Underwater towed measurement system and its emergency response method

Abstract

This invention discloses an underwater towed measurement system and its emergency response method, belonging to the field of underwater towed measurement technology. The system consists of multiple modules: a communication and power supply module for shipboard power conversion, Ethernet communication photoelectric conversion, and backup power supply; a main control module including a main controller for system power management, timing data broadcasting, and emergency response control; an acoustic positioning module for acquiring the system's underwater position; an emergency response module including a ballast jettison unit for adjusting system buoyancy, a satellite positioning communication unit for reporting the system's position after surface exposure, and a depth sensor for detecting the system's underwater depth; and a payload module for carrying payload equipment and collecting measurement data, including a payload controller for system power management and emergency response control in the event of main controller failure. The underwater towed measurement system and its emergency response method provided by this invention can improve the system's emergency self-rescue capability and search and rescue recovery success rate.

Description

Technical Field

[0001] This invention belongs to the field of underwater towed measurement technology, and particularly relates to an underwater towed measurement system and its emergency response method. Background Technology

[0002] Underwater towed measurement systems are important equipment for marine resource exploration, environmental monitoring, and scientific research. By towing a measurement platform carrying various sensors by a towed vessel, large-scale and long-duration marine observation and detection operations can be achieved.

[0003] Existing underwater towed measurement systems suffer from poor load adaptability, weak emergency response capabilities, and significant recovery challenges. Firstly, traditional systems are typically custom-designed for specific measurement equipment, resulting in inconsistent data interfaces and power supply standards. This hinders rapid load replacement or expansion, making it difficult to meet the demands of multi-tasking parallel operations. Secondly, towed measurement systems are mostly designed with negative buoyancy; if the tow cable breaks, the system sinks and is lost rapidly. Existing emergency response plans are mostly passive, lacking active ballast jettisoning and resurfacing mechanisms, and do not consider redundant control in case of main controller failure, leading to low emergency reliability. Furthermore, if the system cannot resurface after the tow cable breaks due to netting, bottom contact, or other reasons, current technologies lack effective underwater positioning methods, resulting in a low success rate for search and rescue recovery.

[0004] Therefore, there is an urgent need for an underwater towed measurement system with flexible load expansion, strong emergency response capability, and high recovery reliability, as well as its emergency response method. Summary of the Invention

[0005] In view of the shortcomings of the related technologies, the purpose of this invention is to provide an underwater towed measurement system and its emergency response method to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An underwater towed measurement system, the system being connected to a towboat via a tow cable, the system comprising: Communication power supply module, used for shipboard power conversion, Ethernet communication optoelectronic conversion and backup power supply; The main control module is electrically and communicatively connected to the communication power supply module. The main control module includes a main controller, which is used for system power management, timing data broadcasting, and emergency handling control. The acoustic positioning module is electrically connected to the communication power supply module and communicatively connected to the main control module. The acoustic positioning module is used to obtain the underwater position of the system. The emergency handling module includes a ballast jettisoning unit, a satellite positioning and communication unit, and a depth sensor. The emergency handling module is electrically connected to the communication and power supply module and communicatively connected to the main control module. The ballast jettisoning unit is used to adjust the system's buoyancy, the satellite positioning and communication unit is used to report the system's position after it emerges from the water, and the depth sensor is used to detect the system's underwater depth. At least one load module is provided, which is electrically connected to the communication power supply module and communicatively connected to the main control module. The load module is used to carry the load device and collect measurement data. The load module includes a load controller, which is used to replace the main controller in performing system power management and emergency handling control when the main controller fails.

[0007] In some embodiments, the communication power supply module includes a photoelectric conversion unit, a power management unit, and a backup battery; the photoelectric conversion unit is used to realize the photoelectric conversion of Ethernet communication signals; the power management unit is used to convert ship power into multi-channel isolated low-voltage DC power and control the switching of each power supply through the CAN bus; the power management unit is also used to automatically switch to backup battery power supply when the external power supply is interrupted.

[0008] In some embodiments, the main control module further includes a first network switch and a first power conversion and distribution unit; the first network switch connects the main controller, the communication power supply module and the load module to build an internal local area network for transmitting measurement data and issuing control commands; the first power conversion and distribution unit is used to provide mutually isolated power supplies to the internal devices and other functional modules of the main control module.

[0009] In some embodiments, the emergency handling module further includes an emergency handling controller; the emergency handling controller is communicatively connected to the main controller and is used to receive and execute emergency control commands; the ballast disposal unit carries a counterweight, which is discarded after power is applied to adjust the buoyancy of the system.

[0010] In some embodiments, the load module further includes a second power conversion and distribution unit and a second network switch; the load controller is also used to collect measurement data output by the load device, perform local time synchronization on the data and upload it to the monitoring and control unit of the tugboat, and control the power switch of the load device; the second power conversion and distribution unit is used to convert the input power into a voltage adapted to the local load device and provide isolated power supply for the next-level load module; the second network switch connects the load controller, the main control module and adjacent load modules to build a load local area network to transmit load data and receive control commands.

[0011] In some embodiments, the system adopts a dual-link architecture of Ethernet communication and CAN bus communication; the Ethernet communication link is used to realize the uploading of measurement data, system status monitoring and control command issuance between the system and the monitoring and control unit of the towing vessel; the CAN bus communication link is used to realize the internal timing data broadcasting, power switch control and emergency control command transmission.

[0012] In some embodiments, the communication power supply module, main control module, acoustic positioning module, emergency handling module, and load module are each installed in an independent watertight compartment; the watertight compartments are connected by flange sealing, and the modules are connected by watertight cables for electrical and communication connections.

[0013] An emergency response method for an underwater towed measurement system, employing the aforementioned underwater towed measurement system, includes the following steps: S1. Controller Status Judgment: After the system enables the emergency handling function, it checks the operating status of the main controller. If the main controller is normal, it will perform emergency handling; otherwise, the load controller will take over and perform emergency handling control. S2. Drag Cable Status Judgment: Monitor the drag cable for breakage in real time through Ethernet communication status and power supply status; S3. Emergency Handling: When a tow cable breakage is detected, perform the following actions: S31. Control the communication power supply module to automatically switch to backup battery power; S32. Control the emergency handling module's load-dropping unit to perform the load-dropping action, and at the same time turn off the power to non-essential modules to put the system into a low-power mode. S33. Determine whether the system has emerged from the water using a depth sensor. If so, periodically activate the satellite positioning and communication unit to report the system's position after emerging from the water. If not, periodically activate the acoustic positioning module to obtain the system's underwater position by communicating with the shipborne acoustic positioning module of the towing vessel.

[0014] In some embodiments, step S1 specifically includes: S11. Check if the main controller broadcasts timing data periodically. If so, the main controller is considered to be normal. S12. If no timing data broadcast from the main controller is detected, multiple load controllers send handshake signals to the main controller in sequence according to a preset priority. S13. If the main controller responds with a handshake signal within a preset time, it is determined that the main controller has returned to normal. S14. If the main controller does not respond with a handshake signal within a preset time, the load controller will take over and perform emergency handling control according to the preset priority.

[0015] In some embodiments, step S2 specifically includes: S21. The main controller or the load controller that takes over control sends handshake signals to the monitoring and control unit of the towed vessel via Ethernet at regular intervals. S22. If no response signal is received from the monitoring and control unit for more than a preset number of consecutive times, the power supply mode of the communication power supply module will be further detected. S23. If the communication power supply module is not in external power supply mode, the drag cable is determined to be broken.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The underwater towed measurement system provided by this invention adopts a dual-backup emergency control architecture of main controller and load controller to avoid the failure of emergency functions due to single point of failure; it is equipped with dual communication links and isolated power supply design to improve operational reliability; it integrates ballast jettisoning and dual-mode positioning functions, and can realize autonomous emergency self-rescue when the tow cable breaks.

[0017] 2. The emergency handling method of the underwater towed measurement system provided by the present invention determines whether the towed cable is broken by dual verification of Ethernet communication status and power supply status, effectively reducing false judgments; it adopts a low power consumption strategy to extend emergency endurance; and it adaptively switches the positioning mode according to the water surface status, significantly improving the success rate of the system's search and rescue recovery. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of an underwater towed measurement operation according to an embodiment of the underwater towed measurement system and emergency response method of the present invention. Figure 2 This is a system structure block diagram of an embodiment of the underwater towed measurement system and emergency response method of the present invention; Figure 3 This is a structural block diagram of the communication power supply module of an embodiment of the underwater towed measurement system and emergency response method of the present invention; Figure 4 This is a block diagram of the main control module of an embodiment of the underwater towed measurement system and emergency response method of the present invention; Figure 5 This is a block diagram of the emergency response module of an embodiment of the underwater towed measurement system and emergency response method of the present invention. Figure 6 This is a structural block diagram of the load module of an embodiment of the underwater towed measurement system and emergency response method of the present invention; Figure 7This is a communication dual-link architecture diagram of an embodiment of the underwater towed measurement system and its emergency response method of the present invention; Figure 8 This is a flowchart illustrating the controller status judgment logic of an embodiment of the underwater towed measurement system and emergency response method of the present invention. Figure 9 This is a flowchart illustrating the logic for determining the status of a tow cable in an embodiment of the underwater towed measurement system and emergency response method of the present invention. Figure 10 This is an emergency handling logic flowchart of an embodiment of the underwater towed measurement system and emergency handling method of the present invention.

[0019] In the picture: 1. Underwater towed measurement system; 11. Communication power supply module; 111. Photoelectric conversion unit; 112. Power management unit; 113. Backup battery; 12. Main control module; 121. Main controller; 122. First network switch; 123. First power conversion and distribution unit; 13. Acoustic positioning module; 14. Emergency handling module; 141. Waste disposal unit; 142. Satellite positioning and communication unit; 143. Depth sensor; 144. Emergency handling controller; 15. Load module; 1501. First load module; 1502. Second load module; 1503. Third load module; 151. Load controller; 1511. First load controller; 1512. Second load controller; 1513. Third load controller; 152. Second power conversion and distribution unit; 153. Second network switch; 154. Load device; 2. Towing cable; 3. Towing vessel; 31. Monitoring and control unit; 32. Shipborne acoustic positioning module; 41. Power supply compartment; 42. Main control compartment; 43. Water-permeable compartment; 44. First load compartment; 45. Second load compartment; 46. Third load compartment; 5. Winch; 6. Watertight cables. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] Example 1: See appendix Figures 1 to 7 A schematic embodiment of the underwater towed measurement system 1 proposed in this invention is given below. Figure 1 The underwater towed measurement system 1 is connected to a winch 5 on a towboat 3 via a tow cable 2. The winch 5 enables the deployment and towing of the tow cable 2. The system is towed by the towboat 3 for marine observation and exploration. Power is supplied to the system and data is acquired via the ship's electrical system, enabling long-duration, wide-area operations. In this embodiment, the underwater towed measurement system 1 can enter an emergency response mode in the event of a breakage of the tow cable 2, facilitating rapid search and rescue of the underwater towed measurement system 1.

[0024] The underwater towed measurement system 1 includes a communication power supply module 11, a main control module 12, an acoustic positioning module 13, an emergency processing module 14, and at least one load module 15. It can be used to meet the needs of long-term underwater measurement operations of marine observation and detection equipment such as gravity, magnetic force, and acoustics, and to carry out emergency self-rescue in case of emergencies such as tow cable breakage.

[0025] The communication power supply module 11 is used for shipboard power conversion, Ethernet communication photoelectric conversion, and backup power supply; the main control module 12 is electrically and communicatively connected to the communication power supply module 11, and the main control module 12 includes a main controller 121, which is used for system power management, timing data broadcasting, and emergency handling control; the acoustic positioning module 13 is electrically connected to the communication power supply module 11 and communicatively connected to the main control module 12, and is used to acquire the underwater position of the system; the emergency handling module 14 includes a ballast jettisoning unit 141, a satellite positioning and communication unit 142, and a depth sensor 143. 4 is electrically connected to the communication power supply module 11 and communicatively connected to the main control module 12; the jettison unit 141 is used to adjust the buoyancy of the system, the satellite positioning communication unit 142 is used to report the position of the system after it emerges from the water, and the depth sensor 143 is used to detect the underwater depth of the system; the load module 15 is electrically connected to the communication power supply module 11 and communicatively connected to the main control module 12, and the load module 15 is used to carry the load device 154 and collect measurement data; the load module 15 includes a load controller 151, which is used to replace the main controller 121 in performing system power management and emergency handling control when the main controller 121 fails.

[0026] See appendix Figure 2 In this embodiment, the communication power supply module 11, main control module 12, acoustic positioning module 13, emergency handling module 14, and payload module 15 are each installed in an independent watertight compartment to achieve waterproof and pressure-resistant operation. The watertight compartments are connected by flange seals, and the modules are electrically and communicatively connected by watertight cables 6. The communication power supply module 11, main control module 12, acoustic positioning module 13, and emergency handling module 14 are the basic modules of the system, used to realize the basic operational functions of the system. The payload module 15 adopts a unified power supply and interface design, which can be expanded or replaced according to the operational tasks. Marine observation and detection equipment has diverse data interfaces and power supply voltages. Traditional towed measurement systems are usually designed for specific marine observation and detection equipment or operational tasks; this embodiment, through the unified power supply and interface design of the payload module 15, can realize the expansion and rapid replacement of the marine observation and detection equipment payload.

[0027] Specifically, the communication power supply module 11 is installed in the power supply compartment 41, the main control module 12 is installed in the main control compartment 42, and the acoustic positioning module 13 and emergency handling module 14 are installed in the permeable compartment 43 (the permeable compartment 43 is an open structure used to install sensor equipment, etc., that are in direct contact with seawater). Furthermore, the system in this embodiment includes three load modules 15, specifically a first load module 1501, a second load module 1502, and a third load module 1503, with corresponding load controllers 151 for the first load controller 1511, the second load controller 1512, and the third load controller 1513, respectively. The first load module 1501 is installed in the first load compartment 44, the second load module 1502 is installed in the second load compartment 45, and the third load module 1503 is installed in the third load compartment 46.

[0028] See appendix Figure 3 In this embodiment, the communication power supply module 11 includes a photoelectric conversion unit 111, a power management unit 112, and a backup battery 113. The photoelectric conversion unit 111 is used to realize the photoelectric conversion of Ethernet communication signals, enabling long-distance communication between the system and the monitoring and control unit 31 on the towed vessel 3. The power management unit 112 is used to step down the input ship power and convert it into multiple isolated low-voltage DC power supplies to power the various modules of the underwater towed measurement system 1. Each DC power supply is isolated from the others and has overcurrent and short-circuit protection, so a failure in one supply does not affect the normal power supply of the others. The power management unit 112 is also used to control the switching of the output power supplies via the CAN bus. The power management unit 112 is also used to automatically switch to the backup battery 113 to power the underwater towed measurement system 1 when the external power supply is interrupted. In this embodiment, the external power supply is the ship power provided by the towed vessel 3.

[0029] See appendix Figure 4 In this embodiment, the main control module 12 further includes a first network switch 122 and a first power conversion and distribution unit 123, which are powered by the communication power supply module 11. The main controller 121 is connected to the communication power supply module 11 and the emergency handling module 14 via a CAN bus to realize the switching control of the power supply of each module in the underwater towed measurement system 1 and emergency handling in case of emergency. The first network switch 122 connects the main controller 121, the photoelectric conversion unit 111 of the communication power supply module 11, and the load module 15 to build an internal local area network of the system, realize communication and control with the monitoring and control unit 31, and transmit measurement data and issue control commands; the first power conversion and distribution unit 123 performs DC voltage conversion to power the internal devices of the main control module 12, and performs power separation to power the emergency handling module 14, the acoustic positioning module 13, and the load module 15 respectively. The power supplies of each module are isolated from each other and do not affect each other.

[0030] In this embodiment, the acoustic positioning module 13 is an acoustic positioning beacon, powered by the communication power supply module 11, and determines the underwater position of the underwater towed measurement system 1 by communicating with the shipborne acoustic positioning module 32 on the towed vessel 3.

[0031] See appendix Figure 5 In this embodiment, the emergency handling module 14 also includes an emergency handling controller 144, powered by the communication power supply module 11. The emergency handling controller 144 is installed in the sealed chamber and connected to the satellite positioning communication unit 142 and the ballast jettison unit 141 via a watertight cable 6. It can control ballast jettison and report location information via satellite communication through the CAN bus. The emergency handling controller 144 is communicatively connected to the main controller 121 and is used to receive and execute emergency control commands. The ballast jettison unit 141 carries a counterweight and jettisons it after power is applied to adjust the buoyancy of the system and make it float. The satellite positioning communication unit 142 has satellite positioning and satellite communication functions and will periodically send its own positioning data to the monitoring and control unit 31 via satellite communication after leaving the water.

[0032] See appendix Figure 6 In this embodiment, the load module 15 also includes a second power conversion and distribution unit 152 and a second network switch 153, powered by the communication power supply module 11. These units are responsible for power management and load data acquisition for the system, and also provide emergency handling functionality for the main control module 12. The load controller 151 is also used to collect and convert measurement data output from different load devices 154, such as outputting digital or analog signals. After local time synchronization, the data is sent to the monitoring and control unit 31 of the towing vessel 3 via Ethernet for data storage and display. The load controller 151 also controls the power switch of the load devices 154. The second power conversion and distribution unit 152 is responsible for local DC power conversion, converting the input power to a voltage suitable for the local load devices 154. Furthermore, through power separation, it provides isolated power to the next-level load module 15. Both the load power supply and the output power supply have overcurrent and short-circuit protection, ensuring that a fault in one path does not affect the other. The second network switch 153 connects the load controller 151, the main control module 12, and adjacent load modules 15 to form a load local area network for transmitting load data and receiving control commands to the monitoring and control unit 31. The load controller 151 supports the functions of the main controller 121 in the main control module 12, and replaces the main controller 121 in power management and emergency handling when the main controller 121 fails.

[0033] See appendix Figure 7In this embodiment, the system adopts a dual-link architecture of Ethernet communication and CAN bus communication; the Ethernet communication link is used to realize the uploading of measurement data, system status monitoring and control command issuance between the system and the monitoring and control unit 31 of the towing vessel 3; the CAN bus communication link is used to realize the internal timing data broadcasting, power switch control and emergency control command transmission.

[0034] In the above illustrative embodiments, the underwater towed measurement system adopts a dual-backup emergency control architecture of the main controller and the load controller to avoid the failure of emergency functions due to single point of failure; it is equipped with dual communication links and isolated power supply design to improve operational reliability; and it integrates ballast jettisoning and dual-mode positioning functions, enabling autonomous emergency self-rescue in the event of tow cable breakage.

[0035] Example 2: See appendix Figures 8 to 10 An illustrative embodiment of the emergency handling method of the underwater towed measurement system proposed in this invention is given, using the underwater towed measurement system 1 of Embodiment 1.

[0036] The underwater towed measurement system 1 operates by being towed underwater via a tow cable 2. To meet underwater tow requirements, the system typically operates with negative buoyancy during towed measurement. If the tow cable 2 breaks, the system must be capable of self-rescue or being searched for. The underwater towed measurement system 1 utilizes a main controller 121 or load controller 151, an emergency handling module 14, an acoustic positioning module 13, and a communication and power supply module 11 to implement emergency handling. The emergency handling method includes the following steps: S1. Controller status judgment: After the underwater towed measurement system 1 enables the emergency handling function, it detects the operating status of the main controller 121. If the main controller 121 is normal, it will perform the emergency handling; otherwise, the load controller 151 will take over and perform the emergency handling control. S2, status judgment of towing cable 2: Real-time monitoring of whether towing cable 2 is broken or abnormal through Ethernet communication status and power supply status; S3. Emergency Handling: When a break or abnormality is detected in tow cable 2, the system will enter emergency handling mode. See Appendix. Figure 10 At this point, perform the following operations: S31, Control communication power supply module 11 automatically switches to backup battery 113 for power supply; S32, The emergency handling module 14's ejection unit 141 executes the ejection action, that is, ejects the counterweight, and at the same time shuts off the power of non-essential modules to put the system into a low-power mode; in the low-power mode, only the emergency handling module 14 and the depth sensor 143 are powered. S33. The depth sensor 143 determines whether the system has surfaced. If so, the satellite positioning communication unit 142 is activated periodically to report the system's position after surface exposure. If not (the system may be unable to surface due to netting, bottoming out, or other reasons), the acoustic positioning module 13 is activated periodically to obtain the system's underwater position by communicating with the shipborne acoustic positioning module 32 of the towing vessel 3, so as to carry out search and rescue operations.

[0037] Both the satellite positioning and communication unit 142 and the acoustic positioning module 13 adopt an intermittent working mode, and are in a power-off state during non-working periods in order to maximize the battery life of the backup battery 113.

[0038] See appendix Figure 8 In this embodiment, step S1 specifically includes: S11. Check whether the main controller 121 broadcasts timing data periodically. If so, the main controller 121 is considered to be normal. S12. If no timing data broadcast from the main controller 121 is detected, multiple load controllers 151 send handshake signals to the main controller 121 in sequence according to a preset priority. S13. If the main controller 121 responds with a handshake signal within a preset time, it is determined that the main controller 121 has returned to normal. S14. If the main controller 121 does not respond with a handshake signal within a preset time, the load controller 151 will take over and perform emergency handling control according to a preset priority.

[0039] In this embodiment, the preset priorities are set according to the physical installation order of the load controllers 151: the first load controller 1511 has the highest priority, followed by the second load controller 1512, then the third load controller 1513, and so on. That is, the smaller the number of the load controller 151, the higher the priority. If the first load controller 1511, which has the highest priority, also fails and cannot take over control, the second load controller 1512, which has the second highest priority, continues to execute the above handshake detection and takeover process. If the second load controller 1512 also fails, the third load controller 1513 takes over, and so on, until a normally functioning load controller 151 takes over the emergency handling control of the system, realizing multi-level redundant emergency control and completely avoiding system loss of control due to a single point of failure of the controller.

[0040] See appendix Figure 9 In this embodiment, step S2 specifically includes: S21, the main controller 121 or the load controller 151 that takes over control sends handshake signals to the monitoring and control unit 31 of the towing vessel 3 at regular intervals via Ethernet; S22. If a response signal is not received from the monitoring and control unit 31 for more than a preset number of consecutive times, the power supply mode of the communication power supply module 11 is further detected. In this embodiment, the preset number of times is 3, and the handshake signal is sent using the UDP protocol. If the preset number of times is less than 3 (e.g., 1 or 2 times), it is easy to misjudge due to accidental factors such as electromagnetic interference and signal attenuation in the marine environment, triggering unnecessary emergency actions. If the preset number of times is greater than 3 (e.g., 4 times or more), it will significantly prolong the detection time of the tow cable 2 breakage and increase the risk of system loss. Those skilled in the art will understand that the preset number of times can also be adjusted within the range of 1-5 times according to the actual operating environment and reliability requirements, and the handshake signal transmission interval will be adjusted accordingly.

[0041] S23. If the communication power supply module 11 is not in external power supply mode, the drag cable 2 is determined to be broken.

[0042] In the above illustrative embodiments, the emergency handling method of the underwater towed measurement system determines whether the tow cable is broken by dual verification of Ethernet communication status and power supply status, effectively reducing false judgments; it adopts a low-power strategy to extend emergency endurance; and it adaptively switches the positioning mode according to the water surface status, significantly improving the success rate of the system's search and rescue recovery.

[0043] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. An underwater towed measurement system, wherein the system is connected to a towed vessel via a tow cable, characterized in that, The system includes: A communication power supply module, which is used for shipboard power conversion, Ethernet communication optoelectronic conversion and backup power supply; The main control module is electrically and communicatively connected to the communication power supply module. The main control module includes a main controller, which is used for system power management, timing data broadcasting, and emergency handling control. An acoustic positioning module is electrically connected to the communication power supply module and communicatively connected to the main control module. The acoustic positioning module is used to obtain the underwater position of the system. An emergency handling module includes a ballast jettisoning unit, a satellite positioning and communication unit, and a depth sensor. The emergency handling module is electrically connected to the communication and power supply module and communicatively connected to the main control module. The ballast jettisoning unit is used to adjust the system's buoyancy, the satellite positioning and communication unit is used to report the system's position after it emerges from the water, and the depth sensor is used to detect the system's underwater depth. At least one load module is provided, which is electrically connected to the communication power supply module and communicatively connected to the main control module. The load module is used to carry load equipment and collect measurement data. The load module includes a load controller, which is used to replace the main controller in performing system power management and emergency handling control when the main controller fails.

2. The underwater towed measurement system according to claim 1, characterized in that, The communication power supply module includes a photoelectric conversion unit, a power management unit, and a backup battery. The photoelectric conversion unit is used to realize the photoelectric conversion of Ethernet communication signals. The power management unit is used to convert the ship's power into a multi-channel isolated low-voltage DC power supply and control the switching of each power supply through the CAN bus. The power management unit is also used to automatically switch to backup battery power supply when the external power supply is interrupted.

3. The underwater towed measurement system according to claim 1, characterized in that, The main control module further includes a first network switch and a first power conversion and distribution unit; the first network switch connects the main controller, the communication power supply module and the load module to build an internal local area network for transmitting measurement data and issuing control commands; the first power conversion and distribution unit is used to provide mutually isolated power supplies to the internal devices and other functional modules of the main control module.

4. The underwater towed measurement system according to claim 1, characterized in that, The emergency handling module also includes an emergency handling controller; the emergency handling controller is communicatively connected to the main controller and is used to receive and execute emergency control commands; the ejection unit carries a counterweight, which is ejected after being powered on to adjust the buoyancy of the system.

5. The underwater towed measurement system according to claim 1, characterized in that, The load module further includes a second power conversion and distribution unit and a second network switch; the load controller is also used to collect the measurement data output by the load device, perform local time synchronization on the data and upload it to the monitoring and control unit of the tugboat, and control the power switch of the load device; the second power conversion and distribution unit is used to convert the input power into a voltage adapted to the local load device and provide isolated power supply for the next-level load module; the second network switch connects the load controller, the main control module and adjacent load modules to form a load local area network for transmitting load data and receiving control commands.

6. The underwater towed measurement system according to claim 1, characterized in that, The system adopts a dual-link architecture of Ethernet communication and CAN bus communication; the Ethernet communication link is used to realize the uploading of measurement data, system status monitoring and control command issuance between the system and the monitoring and control unit of the towing vessel; the CAN bus communication link is used to realize the internal timing data broadcasting, power switch control and emergency control command transmission.

7. The underwater towed measurement system according to any one of claims 1-6, characterized in that, The communication power supply module, main control module, acoustic positioning module, emergency handling module, and load module are each installed in an independent watertight chamber; the watertight chambers are connected by flange sealing, and the modules are connected by watertight cables for electrical and communication connections.

8. An emergency handling method for an underwater towed measurement system, characterized in that, The emergency response method using the underwater towed measurement system according to any one of claims 1-7 includes the following steps: S1. Controller Status Judgment: After the system enables the emergency handling function, it checks the operating status of the main controller. If the main controller is normal, it will perform emergency handling; otherwise, the load controller will take over and perform emergency handling control. S2. Drag Cable Status Judgment: Monitor the drag cable for breakage in real time through Ethernet communication status and power supply status; S3. Emergency Handling: When a tow cable breakage is detected, perform the following actions: S31. Control the communication power supply module to automatically switch to backup battery power; S32. Control the emergency handling module's load-dropping unit to perform the load-dropping action, and at the same time turn off the power to non-essential modules to put the system into a low-power mode. S33. Determine whether the system has emerged from the water using a depth sensor. If so, periodically activate the satellite positioning and communication unit to report the system's position after emerging from the water. If not, periodically activate the acoustic positioning module to obtain the system's underwater position by communicating with the shipborne acoustic positioning module of the towing vessel.

9. The emergency handling method for the underwater towed measurement system according to claim 8, characterized in that, Step S1 specifically includes: S11. Check if the main controller broadcasts timing data periodically. If so, the main controller is considered to be normal. S12. If no timing data broadcast from the main controller is detected, multiple load controllers send handshake signals to the main controller in sequence according to a preset priority. S13. If the main controller responds with a handshake signal within a preset time, it is determined that the main controller has returned to normal. S14. If the main controller does not respond with a handshake signal within a preset time, the load controller will take over and perform emergency handling control according to the preset priority.

10. The emergency handling method for the underwater towed measurement system according to claim 8, characterized in that, Step S2 specifically includes: S21. The main controller or the load controller that takes over control sends handshake signals to the monitoring and control unit of the towed vessel via Ethernet at regular intervals. S22. If no response signal is received from the monitoring and control unit for more than a preset number of consecutive times, the power supply mode of the communication power supply module will be further detected. S23. If the communication power supply module is not in external power supply mode, the drag cable is determined to be broken.

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