Marine towed body emergency obstacle avoidance mechanism and control method thereof

Abstract

The invention provides an ocean towed body emergency obstacle avoidance mechanism and a control method thereof, and relates to the technical field of ocean detection, the ocean towed body emergency obstacle avoidance mechanism comprises a towed body, a detection module and an emergency obstacle avoidance assembly are mounted at the bottom of the towed body, the emergency obstacle avoidance assembly comprises an obstacle monitoring module and a floating assembly, and the obstacle monitoring module is mounted at the head of the towed body. The system has the advantages of being rapid in response and high in obstacle avoidance efficiency, in the using process, risks are recognized through the obstacle monitoring module, a mother ship is linked to take up cables, the mother ship and a self-floating assembly act at the same time, wing plate unfolding and air bag inflation are included, multi-power lifting is achieved, and the rising time is greatly shortened; meanwhile, in cooperation with the original design of the water leakage hole assembly with an openable and closable sealing cover plate, holes of the water leakage hole assembly are opened during emergency rising, water flow is allowed to pass through, and therefore fluid resistance brought by the wing plates in the unfolded state is reduced, rising resistance is small, the rising speed is further increased, and the success rate of obstacle avoidance is ensured.

Description

Technical Field

[0001] This invention relates to the field of marine exploration technology, specifically to a marine towed body emergency obstacle avoidance mechanism and its control method. Background Technology

[0002] Marine towed bodies are commonly used underwater towed exploration equipment in fields such as marine geological surveys, underwater topographic mapping, and resource exploration. During towed operations, the detection modules (such as acoustic detection equipment) at the front of the towed body continuously detect seabed topography, landforms, or specific targets. However, in areas with complex seabed topography, especially in waters with seabed mountains, steep slopes, large reefs, or other protruding obstacles, the towed body may collide with obstacles during towed navigation, leading to equipment damage, data loss, or even operation interruption.

[0003] In existing technologies, marine towed bodies typically lack effective emergency obstacle avoidance mechanisms. Conventional practices mainly rely on mother ship operators using forward-looking sonar or towed body height monitoring data to adjust the towed body's height by retracting or extending tow cables when obstacles are detected. However, the cable retraction method has a slow response speed, making it difficult to quickly raise the towed body and increasing the risk of collisions.

[0004] To address the aforementioned issues, we propose an emergency obstacle avoidance mechanism for marine towed bodies and its control method. Summary of the Invention

[0005] To address the problems in the background art, the present invention provides a marine towed body emergency obstacle avoidance mechanism and its control method.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An emergency obstacle avoidance mechanism and control method for a marine towed body are disclosed. The towed body includes a detection module installed at its bottom and an emergency obstacle avoidance component. The emergency obstacle avoidance component includes an obstacle monitoring module and a floating component. The obstacle monitoring module is installed at the head of the towed body. The floating component is located at the upper middle part of the towed body and includes two sets of wing plates, which are movably installed on both sides of the upper end of the towed body. The wing plates are opened and closed by three sets of hydraulic rods. A flat-shaped first airbag is installed at both ends of the inner side of each wing plate. The first airbag is inflated by a high-pressure air cylinder. Multiple semi-circular extension airbags are connected to the outer side of the first airbag, and the first airbag and the extension airbags are interconnected.

[0007] The wing plate has two rows of water leakage hole assemblies in the middle. The two rows of water leakage hole assemblies are located in the middle between the first airbags on both sides. The water leakage hole assembly is composed of multiple diamond-shaped holes. Each hole of the water leakage hole assembly is movably installed with a sealing cover plate. The sealing cover plates in the two rows of water leakage hole assemblies are synchronously opened and closed by a drive assembly.

[0008] Preferably, a rotating shaft is movably installed on the inner center of each of the two rows of water leakage hole assemblies, and the sealing cover plates in the two rows of water leakage hole assemblies are respectively fixedly installed on the two sets of rotating shafts. The rotating shafts rotate, causing the sealing cover plates to rotate around the rotating shafts as the axis.

[0009] Preferably, a gearbox is provided at the right end of both sets of rotating shafts. The gearbox contains a transmission gear and a drive gear. The transmission gear is fixedly installed in the middle of the right end of the rotating shaft, and the transmission gear is meshed with the drive gear.

[0010] Preferably, the two sets of gearboxes are connected by the same drive shaft, which is driven by a motor, and the drive gears in both sets of gearboxes are fixedly mounted on the drive shaft.

[0011] Preferably, the upper end of the towing body has mounting cavities on both sides, the wing plate is located on the outer side of the mounting cavity, closing the wing plate seals the opening of the mounting cavity, the high-pressure air cylinder is installed in the mounting cavity and is limited and fixed by multiple sets of fasteners.

[0012] Preferably, the head end of the first airbag is provided with an inflation module and an exhaust module. The inflation module is connected to the air outlet of the high-pressure air cylinder through a pipe, and the air outlet of the exhaust module is connected to an exhaust head through a pipe. The exhaust head is located on the top of the tow body.

[0013] Preferably, the wingplate is configured as an arc-shaped structure, and when the two sets of wingplates are in the closed state, they combine with the tow body to form a cylindrical structure.

[0014] Preferably, a connecting plate is provided at the center of the top of the towing body, and multiple sets of lifting rings are provided at the top of the connecting plate. Preferably, a control method for a marine towed body emergency obstacle avoidance mechanism includes the following methods: During normal towing: the wing panels are in the closed state, the sealing cover is closed to cover the holes of the water leakage hole assembly, the first airbag and the extension airbag are not inflated, and the towing body maintains a low drag and low buoyancy state for detection operations; In emergency obstacle avoidance situations, the control methods include the following steps: S1. When the obstacle monitoring module detects a protruding obstacle in the tow body's travel path, it immediately sends a signal to the mother ship control system, and the mother ship raises the tow body by reeling in the cable. S2. When the mother ship is being retrieved, the floating components are activated simultaneously, the hydraulic rods extend, and the two side wing plates are pushed to unfold to a horizontal position. S3. During the wing plate opening process, the inflation valve of the high-pressure air cylinder is opened, and the high-pressure air cylinder inflates the first airbag and the extended airbag, generating huge buoyancy; at the same time, the drive components start synchronously, the motor starts, and drives the rotating shaft to rotate 90 degrees through the drive shaft, drive gear, and transmission gear, so that the sealing cover plate is erected and the hole of the water leakage hole component is opened; under the triple action of the mother ship's pulling force, airbag buoyancy, and reduced wing plate resistance, the towing body rises rapidly to avoid obstacles; S4. Reset after obstacle avoidance: After passing the obstacle, the mother ship releases the cable, the exhaust module works to expel the gas in the airbag, the hydraulic rod retracts, and the wing plate is pulled to close; finally, the motor reverses and drives the sealing cover to rotate 90 degrees to reseal the water leakage hole assembly; at this time, the tow body quickly sinks under the condition of reduced buoyancy and reduced resistance, returns to the predetermined working depth, and continues to perform the exploration mission.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention features rapid response and high obstacle avoidance efficiency. During use, the obstacle monitoring module identifies risks and coordinates the mother ship's mooring and its own floating components to move simultaneously, including wing deployment and airbag inflation, achieving multiple power boosts and greatly shortening ascent time. At the same time, the unique design of the water leakage hole component with an openable and closable sealing cover allows water to flow through when ascending in an emergency, thereby reducing fluid resistance caused by the wing deployment state, resulting in low ascent resistance, further improving ascent speed, and ensuring the success rate of obstacle avoidance. In addition, after obstacle avoidance is completed, the tow body can be quickly restored to a state of low resistance and low buoyancy by deflating the airbag, closing the wing plate, and sealing the water leakage hole. This facilitates rapid sinking to the working depth and minimizes the operation interruption time caused by obstacle avoidance. As a result, the invention can be quickly reset and has good operational continuity. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a side sectional view of the floating component in this invention; Figure 3 This is a schematic diagram of the structure of the wing plate in the deployed state in this invention; Figure 4 For the present invention Figure 3 Enlarged schematic diagram of a local part of the structure; Figure 5 This is a schematic diagram of the structure of each component on the back of the wing plate in this invention; Figure 6 For the present invention Figure 5 Enlarged schematic diagram of a local part of the structure; Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle.

[0017] In the diagram: 1. Towing body; 2. Detection module; 3. Obstacle monitoring module; 4. Connecting plate; 5. Lifting ring; 6. Wing plate; 7. Mounting cavity; 8. High-pressure air cylinder; 9. Fastener; 10. Hydraulic rod; 11. First airbag; 12. Extension airbag; 13. Inflation module; 14. Exhaust module; 15. Exhaust head; 16. Leakage hole assembly; 17. Sealing cover plate; 18. Rotating shaft; 19. Gearbox; 20. Transmission gear; 21. Drive gear; 22. Drive shaft; 23. Motor. Detailed Implementation

[0018] The technical solution in this application embodiment is to solve the problems mentioned in the background art, and the overall idea is as follows: Example: Refer to Figure 1 - Figure 7 As shown, this embodiment of an emergency obstacle avoidance mechanism and control method for a marine towed body includes a towed body 1. A detection module 2 is installed at the bottom of the towed body 1. The detection module 2 adopts existing mature technologies, including detectors such as multibeam echo sounders and side-scan sonar, and is mainly used for seabed exploration. Furthermore, a connecting plate 4 is provided at the top center of the towed body 1. Multiple sets of lifting rings 5 ​​are provided at the top of the connecting plate 4. The lifting rings 5 ​​are used to connect to the tow cable of a mother ship, enabling the mother ship to tow the towed body 1 for towing and exploration work in the ocean.

[0019] The emergency obstacle avoidance component includes an obstacle monitoring module 3 and a floating component. The obstacle monitoring module 3 is installed at the head of the tow body 1. The obstacle monitoring module 3 includes forward-looking obstacle avoidance sonar and other equipment, which are mainly used to detect obstacles on the navigation path in real time and feed back signals to the mother ship's control system.

[0020] The floating assembly is located at the upper middle part of the tow body 1. The floating assembly includes two sets of wing plates 6, which are movably installed on both sides of the upper end of the tow body 1. The wing plates 6 are pushed by three sets of hydraulic rods 10 to open and close. Each set of wing plates 6 is driven by three hydraulic rods 10 and can rotate around the hinge point, thereby switching between the closed and deployed states. When the wing plates 6 are closed, they are set as an arc-shaped structure. When the two sets of wing plates 6 are in the closed state, they will fit against the tow body 1 and combine with the tow body 1 to form a cylindrical structure, reducing the drag during towing.

[0021] In some examples, mounting cavities 7 are provided on both sides of the upper end of the towing body 1. The wing plate 6 is located on the outer side of the mounting cavity 7. Closing the wing plate 6 seals the opening of the mounting cavity 7. The high-pressure air cylinder 8 is installed in the mounting cavity 7 and is fixed by multiple sets of fasteners 9. The head end of the first airbag 11 is provided with an inflation module 13 and an exhaust module 14. The inflation module 13 is connected to the air outlet of the high-pressure air cylinder 8 through a pipe. The air outlet of the exhaust module 14 is connected to an exhaust head 15 through a pipe. The exhaust head 15 is located on the top of the towing body 1. Flat first airbags 11 are installed on both ends of the inner side of the wing plate 6. The first airbag 11 is inflated by the high-pressure air cylinder 8. Multiple sets of semi-circular extension airbags 12 are connected to the outer side of the first airbag 11. The first airbag 11 and the extension airbags 12 are interconnected.

[0022] During use, the first airbag 11 can be inflated by the high-pressure air cylinder 8. Since the first airbag 11 and the extension airbag 12 are interconnected, the extension airbag 12 can be inflated at the same time. The main function of the extension airbag 12 is to enhance the inflation space and enhance the buoyancy effect. The miniaturized design of multiple extension airbags 12 mainly avoids the airbag system from expanding too much during use, which could cause blockage of the closure of the wing plate 6.

[0023] In some examples, two rows of water leakage hole assemblies 16 are provided in the middle of the wing plate 6. The two rows of water leakage hole assemblies 16 are located in the middle between the first airbags 11 on both sides. The water leakage hole assembly 16 is composed of multiple diamond-shaped holes. A sealing cover plate 17 is movably installed in each hole of the water leakage hole assembly 16. The sealing cover plates 17 in the two rows of water leakage hole assemblies 16 are synchronously switched on and off by a drive assembly. A rotating shaft 18 is movably installed in the middle of the inner side of each of the two rows of water leakage hole assemblies 16. The sealing cover plates 17 in the two rows of water leakage hole assemblies 16 are respectively fixedly installed on the two sets of rotating shafts 18. The rotating shafts 18 rotate, causing the sealing cover plates 17 to rotate around the rotating shaft 18 as the axis.

[0024] Both sets of rotating shafts 18 are equipped with gearboxes 19 on their right ends. The gearboxes 19 contain transmission gears 20 and drive gears 21. The transmission gears 20 are fixedly installed in the middle of the right end of the rotating shafts 18, and the transmission gears 20 and drive gears 21 are meshed together.

[0025] The same drive shaft 22 runs through both gearboxes 19. The drive shaft 22 is driven by a motor 23. The drive gears 21 in both gearboxes 19 are fixedly mounted on the drive shaft 22.

[0026] During use, the motor 23 drives the drive shaft 22 to rotate, thereby driving the drive gears 21 in the two gearboxes 19 to rotate synchronously. Then, under the action of the transmission gear 20, the two rotating shafts 18 rotate synchronously, thereby driving the sealing cover 17 to rotate 90 degrees and be in an upright position. At this time, when the wing plate 6 rises, the water will pass through the holes in the two rows of water leakage hole assemblies 16, thereby reducing the resistance encountered by the wing plate 6 when it rises, and thus increasing the speed of buoyancy.

[0027] A control method for an emergency obstacle avoidance mechanism for marine towed bodies: During normal towing: the wing plate 6 is in the closed state, the sealing cover 17 closes the hole covering the water leakage hole assembly 16, the first airbag 11 and the extension airbag 12 are not inflated, the towing body 1 maintains a low drag and low buoyancy state, and the detection operation is carried out.

[0028] In emergency obstacle avoidance situations, the control methods include the following steps: S1. When the obstacle monitoring module 3 detects a protruding obstacle in the travel path of the tow body 1, it sends a signal to the mother ship control system, and the mother ship immediately retracts and drives the tow body 1 to rise. S2. When the mother ship is being retrieved, the floating component in the emergency obstacle avoidance assembly is activated simultaneously. Under the pushing action of the hydraulic rod 10, the wing plates 6 on both sides of the upper end of the towing body 1 are rotated and unfolded until they are rotated to a horizontal position and form an open shape. S3. During the opening of the wing plate 6, the inflation valve of the high-pressure air cylinder 8 is opened, and the drive components are started synchronously. Among them, the high-pressure air cylinder 8 inflates the first airbag 11 and the extension airbag 12 through the inflation module 13, thereby enhancing the buoyancy. In conjunction with the mother ship's retrieval, the floating components can drive the tow body 1 to move upward rapidly. When the drive component is activated, it drives the sealing cover plate 17 in the two rows of water leakage hole components 16 to rotate 90 degrees, so that the diamond-shaped sealing cover plate 17 rotates from a flat position to an upright position, thereby opening the holes in the water leakage hole components 16, making the holes open, so that seawater can pass through the wing plate 6, which plays a guiding role, thereby reducing the resistance of the wing plate 6 and the tow body 1 to rise, and further accelerating the speed of the tow body 1 to rise and avoid obstacles. S4. Reset after obstacle avoidance: After the tow body 1 avoids the obstacle, the mother ship releases the cable and simultaneously opens the exhaust module 14 to exhaust the first airbag 11 and the extension airbag 12. After the exhaust is completed, the hydraulic rod 10 retracts, causing the wing plate 6 to descend until it is in the closed state. Then, the drive component drives the sealing cover plate 17 to rotate 90 degrees, so that the sealing cover plate 17 re-seals and covers the hole in the water leakage hole assembly 16, so that the wing plate 6 and the tow body 1 close to form a columnar structure, reducing buoyancy and thus reducing the sinking resistance of the entire structure of the tow body 1 until the tow body 1 quickly sinks to the working depth and continues the towing and exploration work.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A marine towed body emergency obstacle avoidance mechanism, comprising a towed body (1), wherein a detection module (2) is installed at the bottom of the towed body (1), characterized in that: An emergency obstacle avoidance component, comprising an obstacle monitoring module (3) and a floating component, wherein the obstacle monitoring module (3) is installed at the head of the tow body (1); The floating assembly is located at the upper middle part of the tow body (1). The floating assembly includes two sets of wing plates (6). The two sets of wing plates (6) are respectively movably installed on both sides of the upper end of the tow body (1). The wing plates (6) are pushed by three sets of hydraulic rods (10) to open and close. Flat first airbags (11) are installed at both ends of the inner side of the wing plates (6). The first airbags (11) are inflated by high-pressure air cylinders (8). Multiple sets of semi-circular extension airbags (12) are connected to the outer side of the first airbags (11). The first airbags (11) and the extension airbags (12) are interconnected. Two rows of water leakage hole assemblies (16) are provided in the middle of the wing plate (6). The two rows of water leakage hole assemblies (16) are located in the middle between the first airbags (11) on both sides. The water leakage hole assembly (16) is composed of multiple diamond-shaped holes. Each hole of the water leakage hole assembly (16) is movably installed with a sealing cover plate (17). The sealing cover plates (17) in the two rows of water leakage hole assemblies (16) are synchronously switched on and off by a drive assembly.

2. The marine towed body emergency obstacle avoidance mechanism according to claim 1, characterized in that, Rotating shafts (18) are movably installed in the middle of the inner side of the two rows of water leakage hole assemblies (16). The sealing cover plates (17) in the two rows of water leakage hole assemblies (16) are respectively fixedly installed on the two sets of rotating shafts (18). The rotating shafts (18) rotate, causing the sealing cover plates (17) to rotate around the rotating shafts (18) as the axis.

3. The marine towed body emergency obstacle avoidance mechanism according to claim 1, characterized in that, Both sets of rotating shafts (18) are provided with gearboxes (19) at their right ends. The gearboxes (19) are equipped with transmission gears (20) and drive gears (21). The transmission gears (20) are fixedly installed in the middle of the right end of the rotating shafts (18), and the transmission gears (20) and drive gears (21) are meshed together.

4. The marine towed body emergency obstacle avoidance mechanism according to claim 1, characterized in that, The two sets of gearboxes (19) are connected by the same drive shaft (22), which is driven by a motor (23). The drive gears (21) in the two sets of gearboxes (19) are fixedly mounted on the drive shaft (22).

5. The marine towed body emergency obstacle avoidance mechanism according to claim 1, characterized in that, The upper sides of the towing body (1) are provided with mounting cavities (7). The wing plate (6) is located on the outer side of the mounting cavity (7). Closing the wing plate (6) seals the opening of the mounting cavity (7). The high-pressure air cylinder (8) is installed in the mounting cavity (7) and is fixed by multiple sets of fasteners (9).

6. The marine towed body emergency obstacle avoidance mechanism according to claim 1, characterized in that, The first airbag (11) is provided with an inflation module (13) and an exhaust module (14) at its head end. The inflation module (13) is connected to the outlet of the high-pressure air cylinder (8) through a pipe. The outlet of the exhaust module (14) is connected to an exhaust head (15) through a pipe. The exhaust head (15) is located on the top of the tow body (1).

7. The marine towed body emergency obstacle avoidance mechanism according to claim 1, characterized in that, The wing plate (6) is set as an arc-shaped structure. When the two sets of wing plates (6) are in the closed state, they are combined with the tow body (1) to form a cylindrical structure.

8. The marine towed body emergency obstacle avoidance mechanism according to claim 1, characterized in that, A connecting plate (4) is provided at the top center of the towing body (1), and multiple sets of lifting rings (5) are provided at the top of the connecting plate (4).

9. A control method for an emergency obstacle avoidance mechanism for a marine towed body, characterized in that: The method applied to the marine towed body emergency obstacle avoidance mechanism according to any one of claims 1-8 includes the following: During normal towing: the wing plate (6) is in a closed state, the sealing cover plate (17) closes the hole covering the water leakage hole assembly (16), the first airbag (11) and the extension airbag (12) are not inflated, the towing body (1) maintains a low drag and low buoyancy state, and the detection operation is carried out. In emergency obstacle avoidance situations, the control methods include the following steps: S1. When the obstacle monitoring module (3) detects a protruding obstacle on the travel route of the tow body (1), it immediately sends a signal to the mother ship control system, and the mother ship raises the tow body (1) by reeling in the cable. S2. When the mother ship is being retrieved, the floating components are opened simultaneously, the hydraulic rod (10) extends, and pushes the two side wing plates (6) to unfold to a horizontal position; S3. During the opening of the wing plate (6), the inflation valve of the high-pressure air cylinder (8) is opened, and the high-pressure air cylinder (8) inflates into the first airbag (11) and the extension airbag (12), generating huge buoyancy. At the same time, the drive components start synchronously, the motor (23) starts, and drives the rotating shaft (18) to rotate 90 degrees through the drive shaft (22), drive gear (21), and transmission gear (20), so that the sealing cover plate (17) stands upright and opens the hole of the leakage hole assembly (16); Under the combined effects of the mother ship's pulling force, the airbag's buoyancy, and the reduced resistance of the wing plate (6), the towed body (1) rises rapidly to avoid obstacles. S4. Reset after obstacle avoidance: After passing the obstacle, the mother ship releases the cable, the exhaust module (14) works to expel the gas in the airbag, the hydraulic rod (10) retracts and pulls the wing plate (6) to close; finally, the motor (23) reverses and drives the sealing cover plate (17) to rotate 90 degrees to reseal the water leakage hole assembly (16). At this time, the towed body (1) sinks rapidly under the condition of reduced buoyancy and reduced resistance, and returns to the predetermined working depth to continue to carry out the exploration mission.

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