the distance of the towed body from the bottom, the tension of the towed cable and the speed of change of the tension of the towed cable with corresponding set values;

[0037] When the distance between the towed body and the bottom is less than the set value I or the speed of the reduction of the distance between the towed body and the bottom is greater than the set value II, the central control module displays the altitude warning state; after entering the altitude warning state, when the towline tension is greater than the set value III, the central control module displays the towline tension warning state to remind the pilot to slow down;

[0038] When the rate of increase of the towline tension is greater than the set value IV, the central control module directly displays the towline tension warning status to remind the pilot to slow down;

[0039] Step 4: When the pilot decelerates, the towline tension decreases or remains unchanged, and the towline tension warning state is released;

[0040] When the towline tension continues to increase and exceeds the normal load of the overload clutch, the overload clutch releases the clamp on the towline. Under the action of the towline tension, the winch releases the towline, and the central control module displays the buffer release alarm state, reminding the pilot to input instructions to control the shear cutter to cut the towline;

[0041] Step 5: The pilot inputs a command to control the shear cutter to cut the tow cable, release the tow body, and remove the helicopter platform from danger;

[0042] Alternatively, a set value V is set in the controller, the cable car collects the length of the released towing cable and transmits it to the central control module in real time, the central control module calculates the length of the remaining towing cable on the winch in real time according to the set total cable length and the towing cable length, the central control module compares the length of the remaining towing cable with the set value V, when the length of the remaining towing cable is less than the set value V, the towing cable tension has not decreased, the central control module automatically controls the shear cutter to cut the towing cable, release the towing body, and get the helicopter platform out of danger.

[0043] Beneficial effects:

[0044] (1) When the towing body or the towed body is about to touch the bottom, the central control module of the safety control system of the present invention can control the shear cutter to cut the towing cable, release the towing load, and ensure the flight safety of the helicopter.

[0045] (2) The present invention is also provided with an overload clutch, which can release the towline first after the tension of the towline exceeds the corresponding set value, so as to reserve buffer time for the pilot to decelerate the aircraft and for the shear cutter to cut the towline, thereby further improving safety.

[0046] (3) In the present invention, the pilot can input a shear control instruction through the retractable display console to make the driver drive the shear cutter to move; the controller can automatically control the driver to drive the shear cutter to move, which can prevent the pilot from failing to cut the tow cable in time and prevent the controller from automatically driving the shear cutter to fail to move, thereby providing double protection and improving the safety of the helicopter platform;

[0047] (4) The safety control system of the present invention includes two shear cutting knives, and the two shear cutting knives are driven simultaneously, thereby improving the shearing reliability.

[0048] (5) The shear cutter of the present invention adopts an explosive shearing device, which can quickly cut off the tow cable and improve safety.

[0049] (6) The present invention also provides an acoustic beacon for acoustically locating the towed body, so as to facilitate the acoustic beacon positioning of the towed body that has been dumped and to carry out salvage.

[0050] (7) The present invention provides a helicopter platform-based towing safety control method, which reduces the impact of risks such as bottoming out and abnormal towing during high-speed towing on the helicopter platform by adopting multiple safety measures such as altitude warning, tow cable tension warning, buffer release warning, and emergency shear dumping, thereby improving the survivability of the helicopter platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the layout of a towing safety control system based on a helicopter platform.

[0052] Among them, 1- retractable display console, 2- control cabinet, 3- winch, 4- retractable mechanism, 5- towing device, 6- towing cable, 7- towing body, 8- altimeter, 9- water depth sensor, 10- acoustic beacon. DETAILED DESCRIPTION

[0053] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0054] Embodiment 1:

[0055] This embodiment provides a towing safety control system based on a helicopter platform. The helicopter platform is used to tow a towing body 7 on the water. The towing body 7 is used for underwater detection and execution of tasks. Figure 1 , the safety control system includes: a central control module, a winch 3, a towing cable 6, a shear cutter and an altimeter 8;

[0056] The towing body 7 is located in the water, one end of the towing cable 6 is wound around the winch 3, and the other end is connected to the towing body 7; the shear cutter is relatively fixed to the helicopter platform, and the blade faces the towing cable 6;

[0057] The altimeter 8 is located on the towed body 7, and is used to collect the distance between the towed body and the bottom and transmit it to the central control module;

[0058] A tension sensor is provided on the winch 3 to collect the towing cable tension in real time and transmit it to the central control module;

[0059] The central control module can set the set value I, set value II, set value III and set value IV;

[0060] When the distance between the towed body and the bottom is less than the set value I or the speed of the reduction of the distance between the towed body and the bottom is greater than the set value II, and the towline tension is greater than the set value III, the central control module can control the shear cutter to cut the towline 6;

[0061] When the rate of increase of the towline tension is greater than the set value IV, the central control module can control the shear cutter to cut the towline 6.

[0062] When the distance between the towed body and the bottom is less than the set value I or the speed at which the distance between the towed body and the bottom decreases is greater than the set value II, and the tow cable tension is greater than the set value III, it can be considered that the towed body 7 will touch the bottom; when the speed at which the tow cable tension increases is greater than the set value IV, it can be considered that the towed body 7 is being towed by suspended foreign objects. Therefore, when the towed body 7 is about to touch the bottom or is being towed by suspended foreign objects, the central control module of the safety control system in this embodiment can control the shear cutter to cut the tow cable 6 to release the towing load and ensure the flight safety of the helicopter.

[0063] The safety control system also includes a buffer release device, which uses an overload clutch; the overload clutch is arranged on the winch 3, and can clamp the towline 6 within the normal load and release the clamp on the towline 6 when overloaded; when the overload is restored to the normal load, the overload clutch can restore the clamp on the towline 6; by setting up the buffer release device, the towline 6 can be released first after the towline tension exceeds the corresponding set value, reserving buffer time for the pilot to execute aircraft deceleration and the shear cutter to cut the towline 6, thereby further improving safety.

[0064] The safety control system also includes a towing device 5, a retracting and releasing mechanism 4, a water depth sensor 9 and an acoustic beacon 10;

[0065] The towing device 5 is arranged at the top of the rear end of the helicopter cabin, and is used to guide the towing cable 6 and bear the tension of the towing cable; the aforementioned shear cutter is arranged on the towing device 5;

[0066] The retracting and releasing mechanism 4 is arranged at the rear hatch of the helicopter and is used for deploying, controlling the motion posture, capturing, locking, recovering and storing the towing body 7 .

[0067] The water depth sensor 9 and the acoustic beacon 10 are both arranged on the towing body 7 . The water depth sensor 9 is used to collect the current working water depth of the towing body 7 ; the acoustic beacon 10 is used to perform acoustic positioning on the towing body 7 .

[0068] The central control module includes a retractable display console 1 and a control cabinet 2;

[0069] The control cabinet 2 is electrically connected to the retractable display console 1, the winch 3, the retractable mechanism 4, the shear cutter, the altimeter 8, the water depth sensor 9 and the tension sensor respectively; one end of the towline 6 located on the winch 3 is electrically and rotationally connected to the control cabinet 2; specifically, the towline 6 is electrically connected to the control cabinet 2 through a slip ring;

[0070] The control cabinet 2 includes a power module, a driver, a controller, an acquisition card and a signal conversion module;

[0071] The power module is used to supply power to the retractable display console 1, the winch 3, the retractable mechanism 4, the shear cutter, the altimeter 8, the water depth sensor 9, the tension sensor and the towing body 7;

[0072] The acquisition card is used to collect the corresponding data obtained by the altimeter 8, the corresponding data obtained by the water depth sensor 9, the corresponding data obtained by the tension sensor, the corresponding data of the winch state, the corresponding data of the retracting and releasing mechanism state and the corresponding data of the towing body capture state, and converts them into corresponding data types through the signal conversion module and transmits them to the controller and the retracting and releasing display console 1;

[0073] The controller can calculate the corresponding alarm status according to the corresponding data and transmit it to the retractable display console 1. The alarm status includes the height warning status, the towing cable tension warning status (or the towing force warning status) and the buffer release warning status;

[0074] The retractable display console 1 can display information and be used to input commands;

[0075] The information includes the distance of the towed body from the bottom, the current working water depth of the towed body, the towline tension, the winch status, the retracting and releasing mechanism status, the towed body capture status and the alarm status; the instructions include the winch control instructions, the retracting and releasing mechanism control instructions and the shearing control instructions; among which, the winch status includes the retracting speed, the releasing speed and the towing cable length collected by the winch;

[0076] The driver is used to receive corresponding instructions to drive the winch 3, the retracting and releasing mechanism 4 and the shear cutting knife to move;

[0077] Furthermore, the pilot can input a shear control command through the retractable display console 1 to make the driver drive the shear cutter to move; the controller can automatically control the driver to drive the shear cutter to move. This can prevent the pilot from not cutting the tow cable 6 in time, and prevent the controller from automatically driving the shear cutter to fail. This double protection improves the safety of the helicopter platform.

[0078] In one embodiment, the safety control system includes two scissor cutters, both of which are arranged on the towing device 5. The two scissor cutters are driven simultaneously, thereby improving the shearing reliability.

[0079] In one embodiment, the shear cutter adopts an explosive shearing device, which can quickly cut the towline 6 and improve safety.

[0080] In one embodiment, the tow cable 6 is electrically connected to the towed body 7 , and the towed body 7 is towed, powered and communicates with the helicopter through the tow cable 6 .

[0081] Embodiment 2:

[0082] This embodiment provides a towing safety control method based on a helicopter platform on the basis of Embodiment 1, and the method is as follows:

[0083] Step 1: The altimeter 8 collects the distance between the towed body and the bottom in real time and transmits it to the central control module; the tension sensor collects the tow cable tension in real time and transmits it to the central control module;

[0084] Step 2: The central control module calculates the change speed (including the increase speed and the decrease speed) of the distance of the towed body from the bottom according to the real-time acquired distance of the towed body from the bottom and the sampling frequency; the central control module calculates the change speed (including the increase speed and the decrease speed) of the towed cable tension according to the real-time acquired towed cable tension and the sampling frequency;

[0085] Step 3: The central control module compares the distance of the towed body from the bottom, the speed of change of the distance of the towed body from the bottom, the tension of the towed cable and the speed of change of the tension of the towed cable with corresponding set values;

[0086] When the distance between the towed body and the bottom is less than the set value I or the speed of the reduction of the distance between the towed body and the bottom is greater than the set value II, the central control module displays the altitude warning state; after entering the altitude warning state, when the towline tension is greater than the set value III, the central control module displays the towline tension warning state to remind the pilot to slow down;

[0087] Or when the rate of increase of the towline tension is greater than the set value IV, the central control module directly displays the towline tension warning status to remind the pilot to slow down;

[0088] Step 4: After the pilot decelerates, the towline tension decreases or remains unchanged, and the towline tension warning state is released; when the towline tension continues to increase and exceeds the normal load of the overload clutch, the overload clutch releases the clamp on the towline, and under the action of the towline tension, the winch 3 releases the towline 6, and the central control module displays the buffer release warning state, reminding the pilot to input instructions to control the shear cutter to cut the towline 6;

[0089] Step 5: The pilot inputs a command to control the shear cutter to cut the tow cable 6, release the tow body 7, and remove the helicopter platform from danger;

[0090] Alternatively, the cable car collects the length of the released towing cable and transmits it to the central control module in real time. The central control module calculates the length of the remaining towing cable on the winch 3 by difference in real time according to the set total cable length and the towing cable length. The central control module compares the length of the remaining towing cable with the set value V. When the length of the remaining towing cable on the winch 3 is less than the set value V, the tension of the towing cable has not decreased, and the central control module automatically controls the shear cutter to cut the towing cable 6, release the towing body 7, and make the helicopter platform out of danger.

[0091] Step 6: After the helicopter platform is out of danger, ships can be organized to locate the acoustic beacon 10 of the jettisoned towing body 7 and salvage it.

[0092] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A towing safety control system based on a helicopter platform, the helicopter platform is used to tow a towing body on water, characterized in that: include: Central control module, winch, tow rope, shear cutter and altimeter; The towing body is located in the water, one end of the towing cable is wound on the winch, and the other end is connected to the towing body; the shear cutter is relatively fixed to the helicopter platform, and the blade faces the towing cable; The altimeter is located on the towed body and is used to collect the distance between the towed body and the bottom and transmit it to the central control module; The winch is equipped with a tension sensor to collect the towing cable tension in real time and transmit it to the central control module; The central control module can set the set value I, set value II, set value III and set value IV; When the distance between the towed body and the bottom is less than the set value I or the speed at which the distance between the towed body and the bottom decreases is greater than the set value II, and the towline tension is greater than the set value III, the central control module can control the shear cutter to cut the towline; When the rate of increase of the towline tension is greater than the set value IV, the central control module can control the shear cutter to cut the towline.

2. A helicopter platform based towing safety control system as claimed in claim 1, characterized in that: The safety control system also includes an overload clutch; The overload clutch is arranged on the winch, and can clamp the towing cable under normal load and release the clamp of the towing cable when overloaded; When the overload is restored to normal load, the overload clutch can resume clamping the towline.

3. A helicopter platform based towing safety control system as claimed in claim 2, characterized in that: The central control module includes a retractable display console and a control cabinet; The control cabinet is electrically connected to the retractable display console, winch, shear cutter, altimeter and tension sensor respectively; one end of the towing cable located on the winch is electrically and rotatably connected to the control cabinet; The control cabinet includes a power module, a driver, a controller, an acquisition card and a signal conversion module; The power module is used to supply power to the retractable display console, winch, shear cutter, altimeter, tension sensor and towing body; The acquisition card is used to collect the corresponding data obtained by the altimeter, the corresponding data obtained by the tension sensor, the corresponding data of the winch status, and the corresponding data of the towing body capture status, and converts them into corresponding data types through the signal conversion module and transmits them to the controller and the retractable display console; The controller can calculate the corresponding alarm status according to the corresponding data and transmit it to the retractable display console. The alarm status includes the height warning status, the towline tension warning status and the buffer release warning status; The retractable display console can display information and input commands; the information includes the distance of the towed body from the bottom, the tension of the towline, the winch status, the towed body capture status and the alarm status; the commands include the winch control commands, the retractable mechanism control commands and the shear control commands; The driver is used to receive corresponding instructions to drive the winch, the retracting and releasing mechanism and the shear cutting knife.

4. A helicopter platform based towing safety control system as claimed in claim 3, characterized in that: The pilot can input shear control instructions through the retractable display console to make the driver drive the shear cutter to move; The controller can automatically control the driver to drive the shear cutting knife to move.

5. A helicopter platform based towing safety control system as claimed in any one of claims 2 to 4, characterized in that: The safety control system includes two scissor cutters, which are driven simultaneously.

6. A helicopter platform based towing safety control system as claimed in any one of claims 2 to 4, characterized in that: The shear cutter adopts explosive shearing device.

7. A helicopter platform based towing safety control system as claimed in any one of claims 2 to 4, characterized in that: The safety control system also includes a towing device, which is arranged on the top of the rear end of the helicopter cabin and is used to guide the towing cable and bear the tension of the towing cable; the shear cutting knife is arranged on the towing device.

8. A helicopter platform based towing safety control system as claimed in any one of claims 2 to 4, characterized in that: The safety control system also includes a retracting and releasing mechanism; The retractable mechanism is arranged at the rear door of the helicopter and is used for deploying, controlling the motion posture, capturing, locking, recovering and storing the towing body.

9. A helicopter platform based towing safety control system as claimed in any one of claims 2 to 4, characterized in that: The safety control system also includes an acoustic beacon; the acoustic beacon is arranged on the towed body and is used for acoustically locating the towed body.

10. A helicopter platform-based towing safety control method, based on the helicopter platform-based towing safety control system according to any one of claims 2 to 9, characterized in that: The method is: Step 1: The altimeter collects the distance between the towed body and the bottom in real time and transmits it to the central control module; the tension sensor collects the tow cable tension in real time and transmits it to the central control module; Step 2: The central control module calculates the change speed of the distance of the towed body from the bottom according to the real-time acquired distance of the towed body from the bottom and the sampling frequency; the central control module calculates the change speed of the tow cable tension according to the real-time acquired tow cable tension and the sampling frequency; Step 3: The central control module compares the distance of the towed body from the bottom, the speed of change of the distance of the towed body from the bottom, the tension of the towed cable and the speed of change of the tension of the towed cable with corresponding set values; When the distance between the towed body and the bottom is less than the set value I or the speed of the reduction of the distance between the towed body and the bottom is greater than the set value II, the central control module displays the altitude warning state; after entering the altitude warning state, when the towline tension is greater than the set value III, the central control module displays the towline tension warning state to remind the pilot to slow down; When the rate of increase of the towline tension is greater than the set value IV, the central control module directly displays the towline tension warning status to remind the pilot to slow down; Step 4: When the pilot decelerates, the towline tension decreases or remains unchanged, and the towline tension warning state is released; When the towline tension continues to increase and exceeds the normal load of the overload clutch, the overload clutch releases the clamp on the towline. Under the action of the towline tension, the winch releases the towline, and the central control module displays the buffer release alarm state, reminding the pilot to input instructions to control the shear cutter to cut the towline; Step 5: The pilot inputs a command to control the shear cutter to cut the tow cable, release the tow body, and remove the helicopter platform from danger; Alternatively, a set value V is set in the controller, the cable car collects the length of the released towing cable and transmits it to the central control module in real time, the central control module calculates the length of the remaining towing cable on the winch in real time according to the set total cable length and the towing cable length, the central control module compares the length of the remaining towing cable with the set value V, when the length of the remaining towing cable is less than the set value V, the towing cable tension has not decreased, the central control module automatically controls the shear cutter to cut the towing cable, release the towing body, and get the helicopter platform out of danger.

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