Towing platform with wide speed range and stable attitude and underwater towing system

Abstract

The invention relates to the technical field of underwater towing, in particular to a towing platform with a wide speed range and stable attitude and an underwater towing system. The towing platform comprises a first platform used for being connected with a towing cable; the second platform is rotationally connected with the first platform, a detection device is arranged on the second platform, and the second platform can rotate relative to the first platform in the pitching plane so as to adjust the posture of the detection device in the pitching direction; and the transverse rolling adjusting assembly is installed on the second platform and used for adjusting the posture of the second platform in the transverse rolling direction so that a preset angle can be kept between the detection equipment and the water surface. According to the invention, the detection equipment is installed on the second platform which can perform the rotary pitching motion relative to the first platform for bearing the force, so that the second platform keeps the stable posture in a larger speed range, and the detection precision is ensured. And meanwhile, the rolling adjusting assembly is matched with the pitching action on the second platform, so that the platform posture keeping precision is higher, and the environment interference resistance is higher.

Description

Technical Field

[0001] The present invention relates to the field of underwater towing technology, and in particular to a towing platform with wide speed range and attitude stability and an underwater towing system. Background Art

[0002] With the increasing demand for ocean exploration and the advancement of equipment technology, the requirements for efficiency and quality in ocean exploration are constantly increasing. As a highly efficient underwater exploration platform, the stability of the towing attitude of a towed platform is crucial to the accuracy of payload detection. An underwater towed object is an underwater device that moves under the tow control of a vehicle such as a ship, submarine, or helicopter. This device uses sensors carrying physical or chemical environmental parameters to dynamically monitor underwater physical and chemical environmental parameters. Underwater towed objects are important platforms for marine environmental monitoring, marine hydrological data observation, and marine disaster warning.

[0003] Because the mother ship and the underwater towed platform are connected by a tow cable, when the cable length is constant, the mother ship's wave action in complex sea conditions will pull the underwater towed platform up and down, causing the underwater towed platform's pitch angle to fluctuate periodically within a certain range. As environmental disturbances such as sea conditions intensify, this periodic variation in the underwater towed platform's pitch angle can degrade the performance of onboard equipment and even threaten mission execution. Existing towed platforms, through rational hydrodynamics, towing points, and active adjustment design, can achieve towed attitude stability within the design speed range and possess a certain degree of anti-interference capability. However, some towed platforms are equipped with detection equipment, such as detection sonars, which must maintain a specific angle during underwater measurements. Therefore, the attitude requirements for the underwater towed platform are even more stringent. Existing towed platforms are unable to achieve stable towed attitude control under wide variations in towing speeds and harsh environmental conditions. Therefore, in order to carry diverse payloads and achieve high-quality detection in complex operating environments and at varying speeds, there is an urgent need to design a towed platform with attitude stability over a wide speed range. Summary of the Invention

[0004] Regarding the related technologies, the underwater towing platform cannot achieve stable control of the towing attitude under large-scale changes in towing speed and harsh environmental conditions.

[0005] In a first aspect, an embodiment of the present application provides a towing platform with wide speed range and stable attitude, which includes: a first platform, a second platform and a roll adjustment component; wherein,

[0006] a first platform for connecting to the streamer;

[0007] a second platform rotatably connected to the first platform, the second platform being provided with a detection device, and the second platform being capable of rotating in a pitch direction relative to the first platform to adjust the posture of the detection device in the pitch direction;

[0008] A roll adjustment assembly is installed on the second platform. The roll adjustment assembly is used to adjust the attitude of the second platform in the roll direction so that the detection device maintains a preset angle with the water surface.

[0009] In combination with the first aspect, in an embodiment, the roll adjustment assembly includes:

[0010] A rotary flap, which is rotatably connected to the second platform;

[0011] A roll drive unit is disposed within the second platform. The roll drive unit is connected to the rotary flap, and the roll drive unit is used to drive the rotary flap to rotate in the roll direction.

[0012] In combination with the first aspect, in an embodiment, the roll drive unit includes:

[0013] A flap rotary actuator is disposed within the second platform;

[0014] A flap rotary shaft, one end of which is connected to the flap rotary actuator, and the flap rotary shaft is connected to the rotary flap.

[0015] In combination with the first aspect, in an embodiment, a pitch drive assembly is provided on the second platform, and a part of the pitch drive assembly is received within the first platform.

[0016] In combination with the first aspect, in an embodiment, attitude sensors are provided on both the first platform and the second platform.

[0017] In combination with the first aspect, in an embodiment, a controller is provided within the first platform, and the controller is in signal connection with the attitude sensor, the pitch drive assembly, and the roll drive unit.

[0018] In combination with the first aspect, in an embodiment, the roll adjustment assembly is provided at one end of the first platform, and a counterweight is provided at the other end.

[0019] In combination with the first aspect, in an embodiment, a head connector and a tail connector are respectively provided at the front end and the rear end of the first platform. One end of the tail connector is connected to the head connector, and the other end is used to connect to a towing cable.

[0020] In combination with the first aspect, in an embodiment, a load-bearing chain is provided inside the first platform, and both ends of the load-bearing chain are respectively connected to the head connector and the tail connector.

[0021] In a second aspect, an embodiment of the present application provides an underwater towing system, which includes: a towing platform as described in any one of the above.

[0022] The beneficial effects brought by the technical solutions provided in the embodiments of the present application at least include:

[0023] In the present application, by installing the detection device on the second platform that can perform rotational pitching motion relative to the first platform for bearing force, the second platform can maintain a stable attitude within a larger speed range, thereby ensuring the detection accuracy. Further, in the present application, by arranging a roll adjustment component on the second platform to cooperate with the pitching motion on the second platform, the platform attitude can be maintained with higher accuracy and stronger anti-environmental interference ability, so as to adapt to a wider range of towing speeds and more severe operating environments, and maintain a stable towing attitude, which can meet the more stringent usage conditions of the load, effectively improving the data acquisition quality and detection accuracy of the load. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 It is a schematic diagram of the towing platform in the embodiment of the present application;

[0026] Figure 2 It is a cross-sectional view of the towing platform in the embodiment of the present application from the first perspective;

[0027] Figure 3 It is a cross-sectional view of the towing platform in the embodiment of the present application from the second perspective.

[0028] In the figure: 1. First platform; 11. Load-bearing chain; 2. Second platform; 3. Roll adjustment component; 31. Rotating flap; 4. Flap rotation actuator; 5. Flap rotation shaft; 6. Counterweight; 7. Head connector; 8. Tail connector; 91. Pitching rotation shaft; 92. Transmission part; 93. Pitching rotation actuator. Detailed Embodiments

[0029] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0030] In related technologies, the underwater towing platform cannot achieve stable control of the towing attitude under large-scale changes in towing speed and harsh environmental conditions.

[0031] It should be noted that some towing platforms are equipped with detection devices, such as detection sonars. When the detection devices are measuring underwater, they need to maintain a specific angle. Therefore, the attitude requirements for underwater towing platforms are more stringent. Existing towing platforms are still unable to achieve stable control of the towing attitude under large-scale changes in towing speed and harsh environmental conditions.

[0032] In a first aspect, the present application provides a towing platform with attitude stability in a wide speed range, which includes: a first platform 1, a second platform 2, and a roll adjustment assembly 3; wherein,

[0033] The first platform 1 is used to connect with a towing cable. The second platform 2 is rotatably connected to the first platform 1. A detection device is provided on the second platform 2. The second platform 2 can rotate relative to the first platform 1 in the pitch plane to adjust the attitude of the detection device in the pitch direction; the roll adjustment assembly 3 is installed on the second platform 2, and the roll adjustment assembly 3 is used to adjust the attitude of the second platform 2 in the roll direction so that the detection device maintains a preset angle with the water surface.

[0034] Specifically, as Figure 1 shown, the first platform 1 is arranged horizontally, and the second platform 2 is arranged vertically in the initial state.

[0035] It should be noted that the above-mentioned pitch direction refers to the direction in which the towing platform rotates around its transverse axis. The transverse axis is an axis extending from one side of the first platform 1 to the other side. The change in the pitch direction is manifested as the "raising the head" or "lowering the head" movement of the first platform 1. The roll direction refers to the direction in which the towing platform rotates around its longitudinal axis. The longitudinal axis is an axis extending from the front end to the rear end of the first platform 1. The change in the roll direction is manifested as the "tilting" movement of the towing platform. The front and rear ends of the first platform 1 are the head and tail ends respectively, and the two ends are respectively used for towing load-bearing and connecting the towing cable.

[0036] It is worth noting that the first platform 1 is used for towing load-bearing, installing control and acquisition circuit modules, and installing the rotation actuator of the second platform 2. The second platform 2 is used for installing detection loads and the roll adjustment assembly 3. The second platform 2 can rotate relative to the horizontally arranged first platform 1 in the pitch plane to maintain the pitch attitude of the second platform 2.

[0037] In some specific embodiments, the roll adjustment assembly 3 includes: a rotary flap 31 and a roll drive part; wherein,

[0038] The rotary flap 31 is rotatably connected to the second platform 2; the roll drive part is arranged in the second platform 2, and the roll drive part is connected to the rotary flap 31, and the roll drive part is used to drive the rotary flap 31 to rotate in the roll direction.

[0039] It should be noted that in the above specific embodiments, the dual adjustment means of combining the rotation of the second platform 2 and the independent rotation of the rotary flap 31 can enable the second platform 2 to maintain a stable towing attitude even under a large range of changes in the towing speed and complex working environments, and can effectively solve the problems of low detection accuracy of the detection payload and poor data acquisition quality under complex working environments and variable sailing speed conditions.

[0040] Specifically, the roll drive part includes: a flap rotary actuator 4 and a flap rotary shaft 5; wherein,

[0041] The flap rotary actuator 4 is arranged inside the second platform 2; one end of the flap rotary shaft 5 is connected to the flap rotary actuator 4, and the flap rotary shaft 5 is connected to the rotary flap 31.

[0042] It should be noted that the rotary flap adjusts the force of the water flow by changing its angle, thereby realizing precise control of the platform attitude. In a complex water flow environment, the rotary flap can adjust the platform attitude in real time, resist the interference of the water flow to the platform, maintain the stability of the platform, reduce the swing of the platform at the same time, and ensure the stable operation of the detection equipment. At the same time, the rotary flap can optimize the towing force distribution of the platform, reduce the load of the towing cable, and extend the service life of the equipment.

[0043] In some optional embodiments, as Figure 3 shown, a pitch drive assembly is provided on the second platform 2, and part of the pitch drive assembly is received in the first platform 1. Specifically, as Figure 2 shown, the pitch drive assembly includes a pitch rotary actuator 93, a transmission part 92 and a pitch rotary shaft 91 arranged in the first platform 1, and the pitch rotary shaft 91 is connected to the transmission part 92 and the second platform 2.

[0044] In some preferred embodiments, attitude sensors are provided on both the first platform 1 and the second platform 2. Specifically, a controller is arranged inside the first platform 1, and the controller is signal-connected to the attitude sensor, the pitch drive assembly and the roll drive part.

[0045] It should be noted that the controller can drive the pitch drive assembly and the roll drive part in real time according to the attitudes of the first platform 1 and the second platform 2 to adjust the attitude of the towing platform.

[0046] In some optional embodiments, as Figure 1 and Figure 2 shown, a roll adjustment assembly 3 is provided at one end of the first platform 1, and a counterweight 6 is provided at the other end.

[0047] Furthermore, a head connector 7 and a tail connector 8 are respectively provided at the front and rear ends of the first platform 1. One end of the tail connector 8 is connected to the head connector 7, and the other end is used for connecting to a towing cable. Preferably, a load-bearing chain 11 is provided inside the first platform 1, and both ends of the load-bearing chain 11 are respectively connected to the head connector 7 and the tail connector 8.

[0048] It can be understood that the towing force is transmitted to the towing cable through the head connector 7, the load-bearing chain 11, and the tail connector 8.

[0049] In a second aspect, the present application provides an underwater towing system, which includes: a towing cable and a towing platform. The towing platform includes: a first platform 1, a second platform 2, and a roll adjustment assembly 3; wherein,

[0050] The first platform 1 is used for connecting to a towing cable. The second platform 2 is rotatably connected to the first platform 1. A detection device is provided on the second platform 2. The second platform 2 can rotate relative to the first platform 1 in the pitch plane to adjust the attitude of the detection device in the pitch direction; the roll adjustment assembly 3 is installed on the second platform 2, and the roll adjustment assembly 3 is used to cooperate with the second platform 2 to adjust the attitude of the second platform 2 in the roll direction so that the detection device maintains a preset angle with the water surface.

[0051] Specifically, as Figure 1 shown, the first platform 1 is arranged horizontally, and the second platform 2 is arranged vertically in the initial state.

[0052] It should be noted that the above-mentioned pitch direction refers to the direction in which the towing platform rotates around its transverse axis. The transverse axis is an axis extending from one side of the first platform 1 to the other side. The change in the pitch direction is manifested as the "raising the head" or "lowering the head" movement of the first platform 1. The roll direction refers to the direction in which the towing platform rotates around its longitudinal axis. The longitudinal axis is an axis extending from the front end to the rear end of the first platform 1, and the change in the roll direction is manifested as the "tilting" movement of the towing platform. The front and rear ends of the first platform 1 are respectively the head and tail ends, and both ends are respectively used for towing load-bearing and connecting the towing cable.

[0053] It is worth noting that the first platform 1 is used for towing load-bearing, installing control and acquisition circuit modules, and installing the rotation actuator of the second platform 2. The second platform 2 is used for installing detection loads and the roll adjustment assembly 3. The second platform 2 can rotate relative to the horizontally arranged first platform 1 in the pitch plane to maintain the pitch attitude of the second platform 2.

[0054] In some specific embodiments, the roll adjustment assembly 3 includes: a rotary flap 31 and a roll drive part; wherein,

[0055] A rotating flap 31, which is rotatably connected to the second platform 2; A roll drive unit, which is arranged inside the second platform 2, the roll drive unit is connected to the rotating flap 31, and the roll drive unit is used to drive the rotating flap 31 to rotate in the roll direction.

[0056] It should be noted that the above specific implementation adopts a dual adjustment method combining the self-rotation of the second platform 2 and the independent rotation of the rotating flap 31, which can enable the second platform 2 to maintain a stable towing attitude even under a large range of changes in towing speed and complex working environments, and can effectively solve the problems of low detection accuracy and poor data acquisition quality of the detection load in complex working environments and variable sailing speed conditions.

[0057] Specifically, the roll drive unit includes: a flap rotation actuator 4 and a flap rotation shaft 5; wherein,

[0058] The flap rotation actuator 4 is arranged inside the second platform 2; One end of the flap rotation shaft 5 is connected to the flap rotation actuator 4, and the flap rotation shaft 5 is connected to the rotating flap 31.

[0059] It should be noted that the rotating flap adjusts the force of the water flow by changing its angle, thereby achieving precise control of the platform attitude. In a complex water flow environment, the rotating flap can adjust the platform attitude in real time, resist the interference of the water flow to the platform, maintain the stability of the platform, reduce the swing of the platform at the same time, and ensure the stable operation of the detection equipment. At the same time, the rotating flap can optimize the towing force distribution of the platform, reduce the load of the towing cable, and extend the service life of the equipment.

[0060] In some optional embodiments, such as Figure 3 shown, a pitch drive assembly is provided on the second platform 2, and part of the pitch drive assembly is received inside the first platform 1. Specifically, as Figure 2 shown, the pitch drive assembly includes a pitch rotation actuator 93, a transmission part 92 and a pitch rotation shaft 91 arranged inside the first platform 1, and the pitch rotation shaft 91 is connected to the transmission part 92 and the second platform 2.

[0061] In some preferred embodiments, attitude sensors are provided on both the first platform 1 and the second platform 2. Specifically, a controller is arranged inside the first platform 1, and the controller is signal-connected to the attitude sensor, the pitch drive assembly and the roll drive unit.

[0062] It should be noted that the controller can drive the pitch drive assembly and the roll drive unit to adjust the attitude of the towing platform in real time according to the attitudes of the first platform 1 and the second platform 2.

[0063] In some optional embodiments, such as Figure 1 and Figure 2As shown, one end of the first platform 1 is provided with the roll adjustment assembly 3, and the other end is provided with the counterweight 6.

[0064] Further, the front and rear ends of the first platform 1 are respectively provided with a head connector 7 and a tail connector 8. One end of the tail connector 8 is connected to the head connector 7, and the other end is used for connecting to a towing cable. Preferably, a load-bearing chain 11 is arranged inside the first platform 1, and both ends of the load-bearing chain 11 are respectively connected to the head connector 7 and the tail connector 8.

[0065] It can be understood that the towing force is transmitted to the towing cable through the head connector 7, the load-bearing chain 11 and the tail connector 8.

[0066] In summary, in this application, by installing the detection device on the second platform that can perform rotational pitching motion relative to the first platform for bearing force, the second platform maintains a stable attitude within a larger speed range, thereby ensuring the detection accuracy. Further, in this application, by arranging a roll adjustment assembly on the second platform to cooperate with the pitching motion on the second platform, the platform attitude maintains higher accuracy and stronger anti-environmental interference ability, so as to adapt to a wider range of towing speeds and more severe working environments, and maintain a stable towing attitude, which can meet the more stringent use conditions of the load, effectively improve the data acquisition quality and detection accuracy of the load.

[0067] In the description of this application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application. Unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0068] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0069] The above are only specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A towed platform with attitude stability in a wide speed range, characterized in that, Comprising: A first platform (1) for connecting with a towing cable; A second platform (2) rotatably connected to the first platform (1), with a detection device provided on the second platform (2). The second platform (2) can perform a rotational movement in the pitch plane relative to the first platform (1) to adjust the attitude of the detection device in the pitch direction; A roll adjustment assembly (3) installed on the second platform (2), and the roll adjustment assembly (3) is used to adjust the attitude of the second platform (2) in the roll direction so that the detection device maintains a preset angle with the water surface.

2. The wide-speed-range attitude-stable towed platform according to claim 1, characterized in that The roll adjustment assembly (3) includes: A rotary flap (31) rotatably connected to the second platform (2); A roll drive part provided inside the second platform (2), the roll drive part is connected to the rotary flap (31), and the roll drive part is used to drive the rotary flap (31) to rotate in the roll direction.

3. The wide-speed-range attitude-stable towing platform according to claim 2, wherein, The roll drive part includes: A flap rotary actuator (4) provided inside the second platform (2); A flap rotary shaft (5), one end of which is connected to the flap rotary actuator (4), and the flap rotary shaft (5) is connected to the rotary flap (31).

4. The wide-speed-range attitude-stable towing platform according to claim 2, characterized in that: A pitch drive assembly is provided on the second platform (2), and part of the pitch drive assembly is received inside the first platform (1).

5. The wide-speed-range attitude-stable towing platform according to claim 4, characterized in that: Attitude sensors are provided on both the first platform (1) and the second platform (2).

6. The wide-speed-range attitude-stable towing platform according to claim 5, characterized in that: A controller is provided inside the first platform (1), and the controller is signal-connected to the attitude sensors, the pitch drive assembly, and the roll drive part.

7. The wide-speed-range attitude-stable towing platform according to claim 1, characterized in that: One end of the first platform (1) is provided with the roll adjustment assembly (3), and the other end is provided with a counterweight (6).

8. The wide-speed-range attitude-stable towing platform according to claim 1, wherein: A head connector (7) and a tail connector (8) are respectively provided at the front end and the rear end of the first platform (1). One end of the tail connector (8) is connected to the head connector (7), and the other end is used to connect to a towing cable.

9. The wide-speed-range attitude-stable towed platform according to claim 8, wherein: A load-bearing chain (11) is provided inside the first platform (1), and both ends of the load-bearing chain (11) are respectively connected to the head connector (7) and the tail connector (8).

10. An underwater towing system, characterized in that, Comprising: The towing platform according to any one of claims 1-9.

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