Torpedo anchor based on spiral driving and multi-stage telescopic propelling structure and mounting method of torpedo anchor

Abstract

The invention relates to the technical field of deep sea mooring systems, in particular to a torpedo anchor based on spiral driving and a multi-stage telescopic propelling structure and a mounting method thereof, and the torpedo anchor comprises an anchor body and an anchor tip arranged at the end of the anchor body; the anchor body comprises a spiral driving device, a propelling body and a penetrating body, the spiral driving device is composed of a cylindrical anchor body and a plurality of spiral anchor wings, a motor is installed in the cylindrical anchor body and connected with a round rotating disc, a plurality of supporting rods are arranged on the outer ring of the round rotating disc, and the end of each supporting rod is connected with one spiral anchor wing. The other ends of the multiple spiral anchor wings are connected to the same supporting base, the supporting base is further connected with a propelling body, and the other end of the propelling body is connected with a penetrating body. The penetrating body is connected with the anchor tip, a radar detection device is arranged in the penetrating body and connected with a control system, and the control system controls the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of deep - sea mooring systems, and particularly to a torpedo anchor based on a spiral drive and a multi - stage telescopic propulsion structure and an installation method thereof. Background Art

[0002] During the process of marine resource exploitation, it is gradually moving from near - shallow seas to deep - far seas. In this process, the structural type is also changing from fixed - type to floating - type structures. Compared with fixed - type structures, floating - type structures need to be supported and fixed by buoyancy and mooring systems. Due to the complex and changeable marine environment, in order to ensure the safety and stability of floating platforms and superstructures, choosing a suitable deep - water anchor foundation becomes a crucial issue. Currently, the main deep - water anchor foundations include suction anchors, plate anchors, and dynamically installed anchors, etc. As a new type of dynamically installed anchor, the torpedo anchor falls from a certain height above the sea surface, relies on its own weight to fall into the water and penetrate into the soil to a certain depth, and anchors the floating platform by providing pull - out bearing capacity. Compared with other deep - water anchor foundations, the torpedo anchor foundation has a low cost, excellent mooring performance, and simple and efficient installation, so it has stronger applicability. Since the torpedo anchor is affected by water flow during the falling process, its travel route often deviates. After reaching the seabed, it will be subjected to huge impact forces and uneven frictional resistances, which will also exacerbate the deviation of the torpedo anchor's travel route. The route deviation makes it difficult for the torpedo anchor to reach the designated position and cannot meet the design requirements and pull - out resistance.

[0003] In the prior art, in order to solve the above problems, some technologies for modifying the structure of the torpedo anchor to increase its pull - out resistance have been disclosed. For details, refer to CN202310004986.9, CN202410575202.2, etc.; however, some of the prior - art structures are complex, and some have poor pull - out effects, and the torpedo anchor cannot accurately reach the designated position. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, the present invention aims to consider the trajectory deviation generated during the falling process of the torpedo anchor, and provides a torpedo anchor based on a spiral drive and a multi - stage telescopic propulsion structure and an installation method thereof. The torpedo anchor has spiral anchor wings, a telescopic propulsion body, and an anchor tip. Through the collaborative work of the spiral anchor wings, the telescopic propulsion body, and the anchor tip, the position change of the torpedo anchor in space can be realized, the position accuracy of the torpedo anchor can be improved, and at the same time, the existence of the spiral anchor wings can also improve the pull - out resistance of the torpedo anchor.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a torpedo anchor based on a spiral drive and a multi-stage telescopic propulsion structure, including an anchor body. The anchor body includes a spiral drive device, a propulsion body, and a penetration body. The spiral drive device consists of a cylindrical anchor body and multiple spiral anchor wings. An electric motor is installed inside the cylindrical anchor body. The electric motor is connected to a circular turntable. Multiple support rods are arranged on the outer circle of the circular turntable. The end of each support rod is connected to a spiral anchor wing. The other ends of the multiple spiral anchor wings are connected to the same support seat. The bottom of the support seat is connected to the propulsion body. The propulsion body is connected to the penetration body. The propulsion body can be telescopic. The penetration body is connected to an anchor tip. A depth detection device is arranged inside the penetration body. The depth detection device is connected to a control system. The control system controls the electric motor.

[0006] When the above-mentioned spiral anchor wings rotate, they can actively disturb the soil and cut into the soil penetration resistance, pushing the torpedo anchor to penetrate deeper downward. Therefore, the spiral drive structure significantly improves the penetration ability of the anchor body, can achieve deep and rapid soil penetration under various soil conditions, and the telescopic propulsion body can form a conical angle fairing. On the one hand, the conical angle fairing can reduce the impact force when entering the water, effectively expanding the stress area of the entire torpedo anchor, enhancing the structural stability and ultimate bearing performance, and adapting to a wider range of load requirements; the depth detection device real-time feedback system realizes high-precision obstacle recognition and positioning, has the ability to detect small obstacles, and improves the safety and accuracy of the soil penetration path.

[0007] As a further technical solution, the propulsion body includes a multi-stage nested rigid outer shell. A multi-stage telescopic drive unit is arranged inside the multi-stage nested rigid outer shell. The multi-stage telescopic drive unit drives the multi-stage nested rigid outer shell to expand and contract. The rigid outer shell at the end is connected to the penetration body.

[0008] As a further technical solution, the non-driving end of the multi-stage telescopic drive unit is connected to the support seat.

[0009] As a further technical solution, the rigid outer shell is made of shape memory alloy plates.

[0010] As a further technical solution, the non-functional cavity area of the torpedo anchor is filled with materials for increasing its overall weight and inertia.

[0011] As a further technical solution, multiple spiral anchor wings are evenly arranged along the circumferential direction of the circular turntable.

[0012] As a further technical solution, an anchor eye is opened at the center of the circular turntable and the center of the cylindrical anchor body for connecting an anchor cable. The entire torpedo anchor can be hoisted from an engineering ship to a predetermined sea area through the anchor cable.

[0013] As a further technical solution, the depth detection device is a radar detection device, and the depth reached by the torpedo anchor on the seabed is detected by the radar detection device.

[0014] As a further technical solution, a section of gradually decreasing diameter area is provided at the part of the cylindrical anchor body close to the propulsion body, which is used to reduce the soil penetration resistance and guide the spiral soil penetration direction.

[0015] In a second aspect, the present invention also proposes an installation method based on the torpedo anchor with a spiral drive and a multi-stage telescopic propulsion structure, as follows: The torpedo anchor is hoisted by an engineering ship to a set height above the sea surface for release. At the moment of entering the water, the propulsion body forms a conical angle fairing, which reduces the impact force when entering the water; When the penetrator reaches the first depth below the seabed, the spiral drive device is activated, and secondary penetration is realized under the drive of the motor; during the secondary penetration process, the radar detection device monitors the depth of the penetrator in real time and feeds it back to the control system; the control system controls the start and stop and rotation speed of the motor according to the depth detected by the radar detection device, so that the torpedo anchor can reach the final predetermined depth.

[0016] The installation method of the present invention includes key steps: after being released at a high altitude, the rigid outer shell unfolds to form a fairing. Through the fairing, the accuracy of the path of the entire torpedo anchor during the downward movement can be improved. After reaching the predetermined depth, the spiral drive system is activated, and secondary penetration is realized under the drive of the motor; during the secondary penetration process, the radar detection device monitors the depth of the penetrator in real time and feeds it back to the control system; the control system controls the start and stop and rotation speed of the motor according to the depth detected by the radar detection device, so that the torpedo anchor can reach the specified depth. This process optimizes the penetration force path and attitude control, effectively improves the penetration efficiency, and maintains good vertical soil penetration accuracy.

[0017] Compared with the prior art, the present invention has made the following breakthrough progress: When the spiral anchor wing of the present invention rotates, it can actively disturb the soil body, cut into and reduce the soil penetration resistance, and push the torpedo anchor to penetrate further downward. Therefore, the spiral drive structure significantly improves the penetration ability of the anchor body, and can realize deep and rapid soil penetration under various soil conditions, breaking through the technical bottleneck of the penetration depth of traditional torpedo anchors; and the telescopic propulsion body can form a conical angle fairing. On the one hand, the conical angle fairing can reduce the impact force when entering the water, effectively expand the stress area of the entire torpedo anchor, enhance the structural stability and ultimate load-bearing performance, and adapt to a wider range of load requirements; the present invention also integrates a depth detection device, and the depth detection device real-time feedback system realizes high-precision obstacle recognition and positioning, has the ability to detect small obstacles, and improves the safety and accuracy of the soil penetration path. Description of the Drawings

[0018] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0019] Figure 1 Schematic of a torpedo anchor Figure 1 ; Figure 2 Schematic of a torpedo anchor Figure 2 ; Figure 3 Top view of the torpedo anchor; In the figure: 1. Anchor eye; 2. Propulsion body; 3. Anchor tip; 4. Helical anchor wing; 5. Helical drive device; 6. Multi-stage telescopic drive unit; 7. Penetration body; 8. Cylindrical anchor body; 9. Vertical hole; 10. Radar detection device; 11. Electric motor; 12. Rigid housing; 13. Circular turntable; 14. Support rod; 15. Support base; Detailed implementation manners It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0020] It should be noted that the terms used here are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used here, unless the present invention clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or their combinations; For the convenience of description, if terms such as "upper" and "lower" appear in the present invention, they only indicate the same up and down directions as those of the accompanying drawings themselves, and do not limit the structure. They are only for facilitating the description of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0021] As introduced in the background art, there are deficiencies in the prior art. To solve the above technical problems, the present invention proposes a torpedo anchor and an installation method based on a spiral drive and a multi-stage telescopic propulsion structure. When the spiral anchor wings of the torpedo anchor based on the spiral drive and the multi-stage telescopic propulsion structure rotate, they can actively disturb the soil and cut into the soil resistance, promoting the further penetration of the torpedo anchor downward. Therefore, the torpedo anchor based on the spiral drive and the multi-stage telescopic propulsion structure significantly improves the penetration ability of the anchor body, can achieve deep and rapid soil penetration under various soil conditions, and breaks through the technical bottleneck of the penetration depth of traditional torpedo anchors. Moreover, the multi-stage telescopic propulsion structure can form a conical angle fairing. On the one hand, the conical angle fairing can reduce the impact force when entering the water, effectively expand the stress area of the entire torpedo anchor, enhance the structural stability and ultimate bearing performance, and adapt to a wider range of load requirements. The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0022] As Figure 1 - Figure 2 shown, the torpedo anchor of the present invention based on a spiral drive and a multi-stage telescopic propulsion structure is composed of a three-section anchor body, namely a spiral drive device 5, a propulsion body 2, and a penetration body 7. The spiral drive device 5, the propulsion body 2, and the penetration body 7 are connected in sequence to form an integral body. The specific structures of each part are as follows: The spiral drive device 5 is composed of a middle cylindrical anchor body 8 and four spiral anchor wings 4 on the periphery. There is a vertical hole 9 in the central axis of the spiral drive device 5, and the cable passes through it. A motor 11 is arranged inside the middle cylindrical anchor body 8. The motor 11 is connected to a circular turntable 13. Four support rods 14 are arranged on the outer ring of the circular turntable 13. The end of each support rod 14 is connected to a spiral anchor wing 4, and the other ends of the four spiral anchor wings 4 are connected to the same support seat 15. When the above-mentioned spiral anchor wings 4 rotate, they can actively disturb the soil and cut into the soil resistance, promoting the further penetration of the torpedo anchor downward. Therefore, the spiral drive structure significantly improves the penetration ability of the anchor body, can achieve deep and rapid soil penetration under various soil conditions, and breaks through the technical bottleneck of the penetration depth of traditional torpedo anchors. At the bottom of the support seat 15, the propulsion body 2 is connected. The propulsion body 2 is a telescopic structure. The other end of the propulsion body 2 is connected to the penetration body 7. Since the propulsion body 2 can be telescopic, the propulsion body 2 can adjust the distance between the penetration body 7 and the spiral drive device 5, and push the penetration body 7 to move away from or close to the spiral drive device 5. The telescopic propulsion body 2 can form a conical angle fairing. On the one hand, the conical angle fairing can reduce the impact force when entering the water, effectively expand the stress area of the entire torpedo anchor, enhance the structural stability and ultimate bearing performance, and adapt to a wider range of load requirements.

[0023] Furthermore, an anchor tip 3 is connected to the penetration body 7; a radar detection device 10 is arranged inside the penetration body 7; the radar detection device 10 is used to detect the depth reached by the torpedo anchor, and then send a signal to the control system, and the control system controls the start and stop and the rotation speed of the motor 11 according to the depth detected by the radar detection device 10; the real-time feedback system of the radar detection device 10 realizes high-precision obstacle recognition and positioning, has the ability to detect small obstacles, and improves the safety and accuracy of the burial path.

[0024] Furthermore, an anchor eye 1 is provided at the top of the screw drive device 5 in this embodiment, and the anchor eye 1 is used to connect an anchor cable; the torpedo anchor is hoisted as a whole from the engineering vessel to the predetermined sea area through the anchor cable.

[0025] Further, the propulsion body 2 in this embodiment includes a multi-stage nested rigid shell 12, and a multi-stage telescopic drive unit 6 is arranged inside the multi-stage nested rigid shell 12. The multi-stage telescopic drive unit 6 drives the multi-stage nested rigid shell 12 to telescope, and the rigid shell 12 at the end is connected to the penetration body 7. In this embodiment, the multi-stage telescopic drive unit 6 adopts a three-stage hydraulic telescopic unit structure, and its main purpose is to achieve a long stroke propulsion distance under the premise of keeping the overall structure compact, so as to meet the needs of staged propulsion and depth setting operation of the torpedo anchor in different strata. Compared with the single-stage telescopic structure, the multi-stage hydraulic telescopic unit can provide a larger telescopic ratio per unit length, and at the same time achieve a higher propulsion depth and better burrowing posture control in a confined space. The three-stage telescopic unit is a bamboo-shaped sleeve structure, and each level of the unit is connected by coaxial matching and flange connection to form a sealed hydraulic cavity, and a series oil circuit design is adopted, so that the hydraulic oil sequentially drives the cylinder bodies of each level to extend or retract in sequence, and has good synchronization and reliability. A rigid outer shell is nested in each stage of the hydraulic cylinder to withstand external soil pressure and guide the structure to advance stably. The outer shell is made of corrosion-resistant alloy material to ensure long-term service without failure in the seabed environment.

[0026] Furthermore, the outside of the propulsion body 2 is a rigid outer shell 12 that can be deployed and nested. The rigid outer shell 12 has a certain taper and can form a structure similar to a fairing after deployment, effectively reducing the impact force at the moment of entering the water and guiding the anchor body to stably penetrate into the soil. The rigid outer shell 12 is made of Ti-Ni alloy plate with shape memory characteristics; in the contracted state, this structure significantly reduces the lateral dimension and overall volume of the propulsion body, improving the water entry stability and transportation efficiency of the anchor body; the overall structure of the propulsion body 2 is bamboo joint-shaped, that is, it consists of multiple cylindrical units with gradually decreasing diameters or nested ones, and each unit is connected by sliding sleeves and flanges to form a multi-stage telescopic unit. In the unactivated state, the cylinders at all levels are tightly nested and shrink into one body; in the working state, under the drive of hydraulic or pneumatic pressure, the cylinders at all levels extend in sequence to form a multi-joint telescopic structure with a long working stroke; this design of the bamboo joint-shaped propulsion body structure has the following advantages: first, it significantly improves the telescopic ratio and realizes a longer propulsion stroke in a limited space; second, the segmented structure is convenient for force transmission distribution and bending resistance design, and can improve stability and durability during the penetration process with greater force; third, the structure is compact, facilitating the anchor body during the storage and release processes, realizing volume control, and helping to improve the attitude stability at the initial stage of penetration.

[0027] Furthermore, the cylindrical anchor body 8 in this embodiment is of a cylindrical structure and is made of high-strength low-alloy steel (HSLA) material, with good torsional resistance and corrosion resistance. A section with a gradually decreasing diameter is provided at the part of the cylindrical anchor body 8 close to the propulsion body 2 to reduce the soil penetration resistance and guide the spiral soil penetration direction.

[0028] Furthermore, the spiral anchor wings 4 in this embodiment are evenly distributed along the circumferential direction, and the ratio between the pitch and the diameter of the anchor body is designed according to engineering needs, preferably 1.2 - 1.5 times, to achieve better soil cutting and propulsion effects. The surface of the anchor wings can be selected with a high-hardness wear-resistant coating to improve its wear resistance.

[0029] Furthermore, an array-type geological detection device, such as a UWB (Ultra-Wideband) radar antenna array, is provided inside the penetration body 7, which has the ability to identify obstacles and provide geological layer feedback within a certain depth range, and can realize functions such as spatial positioning and path correction, thereby improving the precision control level during the penetration process of the torpedo anchor.

[0030] Furthermore, the anchor tip 3 in this embodiment is made of high-strength steel, is in the structure of a spiral drill bit, is hingedly connected to the penetration body 7, and is located below the torpedo anchor.

[0031] Furthermore, the structural shells adopted for the cylindrical anchor body 8 and the outside of the propulsion body 2 in this embodiment of the torpedo anchor are both made of composite materials or alloy materials with lightweight, high strength, and corrosion resistance to adapt to the complex environment of high pressure and high corrosion in the seabed.

[0032] Furthermore, the non-functional cavity areas inside the torpedo anchor mainly include the remaining space in the cylindrical anchor body 8 where no motor and cable are arranged, as well as the cavities in the propulsion body 2 and the penetration body 7. High-density underwater special concrete or curing materials can be poured according to actual needs to increase the overall weight and inertia, and enhance the penetration kinetic energy and stability of the torpedo anchor.

[0033] Furthermore, the above device can also adopt a modular structure design, which improves the reuse efficiency of the anchor body, reduces the maintenance cost and replacement cycle.

[0034] Furthermore, this embodiment also provides an installation method for a torpedo anchor based on a spiral drive and a multi-stage telescopic propulsion structure, which specifically includes the following steps: Step 1. Hoist the entire torpedo anchor from an engineering ship to a predetermined sea area and position it at the release height above the sea surface through a mooring cable or a lifting device. The release height is adjustable according to the actual operating depth and sea conditions. Before installation, the radar detection system is calibrated and initialized by the sea surface control device; Step 2. After the torpedo anchor is released into the water, the rigid outer shell 12 folded and stored outside the propulsion body 2 automatically unfolds after contacting the seawater, forming a fairing structure with a certain cone angle, guiding the torpedo anchor to maintain a stable entry attitude into the water, reducing the entry impact force and minimizing the attitude deflection and lateral drift during the entry process.

[0035] Step 3. The torpedo anchor accelerates and falls in the seawater relying on its own weight and penetrates into the seabed soil layer by inertia to form an initial penetration section. At this stage, the radar detection device 10 starts to work, scanning the contact depth between the torpedo anchor and the formation and the distribution information of obstacles in real time, and the scanning results will be fed back to the sea surface control system; Step 4. When the penetration body 7 reaches the initial depth, the sea surface control system starts the motor 11 to drive the spiral anchor wing 4 to rotate, thereby actively disturbing the soil and cutting into the penetration resistance to push the torpedo anchor to penetrate further downward. The spiral propulsion process can operate at multiple gear speeds to adapt to different soil layer resistance conditions; the radar system continuously feeds back the depth information for adjusting the penetration rhythm and rotation speed; Step 5. The multi-stage hydraulic telescopic units inside the propulsion body 2 are sequentially unfolded under the command of the control system to push the penetration body 7 to advance further forward, especially suitable for geological areas with hard or complex stratified structures; Step 6. After reaching the predetermined depth or when the control system determines that the geological adaptation layer is reached, the motor 11 stops, and the radar system completes the last round of scanning to confirm whether the position deviation is within the allowable range. Optionally, a cable retracting or pre-tensioning instruction is sent through the ground system to complete the mooring connection between the torpedo anchor and the floating body structure; The above installation method combines multi-level collaborative technologies such as self-weight inertial penetration, radar precise feedback, screw-driven soil disturbing propulsion, telescopic unit assisted penetration, and deployable fairings, and has the advantages of controllable penetration depth, small path deviation, and adaptability to various strata. It is particularly suitable for the installation of mooring foundations for deep-water floating structures.

[0036] The torpedo anchor proposed in this embodiment based on a screw drive and multi-stage telescopic propulsion structure is particularly suitable for engineering scenarios with strict installation accuracy requirements such as deep-sea platform anchoring and submarine pipeline fixing.

[0037] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. The torpedo anchor based on a spiral drive and a multi-stage telescopic propulsion structure is characterized in that It includes an anchor body, and the anchor body includes a screw driving device, a propulsion body and a penetration body. The screw driving device consists of a cylindrical anchor body and multiple screw anchor wings. An electric motor is installed inside the cylindrical anchor body. The electric motor is connected to a circular turntable. Multiple support rods are arranged on the outer ring of the circular turntable. The end of each support rod is connected to a screw anchor wing. The other ends of multiple screw anchor wings are connected to the same support base. The bottom of the support base is connected to the propulsion body, and the propulsion body is connected to the penetration body; the propulsion body can be telescopic. The penetration body is connected to an anchor tip. A depth detection device is arranged inside the penetration body. The depth detection device is connected to a control system, and the control system controls the electric motor.

2. The torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to claim 1, wherein The propulsion body includes multiple levels of nested rigid shells. Multiple levels of telescopic driving units are arranged inside the multiple levels of nested rigid shells. The multiple levels of telescopic driving units drive the multiple levels of nested rigid shells to be telescopic. The rigid shell at the end is connected to the penetration body.

3. The torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to claim 2, characterized in that, The non-driving end of the multiple levels of telescopic driving units is connected to the support base.

4. The torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to claim 2, wherein, The rigid shell is made of shape memory alloy plates.

5. The torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to claim 1, wherein, The non-functional cavity area of the torpedo anchor is filled with materials for increasing its overall weight and inertia.

6. The torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to claim 1, characterized in that, The control system is located in the sea surface control equipment.

7. The torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to claim 1, characterized in that, Multiple screw anchor wings are evenly arranged along the circumferential direction of the circular turntable.

8. The torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to claim 1, characterized in that, An anchor eye is opened at the center of the circular turntable and at the center of the cylindrical anchor body for connecting an anchor cable.

9. The torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to claim 1, wherein, A section of gradually decreasing diameter area is arranged on the cylindrical anchor body near the propulsion body.

10. The installation method of the torpedo anchor based on the spiral drive and multi-stage telescopic propulsion structure according to any one of claims 1-9, characterized in that, As follows: The engineering ship hoists the torpedo anchor to a set height above the sea surface for release. At the moment of entering the water, the rigid shell of the propulsion body forms a conical angle fairing to reduce the impact force when entering the water; When the penetration body reaches the first depth below the seabed, the screw driving device is activated and secondary penetration is realized under the drive of the electric motor; during the secondary penetration process, the radar detection device monitors the depth of the penetration body in real time and feeds it back to the control system; the control system controls the start-stop and rotation speed of the electric motor according to the depth detected by the depth detection device so that the torpedo anchor reaches the final predetermined depth.

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