Intelligent underway CTD system

Abstract

The application discloses a kind of intelligent sailing type temperature-salinity-depth profile measurement systems, including deck unit, intelligent winch and tow body, deck unit is set in cabin, deck unit is electrically connected with intelligent winch and tow body respectively, the operation of control intelligent winch and tow body, real-time display, store and measure data and system state;Intelligent winch is installed on the stern deck of ship, for storing and paying off tow cable;Tow body is connected with intelligent winch through tow cable, and temperature-salinity-depth sensor and altimeter are installed in tow body, real-time measurement seawater temperature, conductivity and the height of tow body from seabed;Deck unit controls intelligent winch to pay off tow cable, and places tow body into seawater to carry out temperature-salinity profile automatic measurement, in the sailing range of ship, deck unit repeatedly controls intelligent winch to pay off cable and pay off cable quickly, realizes to carry out large-scale fast profile investigation to ocean, can be continuously monitored, need not fixed berth, and can be recycled, easy to operate.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of ocean exploration, in particular to an intelligent underway temperature-salinity-depth profile measuring system. BACKGROUND

[0002] Temperature, conductivity and salinity are important parameters reflecting the physical characteristics of the ocean and are the most basic and important elements of ocean hydrological investigation. A CTD profiler is a main traditional instrument for observing the temperature and salinity profile of seawater. The CTD profiler can be launched at a fixed observation point to obtain the temperature and conductivity of seawater at different depths, and can calculate the salinity, density and sound speed information of the ocean. The information of seawater temperature, conductivity, salinity, density and acoustics is of great significance to marine scientific research, marine engineering development, military application and marine environmental protection.

[0003] The existing temperature-salinity-depth investigation equipment mainly includes a CTD profiler, a towed multi-parameter profile measuring system, an XCTD and a UCTD.

[0004] The CTD profiler is launched to obtain the temperature and salinity profile data under the condition that the ship reaches the predetermined point according to the planned observation point. The CTD profiler has the advantages of high precision and large profile depth, but has the disadvantages of manual operation, low efficiency and time and labor consumption.

[0005] The towed multi-parameter profile measuring system realizes the wave-like trajectory motion of a towed body by controlling the wing angle of the towed body during the underway process of a ship, and the temperature and conductivity data of seawater are obtained by the temperature and salinity sensors in the towed body. The towed multi-parameter profile measuring system has the characteristics of high efficiency and continuous operation. The disadvantage is that the equipment for meeting the large-depth profile measurement is large in size and complex in operation.

[0006] The XCTD is a disposable device, which can be used to obtain the large-area ocean temperature and salinity parameters in the sailing state of a platform (a ship, an airplane, a submarine, etc.). The XCTD has the characteristics of real-time, rapidness, wide range and low cost. The profile investigation station density set by a general investigation voyage is low. In recent years, the UCTD developed at home and abroad is a new type of shipborne ocean investigation equipment, the probe of which can be launched and retrieved through a special deck device during the sailing of a ship, and the continuous small-scale and high-precision temperature-salinity-depth profile data can be obtained without consuming sailing time. Compared with the traditional investigation method, the investigation efficiency can be significantly improved. The disadvantage is that the data cannot be obtained in real time, manual data export is required, and manual operation is required for each profile, and the automation performance is poor.

[0007] Therefore, there is a need for a smart walk-type temperature-salinity-depth profile measurement system that can continuously monitor, does not require fixed docking points, is recyclable, and is easy to operate to solve the above technical problems. SUMMARY

[0008] The present application provides a smart walk-type temperature-salinity-depth profile measurement system that can continuously monitor, does not require fixed docking points, is recyclable, and is easy to operate to solve the above technical problems.

[0009] The present application provides the following technical solutions: a smart walk-type temperature-salinity-depth profile measurement system, comprising: a deck unit, an intelligent winch, and a tow body, the deck unit is arranged in a ship cabin, the deck unit is electrically connected with the intelligent winch and the tow body respectively, controls the operation of the intelligent winch and the tow body, and displays and stores measurement data and system status in real time; the intelligent winch is installed on the stern deck of a ship, and is used for storing and winding and unwinding a tow cable; the tow body is connected with the intelligent winch through the tow cable, the tow body is internally provided with a temperature-salinity-depth sensor and an altimeter, and is used for measuring seawater temperature, conductivity, and the height of the tow body from the seabed in real time; the deck unit controls the intelligent winch to wind and unwind the tow cable, and places the tow body into seawater to automatically measure a temperature-salinity profile; during the voyage of the ship, the deck unit repeatedly controls the intelligent winch to quickly wind and unwind the cable, realizes large-scale and rapid profile investigation of the ocean, can continuously monitor, does not require fixed docking points, is recyclable, and is easy to operate.

[0010] As an optional solution of the intelligent underway CTD profile measurement system, the intelligent winch comprises a winch base and a drum assembly, an intelligent cable arrangement adjuster, a rotating boom and a control box arranged on the winch base, the rotating boom is rotatably arranged relative to the winch base, the control box is internally provided with a driving mechanism for driving the drum assembly, the intelligent cable arrangement adjuster and the rotating boom, and controls the operation of the three, the drum assembly is used for winding and unwinding the tow cable, the intelligent cable arrangement adjuster is used for adjusting the direction and arrangement amount of the tow cable from the drum assembly, and the rotating boom is used for adjusting the direction of the tow cable output by the intelligent cable arrangement adjuster and supporting the tow cable, so as to control the winding and unwinding of the tow body connected with the tow cable. The drum assembly comprises a drum and a first wire guide wheel, the tow cable is wound on the drum, and the first wire guide wheel is used for guiding the tow cable to the drum. The intelligent cable arrangement adjuster comprises a ball screw assembly, a first steering guide wheel, a first guide-out guide wheel, a servo motor, an encoder and an angle sensor, the servo motor adjusts the rotating speed of the ball screw assembly in real time based on the rotating speed of the drum assembly, and the rotating speed is fed back in real time through the angle sensor, so that the intelligent synchronous cable arrangement is realized, the encoder measures the arrangement speed and arrangement amount of the tow cable by measuring the rotating speed of the first steering guide wheel, and the tow cable on the first steering guide wheel is guided out to the rotating boom through the first guide-out guide wheel. The rotating boom comprises an L-shaped boom, a second steering guide wheel, a second guide-out guide wheel and a servo motor, one end of the L-shaped boom is rotatably connected with the winch base, the second steering guide wheel is arranged at the bending part of the L-shaped boom, the second guide-out guide wheel is arranged at the end of the L-shaped boom away from the winch base, and the tow cable passes through the second steering guide wheel and the second guide-out guide wheel and is connected with the tow body. The tow body comprises a streamlined shell, a tow rod, an electronic cabin, a CTD sensor and an altimeter, the tow rod is rotatably connected with the streamlined shell, the tow rod is connected with the tow cable, the electronic cabin, the CTD sensor and the altimeter are arranged in the streamlined shell, the electronic cabin integrates a power board and a data acquisition board, and the data collected by the tow body is stored and transmitted to the deck unit.

[0011] As an optional solution of the intelligent underway CTD profile measurement system, the rotating boom further comprises a limit sensor and a tow cable tensioning device, the limit sensor is arranged at the connection between the rotating boom and the intelligent cable arrangement adjuster, and is used for limiting the tow cable, and the tow cable tensioning device is arranged at the tow cable output end of the rotating boom, and is used for keeping the tow cable with a certain tension, so as to ensure that the cable arrangement is neat.

[0012] As an optional solution of the intelligent underway CTD profile measurement system, the drum assembly adopts an outer rotor motor direct drive, the drum is directly fixed to the rotor of the motor, and the motor stator and the motor shaft are integrally fixed on the winch base.

[0013] As an optional solution of the intelligent underway CTD profile measurement system, the streamlined shell adopts metal or non-metal as the material, and adopts NACA standard line type as the line type.

[0014] As an optional solution of the intelligent underway CTD profile measurement system, the deck unit controls the releasing speed, releasing, collecting, stopping and starting actions of the towed cable according to the ship running speed and the water flow speed, the releasing speed is equal to the product of the negative n power of time and the constant e, plus the ship running speed, plus the water flow speed, e and n are constants, determined by the underwater weight of the towed body, the drag coefficient, the towed cable drag coefficient, after starting the intelligent winch, the deck unit sends the releasing command, the speed instruction is sent once per second according to the above releasing line speed calculation method, and whether the depth reaches the set lower limit value is judged in real time according to the received temperature, conductivity and depth data, after reaching, the stopping instruction is sent, after releasing, the collecting instruction is sent, when collecting, the cable tension size monitored by the intelligent winch is controlled to keep the constant tension collecting, the winch releasing and collecting speed real-time automatic control model is established, in the ship underway process, the high-speed winch releasing and collecting speed is controlled in real time through the deck unit, so that the towed body realizes the approximate free fall and rapid recovery under water, the temperature, conductivity and depth of the towed body are measured in real time by the temperature, salinity and depth sensor installed in the towed body, and the automatic profile measurement of the ocean temperature and salinity is realized quickly and efficiently.

[0015] The present application has the following advantages:

[0016] 1. The intelligent underway CTD profile measurement system repeatedly controls the intelligent winch to release and collect the cable quickly in the ship underway process, realizes the large-range rapid profile investigation of the ocean, can continuously monitor, does not need fixed docking points, and can be recycled, and is simple to operate.

[0017] 2. The intelligent underway CTD profile measurement system realizes the high-speed releasing and large-torque collecting of the cable through the establishment of the winch releasing and collecting speed automatic control function, the design of the roller integrated direct drive motor, the design of the intelligent cable arranging device and the towed cable tensioning device, and can realize the automatic and neat cable arranging. The automatic measurement of the large-depth and high-precision temperature and salinity profile can be realized quickly and efficiently, and manpower, material resources and financial resources are saved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic view of the first angle of the whole application.

[0019] Figure 2 It is a structural schematic view of the second angle of the whole application.

[0020] Figure 3 It is a structural schematic view of the third angle of the whole application.

[0021] Figure 4 It is a structural schematic view of the fourth angle of the whole application.

[0022] Figure 5 Structure diagram of the fifth angle of the whole application.

[0023] Figure 6 Structure diagram of the sixth angle of the whole application.

[0024] Figure 7 Structure diagram of the intelligent adjusting cable arranging device in the application.

[0025] Figure 8 Structure diagram of the supporting body in the application.

[0026] Figure 9 Structure diagram of the supporting body in the application.

[0027] Figure 10 Structure diagram of the supporting body in the application.

[0028] In the figure: 1, winch base; 2, drum assembly; 3, intelligent adjusting cable arranging device; 4, rotating boom; 5, control box; 6, L-shaped boom; 7, tow cable tensioning device; 8, limit sensor; 9, ball screw assembly; 10, first turning guide wheel; 11, first wire guide wheel; 12, drum; 13, first leading guide wheel; 14, second turning guide wheel; 15, second leading guide wheel; 16, streamlined shell; 17, tow rod; 18, electronic cabin; 19, temperature-salinity-depth sensor. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0030] Please refer to Figures 1-10 The intelligent underway temperature-salinity-depth profile measurement system comprises a deck unit, an intelligent winch and a tow body. The deck unit is arranged in a ship cabin and is electrically connected with the intelligent winch and the tow body, controls the operation of the intelligent winch and the tow body, and displays and stores measurement data and system states in real time. The intelligent winch is installed on a tail deck of a ship and is used for storing and winding and unwinding a tow cable. The tow body is connected with the intelligent winch through the tow cable and is controlled by the deck unit to be lowered and recovered through the tow cable. The tow body is internally provided with a temperature-salinity-depth sensor and an altimeter, and is used for measuring seawater temperature, conductivity and the height of the tow body from the sea bottom in real time. The deck unit controls the intelligent winch to wind and unwind the tow cable, and places the tow body into seawater to automatically measure a temperature-salinity profile. During the underway of the ship, the deck unit repeatedly controls the intelligent winch to quickly wind and unwind the cable, so that a large range of the ocean can be quickly profiled.

[0031] The deck unit is composed of an industrial control computer, a power module, a satellite positioning system and display control software. The industrial control computer is used to control the intelligent winch and the towed body, obtain the towed body monitoring data, the intelligent winch state data and the satellite positioning system data through a standard serial port (RS232 / 485 serial port), establish a winch winding and unwinding speed real-time control model, calculate the model through the microprocessor inside the computer, and output the model to the intelligent winch through the serial port. The power module is used to convert 220V AC power into DC current and supply power to the electrical equipment in the towed body through the tow cable. The satellite positioning system obtains the ship position and speed data in real time and stores the data in the display control software database. The display control software is arranged on the industrial control computer, realizes the control and data interaction of the intelligent winch and the towed body through human-computer operation, a display interface, a database and a control algorithm, and provides functions of data receiving, processing, display, storage and issuing as the visual control system of the underway CTD instrument. Real-time online data display and monitoring can be realized, a friendly graphical data display interface and a graphical human-computer interaction interface are provided, the operator can operate simply and control accurately, and the safety and ease of use of the system operation are improved. The data is stored and played back in real time. The satellite navigation positioning signals, the current water depth data and other information provided by the ship platform can be received, stored and displayed, the data measured by the sensor can be received, stored, preprocessed and sent, the intelligent winch can be controlled, and the measurement task can be arranged. The above can be realized by using existing equipment, and thus the application will not be described in detail.

[0032] It should be noted that the intelligent winch comprises a winch base 1, a drum assembly 2, an intelligent adjusting cable dispenser 3, a rotating boom 4 and a control box 5 arranged on the winch base 1, the rotating boom 4 is rotatably arranged relative to the winch base 1, the control box 5 is internally provided with a driving mechanism for driving the drum assembly 2, the intelligent adjusting cable dispenser 3 and the rotating boom 4, and controls the operation of the three, the drum assembly 2 is used to wind and unwind the tow cable, the intelligent adjusting cable dispenser 3 is used to adjust the direction and amount of the tow cable from the drum assembly 2, and the rotating boom 4 is used to adjust the direction of the tow cable output by the intelligent adjusting cable dispenser 3 and support the tow cable, thereby controlling the winding and unwinding of the towed body connected to the tow cable. The drum assembly 2 comprises a drum 12 and a first wire guide wheel 11, the tow cable is wound on the drum 12, and the first wire guide wheel 11 is used to guide the tow cable to the drum 12. The drum assembly 2 is directly driven by an outer rotor motor, the drum 12 is directly fixed to the rotor of the motor, the motor stator and the motor shaft are integrally fixed on the winch base 1, and the motor stator and the motor shaft are integrally fixed on the winch base 1. The advantages are simple structure, light weight and compact structure. The tow cable is neatly wound on the drum 12, and sequentially connected to the towed body through the intelligent adjusting cable dispenser 3 and the rotating boom 4. The motor drive in the control box 5 controls the integrated motor of the drum 12 and the motor of the intelligent cable dispenser 3 to operate synchronously, so as to realize the rapid discharge and recovery of the tow cable.

[0033] The intelligent adjusting cable discharging device 3 comprises a ball screw assembly 9, a first steering guide wheel 10, a first guide-out guide wheel 13, a servo motor, an encoder and an angle sensor. The servo motor adjusts the rotating speed of the ball screw assembly 9 in real time based on the rotating speed of the winch assembly 2, and the rotating speed is fed back in real time through the angle sensor, so that intelligent synchronous cable discharging is realized. The encoder measures the rotating speed of the first steering guide wheel 10 to measure the cable discharging speed and the cable discharging amount. The tow cable on the first steering guide wheel 10 is guided out to the rotating boom 4 through the first guide-out guide wheel 13. The rotating boom 4 comprises an L-shaped boom 6, a second steering guide wheel 14, a second guide-out guide wheel 15 and a servo motor. One end of the L-shaped boom 6 is rotatably connected to the winch base 1. The L-shaped boom 6 is driven to rotate by the servo motor through manual or automatic control, so as to realize the recovery and deployment of the tow body. The second steering guide wheel 14 is arranged at the bending part of the L-shaped boom 6, and the second guide-out guide wheel 15 is arranged at the end of the L-shaped boom 6 away from the winch base 1. The tow cable passes through the second steering guide wheel 14 and the second guide-out guide wheel 15 and is connected to the tow body. The rotating boom 4 further comprises a limiting sensor 8 and a tow cable tensioning device 7. The limiting sensor 8 is arranged at the connection between the rotating boom 4 and the intelligent adjusting cable discharging device 3, and is used for limiting the tow cable and detecting whether the L-shaped boom 6 is deployed or recovered to the position. The tow cable tensioning device 7 is used for keeping the tow cable with a certain tension, so as to ensure that the cable is neat. The rotating boom 4 further comprises a cable cleaning device. The cable cleaning device flushes the cable by connecting to fresh water, so as to reduce the corrosion of seawater on the cable.

[0034] The tow body comprises a streamlined shell 16, a tow rod 17, an electronic cabin 18, a temperature-salinity-depth sensor 19 and an altimeter. The tow rod 17 is rotatably connected to the streamlined shell 16, and the tow rod 17 is connected to the tow cable. The electronic cabin 18, the temperature-salinity-depth sensor 19 and the altimeter are all arranged inside the streamlined shell 16. The electronic cabin 18 integrates a power board and a data acquisition board, and is used for storing the data collected by the tow body and transmitting the data to the deck unit.

[0035] The working principle of the intelligent underway temperature-salinity-depth profile measurement system is as follows:

[0036] S1: The deck unit is connected to the intelligent winch through a cable. The deck unit and the intelligent winch are powered by the loaded ship. The deck unit and the intelligent winch are started. The deck unit establishes a power supply and communication link with the tow body and the intelligent winch through the cable, the tow cable and the intelligent winch.

[0037] S2: After the ship arrives at the investigation sea area, the intelligent winch is controlled through a wireless remote control terminal to collect the cable, and the tow body is lifted to a certain height above the deck (higher than the height of the stern deck fence).

[0038] S3: The L-shaped boom 6 of the intelligent winch is controlled through a wireless remote control terminal to rotate 180 degrees, and the tow body is lifted to the water surface (higher than the height of the stern deck fence).

[0039] S4: Control the intelligent winch through the wireless remote control terminal to release the cable and put the towed body into the water. The water entry depth is determined according to the investigation work requirement.

[0040] S5: Operate on the deck unit, set the profile depth range, work speed and profile quantity according to the investigation work plan.

[0041] S6: After the setting, accelerate the ship to the investigation plan speed, start the system automatic profile sampling work; the deck unit repeatedly controls the intelligent winch to complete the fast cable release and cable collection according to the release and collection speed control model.

[0042] S7: After completing the profile sampling, control the intelligent winch through the wireless remote control terminal to collect the cable and recover the towed body to above the deck surface.

[0043] S8: Rotate the L-shaped boom 6 to the inside of the deck through the wireless remote control terminal, control the intelligent winch to release the cable and put the towed body on the deck to complete the equipment recovery.

[0044] It should be further explained that the display control software in the deck unit integrates the winch automatic control algorithm. After setting the profile measurement depth upper limit and depth lower limit, ship speed and flow rate on the display control software interface, the speed control, cable release, cable collection, stop and start instructions are automatically issued according to the winch automatic control algorithm. The speed control formula is: wherein, is the winch cable release speed; t is the time, starting from 0, with an interval of 1 second; is the ship sailing speed; is the flow rate, negative for the same direction as the ship sailing direction and positive for the opposite direction; e, n are constants determined by the weight in water of the towed body, drag coefficient and tow cable drag coefficient.

[0045] Start the winch and send the cable release command. According to the speed control formula, send the speed instruction once every second. At the same time, according to the received temperature, conductivity and depth data, judge whether the depth reaches the set depth lower limit value in real time. After reaching, send the stop command to control the motor to slow down and brake. After the motor stops, send the cable collection command and the motor rotates in the opposite direction to collect the cable. When collecting the cable, control according to the special cable tension size monitored by the intelligent winch to maintain constant tension cable collection. When releasing and collecting the cable, the motor driver in the control box 5 controls the integrated motor of the reel 12 and the motor of the intelligent cable adjuster 3 to run synchronously, realizing the fast release and recovery of the tow cable.

[0046] It is to be noted that, in the present text, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0047] The above description is merely preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, some improvements and refinements can be made without departing from the technical principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. An intelligent underway CTD system, comprising: The application relates to a deck unit, an intelligent winch and a towed body. The deck unit is arranged in a cabin of a ship, and is electrically connected with the intelligent winch and the towed body respectively, controls the operation of the intelligent winch and the towed body, and displays and stores measurement data and system states in real time. The intelligent winch is arranged on a tail deck of the ship, and is used for storing and winding / unwinding the towed cable. The towed body is connected with the intelligent winch through the towed cable, and is internally provided with a temperature-salinity-depth sensor and an altimeter, which are used for measuring the seawater temperature, the conductivity and the height of the towed body from the sea bottom in real time. The deck unit controls the intelligent winch to wind / unwind the towed cable, and places the towed body into seawater to automatically measure the temperature-salinity profile. The deck unit controls the towed cable to be unwound at a speed, to be unwound, to be wound, to be stopped and to be started according to the ship speed and the water flow speed, the unwinding speed is equal to the product of the negative n-th power of time and a constant e, plus the ship speed, plus the water flow speed, e and n are constants, determined by the water weight of the towed body, a drag coefficient and a towed cable drag coefficient, after the intelligent winch is started, the deck unit sends an unwinding command, the speed instruction is sent once per second according to the unwinding speed calculation mode, meanwhile, according to the received temperature, conductivity and depth data, whether the depth reaches the set depth lower limit value is judged in real time, after the depth reaches the set depth lower limit value, a stop command is sent, after the towed cable is unwound, a winding command is sent, when the towed cable is wound, the cable tension size monitored by the intelligent winch is used for control, and the towed cable is wound with constant tension. The intelligent winch comprises a winch base (1), a drum assembly (2), an intelligent adjusting cable dispenser (3), a rotating hoist arm (4) and a control box (5) arranged on the winch base (1), the rotating hoist arm (4) is rotatably arranged relative to the winch base (1), the control box (5) is internally provided with driving mechanisms for driving the drum assembly (2), the intelligent adjusting cable dispenser (3) and the rotating hoist arm (4), and controls the operation of the three, the drum assembly (2) is used for winding / unwinding the towed cable, the intelligent adjusting cable dispenser (3) is used for adjusting the direction and the amount of the towed cable from the drum assembly (2), and the rotating hoist arm (4) is used for adjusting the direction of the towed cable output by the intelligent adjusting cable dispenser (3) and supporting the towed cable, thereby controlling the winding / unwinding of the towed body connected with the towed cable.

2. The intelligent underway CTD system of claim 1, wherein, The drum assembly (2) comprises a drum (12) and a first wire guide wheel (11), the towed cable is wound on the drum (12), and the first wire guide wheel (11) is used for guiding the towed cable to the drum (12).

3. The intelligent underway CTD system of claim 2, wherein, The intelligent adjusting cable dispenser (3) comprises a ball screw assembly (9), a first steering guide wheel (10), a first guide-out guide wheel (13), a servo motor, an encoder and an angle sensor, the servo motor adjusts the rotating speed of the ball screw assembly (9) in real time based on the rotating speed of the drum assembly (2), and the rotating speed is fed back in real time through the angle sensor, so that the intelligent synchronous cable dispensing is realized, the encoder measures the rotating speed of the first steering guide wheel (10) to measure the cable dispensing speed and the cable dispensing amount, and the towed cable on the first steering guide wheel (10) is guided out to the rotating hoist arm (4) through the first guide-out guide wheel (13).

4. The intelligent underway CTD system of claim 2, wherein, ​ 5. The intelligent underway CTD system of claim 2, wherein, The rotating boom (4) comprises an L-shaped boom (6), a second steering guide wheel (14), a second guide-out guide wheel (15) and a servo motor, one end of the L-shaped boom (6) is rotatably connected to the winch base (1), the second steering guide wheel (14) is arranged at the bending part of the L-shaped boom (6), the second guide-out guide wheel (15) is arranged at the end of the L-shaped boom (6) away from the winch base (1), and the towline passes through the second steering guide wheel (14) and the second guide-out guide wheel (15) and is connected to the tow body.

6. The intelligent underway CTD system of claim 5, wherein, The rotating boom (4) further comprises a limiting sensor (8) and a towline tensioning device (7), the limiting sensor (8) is arranged at the connection between the rotating boom (4) and the intelligent adjusting cable arranging device (3) and is used for limiting the towline, and the towline tensioning device (7) is arranged at the towline output end of the rotating boom and is used for keeping the towline with a certain tension and ensuring the neatness of the cable arrangement.

7. The intelligent underway CTD system of claim 1, wherein, The tow body comprises a streamlined shell (16), a tow rod (17), an electronic cabin (18), a temperature-salinity-depth sensor (19) and an altimeter, the tow rod (17) is rotatably connected to the streamlined shell (16), the tow rod (17) is connected to the towline, the electronic cabin (18), the temperature-salinity-depth sensor (19) and the altimeter are all arranged inside the streamlined shell (16), the electronic cabin (18) integrates a power board and a data acquisition board and is used for storing the data collected by the tow body and transmitting the data to the deck unit.

8. The intelligent underway CTD system of claim 3, wherein, The winch assembly (2) adopts an outer rotor motor direct drive, the winch (12) is directly fixed to the rotor of the motor, and the motor stator and the motor shaft are integrally fixed on the winch base (1).

9. The intelligent underway CTD system of claim 7, wherein, The streamlined shell (16) adopts metal or non-metal as the material and adopts NACA standard line type as the line type.

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